JPS6147954B2 - - Google Patents
Info
- Publication number
- JPS6147954B2 JPS6147954B2 JP11863279A JP11863279A JPS6147954B2 JP S6147954 B2 JPS6147954 B2 JP S6147954B2 JP 11863279 A JP11863279 A JP 11863279A JP 11863279 A JP11863279 A JP 11863279A JP S6147954 B2 JPS6147954 B2 JP S6147954B2
- Authority
- JP
- Japan
- Prior art keywords
- drilling machine
- rock drilling
- television
- target object
- work
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 239000011435 rock Substances 0.000 claims description 26
- 238000005553 drilling Methods 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 3
- 238000009412 basement excavation Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 235000019738 Limestone Nutrition 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000006028 limestone Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Landscapes
- Earth Drilling (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
Description
【発明の詳細な説明】
この発明は、さく岩機械を遠隔制御する方法及
び装置に関し、特に、トンネル切羽等危険を伴う
掘削作業現場に使用するさく岩機械において、さ
く岩機械に発光源とテレビカメラとを搭載し、発
光源にて任意の掘削対象物を照射して、その光点
を２台のテレビカメラを作動して映写して捕捉
し、遠隔の運転室にあるモニタテレビの画面に座
標を一致させて信号処理装置に記憶させ、該装置
内の演算器、比較器を介してさく岩機械のブーム
を駆動し、作業者が遠隔から安全に掘削作業がで
きるようにする。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and apparatus for remotely controlling a rock drilling machine, and in particular, to a rock drilling machine used at a dangerous excavation site such as a tunnel face, the rock drilling machine is equipped with a light emitting source and a television. Equipped with a camera, a light source illuminates any excavated object, and two television cameras are activated to project and capture the light spot, which is then displayed on a monitor television screen in a remote operator's cab. The coordinates are matched and stored in the signal processing device, and the boom of the rock drilling machine is driven via the arithmetic unit and comparator in the device, allowing the worker to perform excavation work safely from a remote location.
一般に、石灰石採掘場のグロリーホール下の原
石グリズリ上の石割り作業や、トンネル工事の無
発破工法によるブレーカによる掘削作業等におい
ては、原石の転動、飛石又は落石等、作業者は常
に危険な状態にさらされており、その作業効率も
悪く、解決の手段のないまま行なわれているのが
現状である。 In general, when breaking stones on the rough grizzly under the glory hole in a limestone quarry, or during excavation work using a breaker using the non-blasting method in tunnel construction, workers are constantly exposed to dangers such as rolling rough stones, flying stones, or falling rocks. The current situation is that the work is being carried out without any means of solving the problem, and the work efficiency is poor.
また、一部には作業者が機体から遠く離れて遠
隔操縦するものもあるが、遠方からでは視界の確
保が不充分で、掘削対象物の確認が困難であり、
非能率である。 In addition, some machines are operated remotely by workers far away from the machine, but visibility is insufficient from a distance and it is difficult to confirm the object to be excavated.
It's inefficient.
この発明は、特に、掘削作業のかかる諸問題を
解決するものである。 This invention is particularly intended to solve such problems in excavation operations.
而してこの発明の目的は、作業者が遠隔の場所
から安全、確実に操作できる方法、装置を提供す
るにあり、またこの発明の目的は、岩石の破砕又
は掘削作業を危険なく行ない得る方法、装置を提
供するにある。 Therefore, an object of the present invention is to provide a method and a device that can be operated safely and reliably by a worker from a remote location, and an object of the present invention is to provide a method and apparatus that allow a worker to perform rock crushing or excavation work without danger. , to provide equipment.
即ちこの出願は、図示する実施例の如く、作業
具４とその駆動装置１５とを有するさく岩機械２
に設けたスポツト光源５と、一定間隔に配置され
た一対のテレビカメラ６，７とを、遠隔の運転室
１１からの遠隔操作によつて、信号処理装置１４
を介して自在に姿勢制御しつつ、前記光源５によ
つて目標対象物Ｃをスポツト照射し、該照射位置
を運転室１１内のモニタテレビ１３上の所定位置
に映写し、且つ前記テレビカメラ６，７の俯仰、
旋回角を検出して、信号処理装置１４によつて記
憶、演算、比較、増幅を行ない、作業員４を目標
対象物Ｃに到達させて遠隔作業を行なうことを特
徴とするさく岩機械の制御方法を特定発明とし、
更に、作業具４とその駆動装置１５とを有するさ
く岩機械２に、スポツト照明できる光源５と、一
定間隔に配置された一対のテレビカメラ６，７と
に夫々駆動装置８，９，１０を備えて俯仰及び旋
回自在に装備し、前記光源５によつて作業点の目
標対象物Ｃを照射設定し、運転室１１内にモニタ
テレビ１３を設け、前記一対のテレビカメラ６，
７を姿勢制御してモニタテレビ１３上に照射位置
を映写できるように構成し、且つ前記テレビカメ
ラ６，７の俯仰角及び旋回角を検出して、さく岩
機械２上の信号処理装置１４によつて記憶、演
算、比較、増幅を行ない、作業具４を目標対象物
Ｃに到達させて遠隔作業ができるように構成した
ことを特徴とするさく岩機械の制御装置を併合発
明とする。 That is, this application discloses a rock drilling machine 2 having a working tool 4 and its drive device 15, as in the illustrated embodiment.
A spot light source 5 provided at
While freely controlling the posture via the light source 5, the light source 5 illuminates the target object C, projects the irradiation position at a predetermined position on the monitor television 13 in the driver's cab 11, and the television camera 6 ,7's elevation,
Control of a rock drilling machine characterized by detecting a turning angle, storing, calculating, comparing and amplifying it by a signal processing device 14, and allowing a worker 4 to reach a target object C and perform remote work. The method is a specified invention,
Furthermore, a rock drilling machine 2 having a working tool 4 and its driving device 15 is provided with a light source 5 capable of spot illumination, and driving devices 8, 9, 10 for a pair of television cameras 6, 7 arranged at regular intervals. The target object C at the work point is irradiated with the light source 5, a monitor television 13 is provided in the operator's cab 11, and the pair of television cameras 6,
7 is configured so as to be able to control its attitude and project the irradiation position on a monitor television 13, and detect the angle of elevation and rotation of the television cameras 6 and 7, and transmit the signals to the signal processing device 14 on the rock drilling machine 2. Therefore, a control device for a rock drilling machine characterized in that it is configured to carry out memory, calculation, comparison, and amplification so that the working tool 4 can reach the target object C and perform remote work.
この発明の実施例を図面を参照して説明する。
第１図はトンネル１の掘削現場にさく岩機械２を
設置した平面図、第２図はその側面図を示してい
る。さく岩機械２には作業用ブーム３を有し、そ
の先端部にブレーカ４（打撃破砕機）等の作業具
を具備して掘削作業を行なうものである。 Embodiments of the invention will be described with reference to the drawings.
FIG. 1 shows a plan view of a rock drilling machine 2 installed at the excavation site of a tunnel 1, and FIG. 2 shows a side view thereof. The rock drilling machine 2 has a working boom 3, and is equipped with a working tool such as a breaker 4 (impact crusher) at the tip thereof to perform excavation work.
第１図において、さく岩機械２の中心線方向を
Ｍとし、トンネル掘進方向をＴとし、その間の角
度をαとする。さく岩機械２の機体の前後左右の
水準を調整して設置する。 In FIG. 1, the direction of the center line of the rock drilling machine 2 is M, the direction of tunnel excavation is T, and the angle therebetween is α. Adjust the level of the front, back, left and right sides of rock drilling machine 2 and install it.
第１図及び第３図に見るように、さく岩機械２
等の作業機械に、スポツト照明するレーザ光線又
はスポツトライト等の光源５と、一定間隔に配置
した一対のテレビカメラ６，７とを装備し、何れ
も遠隔操作によつて自在に指向角度が変更できる
よう夫々に駆動装置８，９，１０が組合されてい
て、姿勢制御ができる。 As shown in Figures 1 and 3, rock drilling machine 2
A working machine such as the above is equipped with a light source 5 such as a laser beam or a spot light for spot illumination, and a pair of television cameras 6 and 7 arranged at a constant interval, the pointing angle of which can be freely changed by remote control. Drive devices 8, 9, and 10 are respectively combined to enable posture control.
第２図に見るように、さく岩機械２と離れた場
所に作業者が居る運転室１１があり、この中にお
いて、制御盤１２を介してモニタテレビ１３に映
写して一致させる。作業者はこれらの装置の作動
により所望の作業を遠隔操作するものである。 As shown in FIG. 2, there is a driver's cab 11 in which a worker is located at a location separate from the rock drilling machine 2, and in this cab 11, images are projected on a monitor television 13 via a control panel 12 for matching. A worker remotely performs a desired task by operating these devices.
即ち、第３図に見るように、先ず２台のテレビ
カメラ６，７の夫々の駆動装置９，１０を作動さ
せて掘削対象物Ｃをモニタテレビ１３に大凡映写
させてから、光源５の駆動装置８を作動して目標
の対象物Ｃを照射して、位置指定のための光点を
設定する。 That is, as shown in FIG. 3, first, the driving devices 9 and 10 of the two television cameras 6 and 7 are operated to roughly project the excavated object C on the monitor television 13, and then the light source 5 is driven. The device 8 is activated to illuminate the target object C to set a light spot for position designation.
しかる後に、テレビカメラ６，７をズームアツ
プ（画像拡大）してモニタテレビ１３の画面の所
定の座標上に光点を一致させるように駆動装置
９，１０を微作動して姿勢制御し、俯仰角と旋回
角とを検出する。 After that, the drive devices 9 and 10 are slightly operated to control the posture by zooming up the television cameras 6 and 7 (enlarging the image) and aligning the light spot on the predetermined coordinates of the screen of the monitor television 13. and the turning angle.
第４図において、掘削対象の目標点Ｃが設定さ
れ、テレビカメラ６，７の倚仰角、旋回角が検出
されると、ライトペン又は押ボタン（図示せず）
によつて記憶、演算、比較、増幅できる信号処理
装置１４を作動させ、三角法の原理よりＣ点の位
置が演算、記憶された信号処理装置１４からの制
御信号によつて、さく岩機械２の作業ブーム３の
駆動装置１５を駆動してＣ点に作業ブーム３の先
端部を正しく位置させることができる。 In FIG. 4, when the target point C of the excavation target is set and the elevation angle and rotation angle of the television cameras 6 and 7 are detected, a light pen or push button (not shown) is
The rock drilling machine 2 is activated by the control signal from the signal processing device 14, which can store, calculate, compare, and amplify the position of point C based on the principle of trigonometry. The drive device 15 of the work boom 3 can be driven to correctly position the tip of the work boom 3 at point C.
第４図において、Ａ点はテレビカメラ６を、Ｂ
点はテレビカメラ７の位置を示す。各テレビカメ
ラ６，７の設置距離がL0で、一定とし、夫々の
旋回角度をθ１，θ２とし、俯仰角度をγ１，γ
２とすれば、目標対象物Ｃ点の座標（ｘ、ｙ、
ｚ）が求められて、上記の遠隔操作による位置設
定が可能となる。 In FIG. 4, point A points the television camera 6, point B
The dots indicate the position of the television camera 7. The installation distance of each television camera 6, 7 is L 0 and constant, the respective rotation angles are θ 1 and θ 2 , and the elevation angles are γ 1 and γ.
2 , the coordinates of the target object point C (x, y,
z) is determined, and the above-mentioned position setting by remote control becomes possible.
第４図に示す座標は、さく岩機械２の機体を基
準としたものであり、即ち次の関係がある。 The coordinates shown in FIG. 4 are based on the body of the rock drilling machine 2, and have the following relationship.
Ｌ０／ｓｉｎ（θ１＋θ２）＝Ｌ１ｃｏｓγ１／ｓｉｎ
θ１＝Ｌ２ｃｏｓγ２／ｓｉｎθ２
この関係からL1，L2の値が求められ、目標対
象物の位置座標を知ることができる。L 0 /sin(θ 1 +θ 2 )=L 1 cosγ 1 /sin
θ 1 =L 2 cos γ 2 /sin θ 2 From this relationship, the values of L 1 and L 2 can be determined, and the position coordinates of the target object can be determined.
テレビカメラ６，７は夫々駆動装置９，１０内
にあるサーボモータによつて制御される。また、
俯仰角及び旋回角は、シヤフトエンコーダ（軸角
検知器）によつて精確に検出されるものとする。 The television cameras 6, 7 are controlled by servo motors in drive units 9, 10, respectively. Also,
The elevation angle and the turning angle shall be accurately detected by a shaft encoder (shaft angle detector).
このようにして作業者は、現場から離れた運転
室１１内に居て、危険にさらされることなく、単
にモニタテレビ１３上にて指示するのみで遠隔制
御によつて安全に作業することが可能になる。と
りわけこの発明によつて無人トンネル掘削工事が
可能となる効果がある。 In this way, the operator can work safely by remote control by simply giving instructions on the monitor TV 13 without being exposed to danger while staying in the operator's cab 11 away from the site. become. In particular, this invention has the effect of enabling unmanned tunnel excavation work.
第１図はトンネル切羽にさく岩機械を設置した
状態を示す平面図、第２図は第１図の側面図、第
３図は制御系統を示すブロツク図、第４図は制御
を説明する立体図である。
図中、２はさく岩機械、４は作業具、５は光
源、６，７はテレビカメラ、８，９，１０は駆動
装置、１１は運転室、１３はモニタテレビ、１４
は信号処理装置、１５は駆動装置である。
Figure 1 is a plan view showing the rock drilling machine installed on the tunnel face, Figure 2 is a side view of Figure 1, Figure 3 is a block diagram showing the control system, and Figure 4 is a three-dimensional diagram to explain the control. It is a diagram. In the figure, 2 is a rock drilling machine, 4 is a working tool, 5 is a light source, 6, 7 are television cameras, 8, 9, 10 are drive devices, 11 is a driver's cab, 13 is a monitor television, 14
1 is a signal processing device, and 15 is a driving device.
Claims (1)
に設けたスポツト光源と、一定間隔に配置された
一対のテレビカメラとを、遠隔の運転室からの遠
隔操作によつて、信号処理装置を介して自在に姿
勢制御しつつ、前記光源によつて目標対象物をス
ポツト照射し、該照射位置を運転室内のモニタテ
レビ上の所定位置に映写し、且つ前記テレビカメ
ラの俯仰、旋回角を検出して、信号処理装置によ
つて記憶、演算、比較、増幅を行ない、作業具を
目標対象物に到達させて遠隔作業を行なうことを
特徴とするさく岩機械の制御方法。 ２ 作業具とその駆動装置とを有するさく岩機械
に、スポツト照明できる光源と、一定間隔に配置
された一対のテレビカメラとに夫々駆動装置を備
えて俯仰及び旋回自在に装備し、前記光源によつ
て作業点の目標対象物を照射設定し、運転室内に
モニタテレビを設け、前記一対のテレビカメラを
姿勢制御してモニタテレビ上に照射位置を映写で
きるように構成し、且つ前記テレビカメラの俯仰
角及び旋回角を検出して、さく岩機械上の信号処
理装置によつて記憶、演算、比較、増幅を行な
い、作業具を目標対象物に到達させて遠隔作業が
できるように構成したことを特徴とするさく岩機
械の制御装置。[Scope of Claims] 1. A spot light source installed on a rock drilling machine having a working tool and its drive device and a pair of television cameras arranged at regular intervals are controlled by remote control from a remote operator's cab. , while freely controlling the attitude through a signal processing device, spot-irradiating the target object with the light source, projecting the irradiation position at a predetermined position on a monitor television in the driver's cabin, and controlling the elevation and elevation of the television camera. A control method for a rock drilling machine, characterized in that a turning angle is detected, and a signal processing device stores, calculates, compares and amplifies the turning angle, and causes a working tool to reach a target object to perform remote work. 2. A rock drilling machine having a working tool and its driving device is equipped with a light source capable of spot illumination and a pair of TV cameras arranged at regular intervals, each equipped with a driving device so as to be able to move up and down and turn. Therefore, the target object at the work point is set to be irradiated, a monitor television is provided in the operator's cabin, and the pair of television cameras is configured to be able to control the posture and project the irradiation position on the monitor television; Detecting the elevation angle and turning angle, the signal processing device on the rock drilling machine stores, calculates, compares, and amplifies the data, allowing the work tool to reach the target object and perform remote work. A rock drilling machine control device featuring:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11863279A JPS5641988A (en) | 1979-09-14 | 1979-09-14 | Method of and apparatus for controlling rock drill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11863279A JPS5641988A (en) | 1979-09-14 | 1979-09-14 | Method of and apparatus for controlling rock drill |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5641988A JPS5641988A (en) | 1981-04-18 |
| JPS6147954B2 true JPS6147954B2 (en) | 1986-10-22 |
Family
ID=14741328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11863279A Granted JPS5641988A (en) | 1979-09-14 | 1979-09-14 | Method of and apparatus for controlling rock drill |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5641988A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5972015A (en) * | 1982-10-19 | 1984-04-23 | Nippon Steel Corp | Continuous monitoring device for direction and inclination of boring |
-
1979
- 1979-09-14 JP JP11863279A patent/JPS5641988A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5641988A (en) | 1981-04-18 |
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