JP7194636B2 - Drilling positioning method and drilling positioning control device - Google Patents

Description

The present invention relates to a drilling positioning method and a drilling positioning control device.

2. Description of the Related Art Conventionally, a drifter (rock drill) is generally used in drilling work for tunnel excavation (see Patent Document 1). In drilling work in a tunnel using a drifter, the drifter is placed on the guide cell at the tip of the boom of a drill jumbo, which is a construction heavy machine, on the front side of the face of the tunnel. The output shaft of the rock drilling machine is connected via a coupling to a rod extending in the direction of the axis Z, and a drilling bit is attached to the tip of the rod.

Due to the structure of the drifter, it is impossible to drill perpendicularly to the outermost periphery of the face, resulting in an angle. This additional angle results in overcutting, but it was difficult to reduce this additional angle so that it would be parallel to the tunnel axis. For this reason, in rationalization construction by long hole blasting using a rock drill, the amount of over-excavation increases, resulting in an increase in the cost of materials such as shotcrete.

That is, by using a computer jumbo (drill jumbo), according to a predetermined blasting pattern, the position of the starting point of the drilling bit (drilling start point) is set to the outermost hole in the face, and the angle is set to the tunnel axis. It was possible to drill and blast with a certain degree of accuracy by reducing the angle to about 3° so that the two were parallel to each other.
Here, the "blasting pattern" includes, as position control information when the drilling machine drills the face, the position of the drilling start point (also referred to as the mouth position) on the face of the drilling bit, and the position of the drilling bit. Includes an angle. In addition, the "outermost hole" is a hole located at a position (predetermined position) inside the outermost periphery of the face so that the drilling machine can drill the face with the minimum angle. say.

JP 2015-121044 A

However, with a predetermined blasting pattern, the amount of overcutting may locally increase when the natural ground is heterogeneous. As a result, an increase in excavation muck and an increase in the thickness of the shotcrete have been caused, which has been a factor in lowering the productivity of tunnel construction.

The present invention has been made in consideration of the above circumstances, and is a drilling method that can automatically change the angle of the outermost peripheral hole so as to reduce the over-excavation according to the amount of over-excavation. It is an object of the present invention to provide a positioning method and a drilling positioning control device.

To solve the above problems, one aspect of the present invention is a drilling positioning method for calculating a drilling position when a rock drilling machine used for tunnel construction drills a face surface, comprising: The average overcutting depth calculation step of calculating the average overcutting depth of the overcutting amount in the overcutting evaluation range set on the outer periphery of the calculated average overcutting depth and the difference angle of the previous drilling and a step of calculating the present drilling angle based on .

Further, according to one aspect of the present invention, in the drilling positioning method described above, in the above-described difference angle calculation step, when the calculated difference angle of the current drilling is less than a predetermined minimum difference angle, A position movement amount for calculating a position movement amount for moving the corner to the minimum offset angle and moving the hole mouth, which is the position to be drilled, toward the inner surface side in the radial direction of the face surface based on the average overcut depth. It is characterized by including a calculation step.

Further, one aspect of the present invention is the above drilling positioning method, wherein θ _n is the difference angle of the previous drilling, Δ _n is the average overcut depth, and θ is the difference angle of the current drilling. Assuming that _n+1 , 1 blasting progress length is l, and set values are α (≦1) and β (≦1), the position movement amount calculation step is performed as follows: α×l×tan θ _n+1 =α×l×tan θ _n −β× It is characterized by a step of calculating the positional movement amount β× _Δn by an expression represented by _Δn .

Further, one aspect of the present invention is a drilling positioning control device for calculating a drilling position when a rock drill used for tunnel construction drills a face surface, Based on the average overdigging depth calculation unit that calculates the average overdigging depth of the overdigging amount in the set overdigging evaluation range, the calculated average overdigging depth, and the difference angle of the previous drilling and an angle calculator for calculating the angle of drilling for the current drilling.

Further, one aspect of the present invention is the above-described drilling positioning control device, wherein the difference angle calculation unit, when the calculated difference angle of the current drilling is less than a predetermined minimum difference angle, setting the insertion angle to the minimum insertion angle, and calculating a position movement amount for moving the hole opening, which is the position to be drilled, toward the inner surface side in the radial direction of the face surface based on the average overcut depth. Characterized by

Further, one aspect of the present invention is the above-mentioned drilling positioning control device, wherein the preceding drilling difference angle is θ _n , the average overcut depth is Δ _n , and the current drilling difference angle is Assuming that θ _n+1 , the length of one blasting process is l, and the set values are α (≦1) and β (≦1), the differential angle calculator calculates α×l×tan θ _n+1 =α×l×tan θ _n −β× It is characterized in that the positional movement amount β× _Δn is calculated by a formula represented by _Δn .

Advantageous Effects of Invention According to the present invention, it is possible to automatically change the angle of the outermost peripheral hole so as to reduce the amount of overcutting according to the amount of overcutting.

It is a figure which shows the schematic diagram of an initial blasting pattern. FIG. 10 is a diagram showing a schematic diagram in which the angle at each drilling position is changed according to overcutting; It is a figure which shows the schematic diagram before and after changing an angle|corner seen from a longitudinal direction. 1 is a schematic diagram for explaining a configuration example of an embodiment of the present invention; FIG. 5 is a schematic diagram for explaining a blasting pattern when using the apparatus shown in FIG. 4. FIG. 5 is a schematic diagram for explaining a blasting pattern when using the apparatus shown in FIG. 4. FIG. 4 is a flowchart for explaining blasting pattern generation processing when using the configuration example of the embodiment of the present invention;

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a schematic diagram of an initial blasting pattern. Moreover, FIG. 2 is a diagram showing a schematic diagram in which the angle at each drilling position is changed according to overcutting. 3A and 3B are diagrams showing schematic diagrams before and after the angle is changed as viewed in the longitudinal direction.
First, the concept of the present invention will be described with reference to FIGS. 1 to 3. FIG.

After blasting, data acquisition of the three-dimensional shape of the face using a method such as a 3D (three-dimensional) scanner makes it possible to quantitatively grasp how much overcutting has occurred relative to the design.
We devised a system that automatically changes the angle of the outermost hole so as to reduce the amount of overcutting according to the amount of overcutting. The concept is shown in FIGS. 1 to 3. FIG.
Here, both FIGS. 1 and 2 are cross-sectional views (cross-sectional views perpendicular to the tunnel direction) of 1/4 of the circumferential surface (face surface) of the tunnel face when viewed from the front side of the face of the tunnel. is shown. 1 and 2, the intersection of the horizontal axis SL and the vertical axis CL is the origin O, and the circumference is drawn with the radius of the tunnel. Attachment surface).
1 and 2 also show drilling start points P1 to P7 on the circumferential surface of the face. Here, the drilling start points P1 to P7 represent the positions of the outermost peripheral holes on the face surface.

In FIG. 1, drilling bits of a rock drilling machine provided corresponding to drilling starting points P1 to P7 and used for tunnel construction do not change the angle of the overcut existing on the outer peripheral side of the design excavation surface. Since the excavation is carried out by That is, as shown in FIG. 1, the overcut amounts corresponding to the drilling start points P1, P2, and P5 are large values, and the overcut amounts corresponding to P3, P4, P6, and P7 are appropriate (approximately excessive). The amount of excavation is zero) and the amount of over excavation.

Therefore, in FIG. 2, the drilling bits of the rock drilling machine provided corresponding to the drilling start points P1 to P7 are designed to reduce the over-excavation existing on the outer peripheral side of the design excavation surface according to the amount of over-excavation. , Since the insertion angle is changed, the amount of over-excavation can be reduced in places where there is a large amount of over-excavation. That is, as shown in FIG. 2, the amount of overcut corresponding to the drilling start points P1, P2, and P5 is a large value, so the angle is changed. On the other hand, since the overcut amounts corresponding to P3, P4, P6, and P7 are appropriate (approximately zero) overcut amounts, the angle is not changed.

Further, FIG. 3 shows a longitudinal sectional view (a sectional view parallel to the tunnel direction) before and after the angle change. Here, one of the drilling start points P1, P2, and P5 shown in FIG. 2 is shown. In addition, the portion on the left side of the face surface (face mirror surface) shown in FIG. On the other hand, in the portion on the right side of the face surface, the amount of overcutting has a large value in the overcutting range indicating overcutting.
That is, the drill bit of the rock drill provided corresponding to the drilling start point is changed in angle so as to reduce the over-excavation existing on the outer peripheral side of the design excavation surface according to the amount of over-excavation. Therefore, it is possible to reduce the amount of over-excavation in places where there is a large amount of over-excavation.

Next, a process for reducing the amount of overcutting at a location where the amount of overcutting is large will be described with reference to FIGS. 4 to 6. FIG. FIG. 4 is a schematic diagram for explaining a configuration example of an embodiment of the present invention. 5 and 6 are schematic diagrams for explaining blasting patterns when using the apparatus shown in FIG.
As shown in FIG. 4, the angle changing system 100 in this embodiment includes a 3D scanner section 10, a drilling positioning control device 20, and a servo mechanism 30. As shown in FIG.

The 3D scanner unit 10 is a known device, and acquires data on the three-dimensional shape of the face after blasting using a method such as a 3D (three-dimensional) scanner.
The servomechanism 30 is a well-known device, is built in the rock drilling machine, and controls the drilling of the rock drilling machine based on the position control signal (the position of the outermost hole and the angle) from the drilling positioning control device 20. It has the function of guiding and positioning a bit to a predetermined drilling position (the position of the outermost hole) and executing drilling with the drilling bit.

The drilling positioning control device 20 includes an average over-digging depth calculator 21 , an angle calculator 22 , and a memory 23 .
The average over-digging depth calculation unit 21 quantitatively grasps how much over-digging occurs with respect to the design excavation surface from the data acquired from the 3D scanner unit 10 .
Then, the average overcutting depth calculation unit 21 calculates the average overcutting depth of the amount of overcutting in the overcutting evaluation range set on the outer periphery of the face surface.

The angle calculator 22 outputs a position control signal (drilling position and angle of drilling) to the servo mechanism 30 .
Further, the difference angle calculation unit 22 calculates the difference angle of the current drilling based on the average overcut depth calculated by the average overcut depth calculation unit 21 and the difference angle of the previous drilling.

The storage unit 23 stores the previous drilling position and the previous drilling difference angle calculated by the difference angle calculation unit 22 for each overcut evaluation range.
Based on the previous drilling position and the previous drilling angle stored in the storage unit 23, the input angle calculation unit 22 calculates the current drilling position and the current drilling angle corresponding to the overcut evaluation range. Calculate the angle.

A more specific configuration of the over-digging evaluation range of the drilling positioning control device 20 will be described below with reference to FIGS. 5 and 6. FIG.
FIG. 5(a) shows a cross-sectional view of drilling start points P1-P13 (corresponding to drilling start points P1-P7 in FIG. 1 or FIG. 2) in a blasting pattern. FIG. 5(b) shows a longitudinal sectional view of the working faces (previous working face and current working face) at the drilling start point P7. FIG. 6 also shows the difference angles (the difference angle θ _n and the difference angle θ _n+1 ) in the previous drilling and the current drilling at the drilling start point P7.

In FIG. 5(a), the center coordinates of the designed excavated surface (or designed sprayed surface) are shown as the origin O, and the overcut evaluation range No. 1 to No. 7 shows the overcut existing between the actual excavated surface and the design excavated surface.
In addition, 1200 in the figure is a numerical value determined so that 12 degrees×15 drilling start points=180 degrees when the angle Θ of the overcut evaluation range in the circular design excavation surface is 12 degrees.
Here, the 15 drilling start points include 13 drilling start points P1 to P13 corresponding to the 13 overdigging evaluation ranges, and two drilling start points (the drilling start point P0 existing on the counterclockwise side of the drilling start point P1). and the drilling start point P14 located on the clockwise side of the drilling start point P13).

In addition, the design drilling surface (or design spraying surface) is a shape including a semicircle above the horizontal line passing through the origin O, represented by the angle Θ (= 12 degrees) x the number of drilling start points 15 = 180 degrees. becomes.
In other words, the design drilling surface (or design spraying surface) has, for example, a semicircle with a radius of 5700 (mm) above the origin O and a straight line with a height of 2200 (mm) below the origin O. Configuration.

That is, the over-digging evaluation range No. corresponding to the number of drilling start points of 13. 1 to No. Each of 13 has an overcut that exists on the outer peripheral side of the design excavation surface in a direction perpendicular to the tunnel direction in the range of an angle Θ=12 degrees clockwise from the origin O.
In addition, over-digging evaluation range No. 1 to No. The drilling start points P1 to P13 set corresponding to 13 are set so that the position from the circular origin O of the design excavation surface is the predetermined position (so that the drilling start point is the outermost hole). It is

In FIG. 5(b), when the evaluation range of overcutting in the tunnel direction is l = 1000 (mm) x set value α (= 1), the above Θ = 90 degrees (that is, The previous face and the current face of the overcut evaluation range No. 7) in the vertical direction on the plane perpendicular to it are shown.
In addition, FIG. 5B shows that the drilling length in the previous drilling shown in FIG. 6 (the distance from the drilling start point P7 of the straight line shown in the current drilling) was 1100 (mm). .

FIG. 6 shows the previous difference angle θ _n and the current difference angle θ _n+1 at the drilling start point P7.
Here, the position of the drilling starting point P7 corresponding to the previous cutting angle _θn indicates the position of the outermost peripheral hole in the previous cutting face shown in FIG.
Also, the position of the drilling starting point P7 corresponding to the current cutting angle θn ₊₁ indicates the position of the outermost hole in the current cutting face shown in FIG.

In addition, FIG. 6 shows that the average _overcutting depth Δ in the overcutting evaluation range including the drilling start point P7 is Δn when drilling is performed with the difference angle _θn in the previous drilling. there is
In addition, FIG. 6 shows that there is a spraying thickness t (the thickness of the overcutting corresponding to the sprayed concrete shown in FIG. 3) below the average overcutting depth Δ.

In FIG. 6, the distance between the previous face and the current face is indicated by one blasting progress length l.
Here, since there is a possibility that the bottom of the hole is under-excavated, the average over-digging depth calculation unit 21 uses the data acquired from the 3D scanner unit 10 to obtain data in the range from the previous face to α x l ( 6) is used to calculate the average _overcut depth Δn.
Note that α is a set value that satisfies α≦1.

Also, the angle calculator 22 calculates the angle _{θn +1} for the current drilling from the angle _θn for the previous drilling and the average over-digging depth Δn using the following equation (1).
α×l×tan θ _n+1 =α×l×tan θ _n −Δ _n (1)
However, the formula (1) is used for calculation when θ _n+1 ≧θ _min (when the angle of difference θ _n+1 in the current drilling is equal to or greater than the minimum angle of difference). Note that the minimum difference angle θ _min is, for example, a value based on mechanical characteristics of about θ _min =3°.

On the other hand, when θ _n+1 <θ _min (when the difference angle θ _n+1 in the current drilling is less than the minimum difference angle), the difference angle θ _n+1 in the current drilling is set to the minimum difference angle θ _min , The hole mouth is moved to the inner surface side in the radial direction of the tunnel by a position movement amount δ.
That is, the position movement amount δ is calculated by the following equation (2), and the position of the drilling start point P7 is moved from the position of the previous outermost peripheral point based on the calculated movement amount δ.
δ ₌ β×Δn (2)
However, the set value β is β ≤ 1, and if β ₌ 1, there is a possibility that it will not be possible to excavate to the total excavation surface. Since Δn of _Δn may be changed to 1/2× _Δn or 1/3× _Δn , _β≤1 .

In other words, a large over-digging may occur even at the minimum insertion angle θ _min . Therefore, offset is performed inward while maintaining θ _min . However, since it will be necessary to verify in the future whether or not the amount of overcut Δ _n at that time is used as the offset amount as it is, in the present embodiment, it is in the form of β×Δ _n (β≦1).

Next, processing performed by the drilling positioning control device 20 in this embodiment will be described with reference to FIG. FIG. 7 is a flowchart for explaining blasting pattern generation processing when using the configuration example of the embodiment of the present invention.
The average over-digging depth calculator 21 calculates an average over-digging depth _Δn (step S1).
Specifically, the average overcutting depth calculation unit 21 calculates the amount of overcutting in one of the overcutting evaluation ranges (No. 1 to No. 13) set on the outer periphery of the face surface. Calculate the average over-digging depth _Δn .

The input angle calculator 22 calculates the input angle θn ₊₁ of the current drilling (step S2).
Specifically, the difference angle calculation unit 22 calculates the difference angle _{θn +1} of the current drilling based on the calculated average overcut depth Δn and the difference angle _θn of the previous drilling as follows: It is calculated using the formula (1).

It is determined whether or not the present drilling angle θ _n+1 is equal to or greater than the minimum angle θ _min (step S3).
Specifically, the angle calculator 22 determines whether or not the current drilling angle θ _n+1 is greater than or equal to the minimum angle θ _min .

If the current drilling angle θ _n+1 is equal to or greater than the minimum angle difference θ _min (step S3—Yes), the current drilling angle θ n+1 is determined (step S4).
Specifically, when the current drilling angle θ _n+1 is equal to or greater than the minimum angle θ _min , the difference angle calculation unit 22 calculates the current difference angle by the formula (1). is the difference angle θ _n+1 of the drilling this time.
Then, the position of the aperture is not changed (step S5).
Specifically, the input angle calculator 22 does not change the hole opening from the position of the outermost hole drilled using the previous drilling input angle _θn .

On the other hand, if the current drilling difference angle θ _n+1 is less than the minimum difference angle θ _min (step S3-No), the current difference angle θ _n+1 =minimum difference angle θ _min (step S6). .
Specifically, the difference angle calculator 22 sets the difference angle θ _n+1 of the current drilling as the minimum difference angle θ _min .
Then, the aperture is moved by the position movement amount δ (step S7).
Specifically, the input angle calculator 22 shifts the inner surface of the tunnel in the radial direction from the position of the outermost hole drilled using the previous drilling input angle _θn by the amount of positional movement δ. Calculate the moved position.

A position control signal is transmitted (step S8).
Specifically, in steps S4 and S5 or in steps S6 and S7, the angle calculator 22 outputs the calculated position control signal (the position of the outermost hole and the angle) to the servo mechanism 30. .
As a result, the servo mechanism 30 moves the drilling bit of the rock drilling machine to a predetermined drilling position (outermost hole position), and perform drilling with the drill bit.

As described above, the drilling positioning method of the present embodiment is a drilling positioning method for calculating a drilling position when a rock drilling machine used for tunnel construction drills a face surface.
The drilling positioning method includes an average over-drilling depth calculation step and an offset angle calculation step.
The average overcutting depth calculation step is a step of calculating an average overcutting depth of the overcutting amount in the overcutting evaluation range set on the outer periphery of the face surface.
Further, the difference angle calculation step is a step of calculating the difference angle of the current drilling based on the calculated average over-digging depth and the difference angle of the previous drilling.

Further, in the input angle calculation step, when the calculated input angle of the current drilling is less than a predetermined minimum input angle, the input angle is set to the minimum input angle, and the hole opening which is the position to be drilled is is moved to the inner surface side in the radial direction of the face surface based on the average over-digging depth.

In addition, _θn is the differential angle of the previous drilling, Δn is the average over-digging depth, _{θn +1} is the differential angle of the current drilling, l is the blasting progress length, and α (≤ 1 ) and β (≦1), the positional movement amount calculation step calculates the positional movement amount β×Δn by an expression represented by α×l×tan θ _{n +1} =α×l×tan θ _n −β× _Δn is characterized by being a step of calculating

According to the embodiment of the present invention, by automatically changing the angle of the outermost perimeter hole so as to reduce the amount of over excavation for each excavation, it is possible to find the optimum blasting pattern according to the natural ground. As a result, it is possible to reduce excavation debris and shotcrete loss. By extension, it is possible to realize labor saving, improvement of quality and finished form at the same time.

The functions of the drilling positioning control device 20 in the above-described embodiment may be realized by a computer. In that case, a program for realizing this function may be recorded in a computer-readable recording medium, and the program recorded in this recording medium may be read into a computer system and executed. It should be noted that the “computer system” here includes hardware such as an OS and peripheral devices. The term "computer-readable recording medium" refers to portable media such as flexible discs, magneto-optical discs, ROMs and CD-ROMs, and storage devices such as hard discs incorporated in computer systems. Furthermore, "computer-readable recording medium" means a medium that dynamically retains a program for a short period of time, like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. It may also include something that holds the program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or client in that case. Further, the program may be for realizing a part of the functions described above, or may be capable of realizing the functions described above in combination with a program already recorded in the computer system. It may be implemented using a programmable logic device such as an FPGA (Field Programmable Gate Array).

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configurations are not limited to those described above, and various design changes can be made without departing from the gist of the present invention. It is possible to

10 3D scanner unit 20 drilling positioning control device 30 servo mechanism 21 average overcut depth calculation unit 22 angle calculation unit 23 storage unit

Claims (6)

A drilling positioning method for calculating a drilling position when a rock drill used for tunnel construction drills a face surface,
an average overcut depth calculation step of calculating an average overcut depth of an overcut amount in an overcut evaluation range set on the outer circumference of the face surface;
a differential angle calculation step of calculating the differential angle of the current drilling based on the calculated average over-digging depth and the differential angle of the previous drilling;
A drilling and positioning method comprising: The difference angle calculation step includes:
If the calculated difference angle of the drilling this time is less than the predetermined minimum difference angle,
Set the angle to the minimum angle,
A position movement amount calculation step of calculating a position movement amount for moving the hole mouth, which is the position to be drilled, toward the inner surface side in the radial direction of the face surface based on the average overcut depth. The drilling and positioning method according to claim 1. _θn is the differential angle of the previous drilling, Δn is the average over-digging depth, _{θn +1} is the differential angle of the current drilling, 1 is the blasting progress length, and α (≦1) is the set value. Assuming β (≦1),
The positional movement amount calculating step is a step of calculating the positional movement amount β×Δn by a formula represented by α× _l ×tan θ _{n +1} =α×l×tan θ _n −β×Δn. The drilling positioning method according to claim 2. A drilling positioning control device for calculating a drilling position when a rock drill used for tunnel construction drills a face surface,
an average overcut depth calculation unit that calculates an average overcut depth of the amount of overcut in the overcut evaluation range set on the outer periphery of the face surface;
a differential angle calculation unit that calculates the differential angle of the current drilling based on the calculated average over-digging depth and the differential angle of the previous drilling;
A drilling positioning control device comprising: The angle calculator,
If the calculated difference angle of the drilling this time is less than the predetermined minimum difference angle,
Set the angle to the minimum angle,
5. The method according to claim 4, wherein a position movement amount for moving the hole opening, which is the position to be drilled, to the inner surface side in the radial direction of the face surface is calculated based on the average overcut depth. Drill positioning control device. _θn is the differential angle of the previous drilling, Δn is the average over-digging depth, _{θn +1} is the differential angle of the current drilling, 1 is the blasting progress length, and α (≦1) is the set value. Assuming β (≦1),
6. The difference angle calculator calculates the positional movement amount β×Δn by a formula represented by α× _l ×tan θ _{n +1} =α×l×tan θ _n −β×Δn. The drilling positioning control device according to 1.

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