JP7340417B2 - perforation charging system - Google Patents

Description

TECHNICAL FIELD This invention relates to perforating charge systems .

The NATM (New Austrian Tunneling Method) method, which is mainly used for constructing mountain tunnels, constructs tunnels in the axial direction by repeating the blasting process, scraping process, and concrete material spraying process every predetermined distance as one cycle. To go. In the blasting process, explosives are loaded into blast holes drilled in the face, and the rock at the face is crushed using the explosives. Since the hardness of rock differs for each blasting process, it is preferable to set loading conditions such as the amount of charge for each blasting process, and Patent Document 1 discloses a blasting system that sets loading conditions for each blasting process. ing.

In the blasting system disclosed in Patent Document 1, a blasting pattern is designed by calculating the number of blast holes, the length of the blast holes, and the amount of charge based on measurement information when blasting is performed. Next, blast holes are drilled and explosives are loaded based on the designed blasting pattern.

Japanese Patent Application Publication No. 7-218199

In the system disclosed in Patent Document 1, the explosive loading conditions are set based on information obtained in the blasting process one cycle before. The information obtained in the blasting process one cycle before is information about the crushed rock, and is different from the hardness of the rock to be crushed. Therefore, it is not possible to set loading conditions according to the hardness of the rock, and there is a possibility that the rock cannot be crushed appropriately.

The object of the present invention is to appropriately crush rock.

The present invention also provides a drilling/charging system for drilling a blasting hole in rock and loading an explosive into the blasting hole, comprising a drilling device for drilling the blasting hole, a charging device for loading the explosive into the blasting hole, A charge management device that manages the loading of explosives by the charge device, a first movable trolley that movably supports the perforation device, a second movable trolley that movably supports the charge device, a first movable trolley, and The charge management device includes a drilling controller that controls the movement of the drilling device, and a charge controller that controls the movement of the second movable cart and the charge device, and the charge management device collects information on rock hardness collected during drilling operations by the drilling device. The loading device includes an information acquisition unit that acquires perforation information about The blasting hole is loaded with explosives based on the derived loading conditions, and the drilling controller acquires drilling information and positional information of the blasting hole based on the position of the first movable cart and the position of the drilling device. , the information acquisition unit acquires perforation information and blast hole position information, and the loading condition derivation unit derives explosive loading conditions based on the perforation information and combines the explosive loading conditions with the blast hole position information. The charge controller acquires the position information of the charge device based on the position of the second movable cart and the position of the charge device, and also stores the acquired position information of the charge device and the position information of the blast hole. The charging device is guided and moved based on the blast hole position information, and the charging device loads the explosive into the blast hole based on the loading conditions stored together with the blast hole position information.

According to the present invention, rock can be appropriately crushed.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of a drilling charge system according to an embodiment of the present invention, showing a state in which a blast hole is drilled in rock. 1 is a schematic diagram of a perforation charge system according to an embodiment of the present invention, showing a state in which explosives are loaded into a blast hole. FIG. FIG. 1 is a block diagram showing a charge management device according to an embodiment of the present invention. 1 is a flowchart showing a charge management method according to an embodiment of the present invention. FIG. 6 is a schematic diagram of a perforation charging system according to a modification of the embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a charge management device, a perforation charge system, and a charge management method according to embodiments of the present invention will be described with reference to the drawings.

In the NATM construction method, which is mainly used for constructing mountain tunnels, etc., the tunnel T is constructed in the axial direction by repeating the blasting process, sloughing process, and concrete material spraying process as one cycle, for example, every 1 to 3 meters. . In the blasting process, as shown in FIG. 1, a plurality of blast holes 1 are drilled in the rock at the face S, and as shown in FIG. Crush the bedrock. Note that FIG. 1 shows a state in which the drilling device 10 is performing a drilling operation, and FIG. 2 shows a state in which a charging device 20 is performing a charging operation.

In order to appropriately destroy the rock mass in the face S, it is effective to control the crushing range by the explosives 2. The crushing range by the explosive 2 is determined by the hardness of the rock, the amount of the explosive 2 (charge amount), the type and layout of the explosive 2, and the like. Since the hardness of the rock at the face S differs from cycle to cycle, it is required to load the explosive 2 into the blast hole 1 according to the hardness of the rock to be crushed.

In the charge management device 30, perforation charge system 100, and charge management method according to the present embodiment, conditions such as the amount, type, and layout of the explosive 2 to be loaded into the blasting hole 1 (hereinafter referred to as (also referred to as "loading conditions for explosive 2") are set based on the drilling information collected during the drilling operation. Therefore, the explosive 2 can be loaded into the blast hole 1 according to the hardness of the rock to be crushed, and the rock can be appropriately crushed.

Hereinafter, the charge management device 30, the perforation charge system 100, and the charge management method will be described in detail.

As shown in FIGS. 1 and 2, the drilling and charging system 100 includes a drilling device 10, a charging device 20, a charging management device 30 that manages loading of explosives 2 by the charging device 20, and an inner wall of the rock. A shape measuring device 70 that measures the shape of W is provided. The drilling device 10 and the charge device 20 are movably supported by a first moving truck 40 and a second moving truck 50, respectively. During drilling work, the first movable cart 40 stops near the face S, as shown in FIG. During the charging operation, as shown in FIG. 2, a second movable trolley 50 stops near the face S instead of the first movable trolley 40.

As shown in FIG. 1, the drilling device 10 includes a rod 12 with a bit 11 attached to one end, a drifter 13 that supports the other end of the rod 12, and a guide cell 14 that guides the movement of the drifter 13. ing. When the drifter 13 reciprocates along the guide cell 14 by a drive mechanism (not shown), the rod 12 reciprocates along the guide cell 14.

The drifter 13 can apply rotational force to the rod 12 as well as impact force. The blast hole 1 is drilled by rotating the bit 11 while pressing the bit 11 against the rock at the face S and striking the rock using the bit 11.

The first movable cart 40 swingably supports the base end of a telescopic boom 41, and the guide cell 14 of the drilling device 10 is swingably supported at the tip of the boom 41. The boom 41 swings relative to the first movable cart 40 and expands and contracts by a drive mechanism (not shown). As the boom 41 swings and expands and contracts, the punching device 10 moves vertically and horizontally. The guide cell 14 of the drilling device 10 is swung relative to the boom 41 by a drive mechanism (not shown). As the guide cell 14 swings, the orientation of the punching device 10 (orientation of the rod 12) changes.

The movement of the first movable cart 40, the swinging and expansion/contraction of the boom 41, and the swinging and driving of the drilling device 10 are controlled by a drilling controller 42. The drilling controller 42 includes a CPU (Central Processing Unit) that executes a control program, etc., a ROM (Read-Only Memory) that stores the control program executed by the CPU, and a RAM (Random Access Unit) that stores the calculation results of the CPU. Memory), and may be configured by one microcomputer or multiple microcomputers.

The drilling controller 42 is capable of acquiring positional information of the drilling device 10 with respect to a predetermined reference point P within the tunnel T. Specifically, the drilling controller 42 determines the position of the drilling device 10 with respect to the reference point P using the position of the first moving cart 40 with respect to the reference point P and the position of the drilling device 10 with respect to the first moving cart 40. The calculated position is obtained as position information of the punching device 10.

The position of the first moving carriage 40 with respect to the reference point P is detected by using a total station 60 provided at the reference point P and a prism 61 mounted on the first moving carriage 40. The position of the drilling device 10 with respect to the first movable cart 40 is determined by, for example, a sensor that detects the swinging angle of the boom 41, a sensor that detects the amount of expansion and contraction of the boom 41, and a sensor that detects the swinging angle of the guide cell 14 of the drilling device 10. It is detected by using a sensor that

The position of the drilling device 10 during the drilling operation corresponds to the position of the blast hole 1. Therefore, by acquiring the positional information of the drilling device 10 with respect to the reference point P, the positional information of the blast hole 1 can be acquired. The acquired position information of the blast hole 1 is stored and collected in a storage unit (not shown).

Further, the drilling controller 42 can acquire drilling information. The drilling information is information regarding the hardness of the rock, and specifically, the energy (drilling energy) and time (drilling time) required for drilling the blast hole 1. The drilling energy is calculated using, for example, the rotational torque applied to the rod 12, the rotational speed of the rod 12, the striking pressure applied to the rod 12, and the number of strikes of the rod 12. The higher the drilling energy and the longer the drilling time, the harder the rock. The obtained drilling information is stored and collected in a storage unit (not shown).

As shown in FIG. 2, the charging device 20 includes a hose 21 that delivers the explosive 2, a feeding section 22 that feeds out the hose 21, and a support section 23 that supports the feeding section 22. The hose 21 is connected to an explosive reservoir (not shown). The explosive 2 is supplied from the explosive reservoir to the hose 21 and delivered from the hose 21 by a delivery mechanism (not shown).

The explosive 2 is, for example, a hydrous explosive containing ammonium nitrate as a main ingredient and 5% or more water, ANFO (Ammonium Nitrate Fuel Oil explosive) in which an oil agent is mixed with ammonium nitrate, or an SB explosive for the smooth blasting method.
A plurality of types of explosives 2 are stored in the explosive storage section, and the type of explosives 2 supplied to the hose 21 is selected by a selection mechanism (not shown).

When the feeding unit 22 feeds out the hose 21 near the blast hole 1, the hose 21 is inserted into the blast hole 1. By sending out the explosive 2 from the hose 21 with the hose 21 inserted into the blast hole 1, the blast hole 1 is loaded with the explosive 2. By controlling the amount of explosive 2 delivered from the hose 21, the amount of charge can be controlled. The feeding unit 22 is capable of feeding back the hose 21, and feeds out the explosive 2 from the hose 21 while feeding the hose 21 back. The charge amount can also be controlled by controlling the return speed of the hose 21. Furthermore, by controlling the return speed of the hose 21, the layout of the explosive 2 within the blast hole 1 can be controlled.

Like the first moving cart 40, the second moving cart 50 swingably supports the base end of a telescopic boom 51, and the support portion 23 of the charge device 20 is swingably supported at the tip of the boom 51. freely supported. The boom 51 swings relative to the second movable cart 50 and expands and contracts by a drive mechanism (not shown). As the boom 51 swings and expands and contracts, the charge device 20 moves vertically and horizontally. The support portion 23 of the charge device 20 swings relative to the boom 51 by a drive mechanism (not shown). As the support section 23 swings, the orientation of the charge device 20 (orientation of the feeding section 22) changes.

The movement of the second movable cart 50, the swinging and expansion/contraction of the boom 51, and the swinging and driving of the charge device 20 are controlled by the charge controller 52. The charge controller 52, like the drilling controller 42, is a microcomputer, and may be composed of one microcomputer or a plurality of microcomputers.

The charge controller 52 can acquire position information of the charge device 20 with respect to the reference point P. Specifically, the charge controller 52 uses the position of the second movable cart 50 with respect to the reference point P and the position of the charge device 20 with respect to the second movable cart 50 to adjust the charge device 20 with respect to the reference point P. The calculated position is obtained as the position information of the loading device 20.

The position of the second moving carriage 50 with respect to the reference point P is detected by using the total station 60 and the prism 62 mounted on the second moving carriage 50. The position of the charge device 20 with respect to the second movable cart 50 is determined by, for example, a sensor that detects the swing angle of the boom 51, a sensor that detects the amount of expansion and contraction of the boom 51, and a swing angle of the support portion 23 of the charge device 20. Detected by using a sensor that detects

The charge controller 52 can acquire the position information of the blast hole 1 acquired by the perforation controller 42, and guides the charge device 20 based on the position information of the blast hole 1 and the position information of the charge device 20. You may also move it. Specifically, the charge controller 52 moves the charge device 20 so that the position information of the charge device 20 substantially matches the position information of the blast hole 1 . A state in which the position information of the charge device 20 substantially matches the position information of the blast hole 1 is a state in which the charge device 20 is located near the blast hole 1.

Further, the charge controller 52 can acquire charge information. The charge information is information regarding the explosive 2 actually loaded into the blasting hole 1, and specifically, the amount (charge amount), type, and layout of the explosive 2 actually loaded into the blasting hole 1. . The acquired charge information is stored and collected in a storage unit (not shown).

The shape measuring device 70 is, for example, a 3D scanner. By measuring the shape of the inner wall W using the shape measuring device 70 after the blasting process, it is possible to confirm the crushing range by the explosive 2. The measured shape of the inner wall W is stored as shape information in a storage unit (not shown). Note that although the shape measuring device 70 is mounted on the first moving trolley 40 in the example shown in FIG. good.

The charge management device 30 is capable of communicating with the drilling controller 42, the charge controller 52, and the shape measuring device 70. Although the charge management device 30 is mounted on the second movable trolley 50 in the example shown in FIGS. 1 and 2, it may be mounted on the first movable trolley 40, or may It may be separated from the mobile trolley 50 (for example, installed in an office).

The charge management device 30, like the drilling controller 42 and the charge controller 52, is a microcomputer, and may be composed of one microcomputer or a plurality of microcomputers.

As shown in FIG. 3, the charge management device 30 includes an information acquisition unit 31 that acquires information collected by the perforation controller 42, the charge controller 52, and the shape measuring device 70, and a loading unit that derives the loading conditions for the explosive 2. It includes a condition derivation section 32, a correction section 33 that corrects the derived loading conditions, and an output section 34 that outputs the loading conditions to the drilling controller 42. The information acquisition section 31, the loading condition derivation section 32, the correction section 33, and the output section 34 are virtual units of the functions of the charge management device 30.

The information acquisition unit 31 acquires, for each of the plurality of blast holes 1, drilling information and position information of the blast holes 1 collected during the drilling work by the punching device 10. Further, the information acquisition unit 31 acquires charging information collected during charging work by the charging device 20 for each of the plurality of blast holes 1. Further, the information acquisition unit 31 acquires shape information of the inner wall W of the rock mass after being crushed by the explosive 2.

The loading condition deriving unit 32 derives loading conditions for the explosive 2 using the charging device 20 based on the perforation information. Specifically, the loading condition deriving unit 32 derives the loading condition of the explosive 2 corresponding to the drilling information by referring to a table showing the relationship between information regarding the hardness of the rock and the charging condition. The table may be created through experiments conducted in advance, or may be created using information regarding rock hardness and loading conditions collected during construction work such as mountain tunnels that have already been constructed. The loading condition deriving unit 32 may derive the loading condition of the explosive 2 corresponding to the acquired perforation information using a predetermined mathematical formula instead of the table.

Since the loading condition deriving unit 32 derives the loading conditions for the explosive 2 based on the drilling information, the loading conditions for the explosive 2 are set according to the hardness of the rock in which the blast hole 1 is drilled. Therefore, the explosive 2 can be loaded into the blast hole 1 according to the hardness of the rock to be crushed, and the rock can be appropriately crushed.

Moreover, the loading condition derivation|leading-out part 32 derives the loading condition of the explosive 2 based on the perforation|boring information of the several blasting hole 1, or based on the perforation|boring information acquired for every several blasting hole 1. Therefore, the loading conditions for the explosive 2 are set depending on the hardness of the rock at the position where the blast hole 1 is drilled. Therefore, the explosive 2 can be loaded into the blast hole 1 while changing the loading conditions according to the hardness distribution within the rock mass to be crushed, and the rock mass can be crushed more appropriately.

Note that the loading condition deriving unit 32 may derive the loading condition of the explosive 2 for each of the plurality of blast holes 1, or divide the plurality of blast holes 1 into groups and derive the loading condition of the explosive 2 for each group. It's okay.

Furthermore, the loading condition derivation unit 32 stores the derived multiple loading conditions together with the position information of the blast hole 1. Thereby, the plurality of derived loading conditions are associated with the position information of the blast hole 1.

The correction unit 33 corrects the loading conditions derived by the loading condition derivation unit 32 based on the shape of the inner wall W after the blasting process one cycle before. For example, the correction unit 33 compares the shape information of the inner wall W acquired after the previous blasting process one cycle with predetermined design shape information, and determines whether the shape of the inner wall W substantially matches the design shape. to judge. When the shape of the inner wall W substantially matches the designed shape, the loading conditions derived by the loading condition deriving section 32 are not corrected. When the shape of the inner wall W is smaller than the designed shape, the loading conditions derived by the loading condition deriving section 32 are corrected so that the crushing range by the explosive 2 becomes larger. When the shape of the inner wall W is larger than the designed shape, the loading conditions derived by the loading condition deriving section 32 are corrected so that the crushing range by the explosive 2 becomes smaller. The correction amount is calculated using, for example, the shape of the inner wall W after the blasting step one cycle before, the perforation information and the charging information one cycle before. Note that the correction unit 33 is not limited to the form in which the loading conditions are corrected based on the comparison between the shape information of the inner wall W and the design shape information, and the correction unit 33 corrects the loading conditions using only the shape of the inner wall W after the blasting process one cycle before. may be corrected.

When correcting the loading conditions so that the blasting range of the explosive 2 is increased, the correction unit 33 may, for example, increase the amount of the charge, change to a more powerful type, or reduce the amount of the explosive 2 in the blast hole 1. Change to a layout with higher density. In addition, when correcting the loading conditions so that the fragmentation range by the explosive 2 becomes smaller, for example, the amount of the charge is reduced, the charge is changed to a type with less power, or the density of the explosive 2 in the blast hole 1 is lowered. Change the layout to

The corrected loading conditions are stored together with the position information of the blast hole 1. Thereby, the plurality of corrected loading conditions are associated with the position information of the blast hole 1.

Since the correction unit 33 corrects the loading conditions of the explosive 2 based on the shape of the inner wall W after the previous blasting process and the predetermined design shape, the loading conditions of the explosive 2 are based on the actual crushing by the explosive 2. It is set depending on the area and the hardness of the rock. Therefore, rock can be crushed more appropriately.

The output unit 34 outputs the corrected charge conditions to the charge controller 52. The charge controller 52 controls the charge device 20 (see FIG. 2) according to charge conditions, and loads the explosive 2 into the blast hole 1. Therefore, the explosive 2 is loaded into the blast hole 1 according to the hardness of the rock to be crushed. Therefore, rock can be appropriately crushed.

The charge controller 52 controls the charge device 20 based on the loading conditions stored together with the position information of the blast hole 1 . Specifically, the charge controller 52 extracts a loading condition corresponding to the position of the charging device 20 from the stored loading conditions of the plurality of explosives 2, and adjusts the loading condition of the charging device 20 based on the extracted loading condition. control. Therefore, the explosive 2 can be loaded into each of the plurality of blast holes 1 without changing the loading conditions. Therefore, rock can be crushed more appropriately.

Next, the charge management method and the perforation charge method will be explained with reference to FIG. 4. The charge management method is executed before the drilling of the blast hole 1 is completed and before the blast hole 1 is loaded. Steps S402 to S405 shown in FIG. 4 correspond to the loading management method. Here, it is assumed that the shape of the inner wall W after the blasting step one cycle ago has been measured by the shape measuring device 70.

In step S401, the first movable cart 40 is stopped near the face S, and a blast hole 1 is bored into the bedrock at the face S using the drilling device 10. At this time, drilling information is acquired. At this time, the position information of the blast hole 1 is acquired together with the perforation information. The acquired perforation information and position information of the blast hole 1 are stored and collected in a storage unit (not shown).

In step S402, the drilling information collected in step S401 is acquired (information acquisition step). At this time, the positional information of the blasting hole 1 and the shape information of the inner wall W after the blasting process one cycle before are acquired.

In step S403, loading conditions for the explosive 2 are derived based on the perforation information acquired in step S402 (loading condition derivation step). The derived loading conditions are stored together with the position information of the blast hole 1.

In step S404, the loading conditions derived in step S403 are corrected based on the shape of the inner wall W after the blasting process one cycle before and the predetermined design shape (correction step). The corrected loading conditions are stored together with the position information of the blast hole 1. In step S405, the loading conditions corrected in step S404 are output to the charge controller 52 together with the position information of the blast hole 1.

Steps S402 to S405 may be executed after all the blast holes 1 have been drilled, or may be executed every time one blast hole 1 has been drilled.

In step S406, the first movable dolly 40 is replaced with the second movable dolly 50, the second movable dolly 50 is stopped near the face S, and the charging device 20 is controlled based on the loading conditions output in step S405. Load explosive 2 into blast hole 1. At this time, charging information is acquired.

Note that the replacement of the first movable trolley 40 and the second movable trolley 50 may be performed in parallel with steps S402 to S405.

In step S407, the explosive 2 loaded in the blast hole 1 is exploded to crush the bedrock of the face S. In step S408, the shape of the inner wall W after being crushed is measured using the shape measuring device 70, and is stored as shape information. The shape information is used in the correction step (step S404) in the next cycle.

According to the above embodiment, the following effects are achieved.

In the charge management device 30 and the charge management method, loading conditions for the explosive 2 are derived based on the perforation information. Therefore, the loading conditions for the explosive 2 are set according to the hardness of the rock in which the blast hole 1 is drilled. Therefore, the explosive 2 can be loaded into the blast hole 1 according to the hardness of the rock to be crushed, and the rock can be appropriately crushed.

Furthermore, loading conditions for the explosive 2 are derived based on the perforation information acquired for each of the plurality of blast holes 1. Therefore, the loading conditions for the explosive 2 are set depending on the hardness of the rock at the position where the blast hole 1 is drilled. Therefore, the explosive 2 can be loaded into the blast hole 1 while changing the loading conditions according to the hardness distribution within the rock mass to be crushed, and the rock mass can be crushed more appropriately.

Furthermore, the loading conditions for the explosive 2 are corrected based on the shape of the inner wall W of the rock after blasting with the explosive 2 loaded into the blasting hole 1 and a predetermined design shape. Therefore, the loading conditions for the explosive 2 are set according to the actual crushing range by the explosive 2 and the hardness of the rock. Therefore, rock can be crushed more appropriately.

In the perforation charging system 100, the charging device 20 loads the explosive 2 into the blast hole 1 based on the charging conditions of the derived explosive 2. Therefore, the explosive 2 is loaded into the blast hole 1 under loading conditions set according to the hardness of the rock to be crushed. Therefore, rock can be appropriately crushed.

Further, the charging device 20 loads the explosive 2 into the blast hole 1 based on the loading conditions stored together with the position information of the blast hole 1. Therefore, the explosive 2 can be loaded into each of the plurality of blast holes 1 without changing the loading conditions. Therefore, rock can be crushed more appropriately.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments. do not have.

After drilling the blast hole 1, the inside of the blast hole 1 may be cleaned using water or air, and then the explosive 2 may be loaded.

The drilling controller 42, the charge controller 52, and the charge management device 30 may be configured by one microcomputer.

In the embodiment described above, the drilling device 10 is movably supported by the first movable trolley 40, and the charge device 20 is movably supported by the second movable trolley 50, but the present invention is limited to this embodiment. do not have. As shown in FIG. 5, both the punching device 10 and the charging device 20 may be movably supported by a common movable cart 140.

In the example shown in FIG. 5, the movable trolley 140 swingably supports the base ends of telescopic booms 141a and 141b. The drilling device 10 is swingably supported at the tip of the boom 141a, and the charge device 20 is swingably supported at the tip of the boom 141b. Movement of the mobile cart 140, swinging and expansion/contraction of the booms 141a and 141b, and swinging and driving of the drilling device 10 and the charging device 20 are controlled by the drilling charging controller 142. The perforation charge controller 142 acquires the perforation information, the position information of the blasting hole 1 with respect to the movable cart 140 based on the position of the perforation device 10, and the position information of the charge device 20 with respect to the movable cart 140. The charging device 20 is moved based on the position information of the blast hole 1 and the position information of the charging device 20. The charging device 20 loads the explosive 2 into the blast hole 1 based on the loading conditions stored together with the position information of the blast hole 1 . Therefore, the explosive 2 can be loaded into each of the plurality of blast holes 1 without changing the loading conditions. Therefore, rock can be crushed more appropriately.

In the example shown in FIG. 5, the charge management device 30 is separated from the movable trolley 140, but may be mounted on the movable trolley 140. Further, the drilling charge controller 142 and the charge management device 30 may be configured by one microcomputer.

Although not shown, the drilling device 10 and the charging device 20 may be supported by a common boom. In this case, it is preferable that the drilling device 10 and the charging device 20 are arranged on a concentric circle centered on a rotating shaft provided at the tip of the boom. By arranging the drilling device 10 and the charging device 20 concentrically and rotating them around the rotation axis, the charging device 20 can be easily moved to the vicinity of the blasting hole 1 at the angle of the blasting hole 1. An explosive charge 2 can be loaded into the blast hole 1. Further, a cleaning device (not shown) for cleaning the inside of the blasting hole 1 may be arranged concentrically with the drilling device 10 and the charging device 20. In this case, the cleaning device can be easily moved near the blast hole 1 at the angle of the blast hole 1, and the inside of the blast hole 1 can be easily cleaned.

1... Blasting hole 2... Explosive 10... Drilling device 20... Charge device 30... Charge management device 31... Information acquisition section 32... Loading condition deriving section 33... - Correction unit 40...first moving cart 42...drilling controller 50...second moving cart 52...charge controller 100...drilling charge system 140...movable cart 142... perforation charge controller

Claims (1)

A drilling charge system for drilling a blast hole in bedrock and loading an explosive into the blast hole,
a drilling device for drilling the blast hole;
a charging device for loading the explosive into the blast hole;
a charge management device that manages loading of the explosive by the charge device;
a first movable trolley movably supporting the drilling device;
a second movable trolley movably supporting the charge device;
a drilling controller that controls movement of the first movable cart and the drilling device;
A charge controller that controls movement of the second movable cart and the charge device,
The charge management device includes:
an information acquisition unit that acquires drilling information regarding the hardness of the rock mass collected during drilling work by the drilling device;
a loading condition derivation unit that derives loading conditions for the explosive based on the perforation information acquired by the information acquisition unit;
The charging device loads the explosive into the blast hole based on the loading condition derived by the loading condition deriving unit ,
The perforation controller acquires the perforation information and the position information of the blast hole based on the position of the first movable cart and the position of the perforation device,
The information acquisition unit acquires the perforation information and the position information of the blast hole,
The loading condition deriving unit derives loading conditions for the explosive based on the perforation information and stores the loading conditions for the explosive together with position information of the blast hole,
The charge controller acquires position information of the charge device based on the position of the second movable cart and the position of the charge device, and also combines the acquired position information of the charge device and the position of the blast hole. guiding and moving the charge device based on position information;
The charging device loads the explosive into the blast hole based on the loading condition stored together with the position information of the blast hole.
perforation charge system.

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