JPS62248794A - Controller for position of drilling - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a drilling position control device that can accurately determine the drilling position of a drilling device.

[Conventional technology]

Generally, drilling a blast hole in tunnel excavation
The drilling device has a boom that can be tilted up and down and rotated on a truck, and the tip of this boom supports a guide shell on which a rock drilling machine is mounted so that it can move forward and backward. The rock drill was installed in a hole, and workers manually positioned the rock drill to match the predetermined drilling pattern.

However, the positioning operation of such drilling equipment is difficult and requires skill, so in recent years drilling machines have been equipped with computer-based control devices to automatically position the rock drilling machine at specified positions and at specified angles according to the drilling pattern. A device has been proposed (Japanese Patent Publication No. 57-51518,
No. 9-145894, etc.) When using such an automated drilling device,
In order to determine the position and angle of each hole to be drilled from the truck through arithmetic processing, the position information of a reference laser beam that is irradiated from the back of the tunnel toward the excavation face is usually stored in the memory in the control device in advance. The installation position and direction of the trolley in the tunnel coordinate system are determined from the rotation angle of the boom joint and the forward and backward movement distance of the rock drill when the reference laser beam is aligned with the target attached to the rock drill. was calculated.

[Problem that the invention seeks to solve]

However, if the center line of the tunnel in the direction of excavation is the Z axis, then this Z
In a tunnel coordinate system in which the horizontal axis perpendicular to the axis is the X axis, and the axis perpendicular to the X and Z axes is the Y axis, the target of the rock drilling machine is aligned with the reference laser beam parallel to the Z axis, and the boom is Even if the installation position and direction of the cart are calculated from the rotation angle of the joint and the forward and backward movement distance of the rock drill,
It is not possible to calculate the rotation angle of the cart around the Z axis, that is, the left and right inclination. Therefore, in order to accurately control the drilling position, the cart must be installed horizontally horizontally in advance, and the outriggers of the cart must be manually adjusted or an automatic leveling device installed on the cart. However,
It takes time to install the trolley, reducing work efficiency and increasing equipment costs. In addition, with extremely large drilling equipment, it is impossible to achieve perfect levelness by operating the outriggers.

This invention solves the above-mentioned problems in the drilling position control device, and when installing a trolley, it is possible to accurately control the drilling position without releasing water on the left and right sides, and it takes less time to install the trolley. The purpose of the present invention is to shorten the time required to improve work efficiency, and to provide an inexpensive drilling device that does not require an automatic leveling device.

[Means for solving problems]

In order to solve the above-mentioned problems, this invention provides a drilling device in which a boom is pivotably supported on a truck so that it can be tilted up and down, and this boom supports a guide shell on which a rock drilling machine is mounted so as to be able to move back and forth. An angle detector that generates rotation angle information of each joint, a distance detector that generates forward and backward distance information of the rock drill, and an inclination angle detector that detects the inclination angle of the cart, and when the cart is at the reference position. If installed, angle detectors are used to measure the movement of the rock drill when aligning it with the reference line of the tunnel coordinate system and when aligning it with the position and orientation of each drilling target according to the predetermined drilling pattern. and a storage device that stores information to be generated by the distance detector in advance, and an angle detector, distance detector, and inclination angle when the rock drill is aligned with the reference line of the tunnel coordinate system from the position where the cart is installed during work. The positional deviation and angular deviation of the cart from the reference position are calculated from the information generated by the detector and the pre-stored information in the storage device, and the actual PA'' (0 rotation angle) is calculated to align the rock drilling machine with the position and direction of the drilling target. and a central processing unit that calculates the forward and backward travel distance and generates a position control command signal, thereby forming a drilling position control device.

[Effect]

When the truck is installed at the reference position, the movement of the rock drill when aligning the rock drill with the reference line of the tunnel coordinate system and the position and direction of each drilling target according to the predetermined drilling pattern. The information that each detector should generate in response to the movement of the rock drill is stored in advance in the storage device.During zero work, the position and attitude where the cart is actually installed do not match the reference position, so The rock drill is aligned with the reference line of the tunnel coordinate system, and the central processing unit compares the information generated by each detector at this time with the information stored in advance in the storage device that should be generated by each detector. Calculate the positional deviation and angular deviation with respect to the reference position. Based on this calculated deviation value, the amount of movement of the rock drill to match the position and direction of each drilling target is corrected and calculated, and each actuator that rotates the boom joint and moves the rock drill forward and backward is adjusted. Control and position the rock drill. Here, the left and right inclinations of the cart are also corrected and calculated based on information from the cart's inclination angle detector, so accurate positioning can be performed without having to adjust the horizontal installation of the cart.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 1 is a side view of a drilling device equipped with a drilling position control device according to an embodiment of the present invention. In the drilling device 10, a boom stand 13 is pivotally mounted on a base 12 of a truck 11 via a pivot shaft 14, and a lower end of a boom 15 is pivotally attached to the boom stand 13 via an elevation shaft 16. The boom 15 is provided with a hydraulic cylinder for swinging (as shown) between it and the base 12, and a hydraulic cylinder 18 for elevating and elevating between it and the boom stand 13, so that it can pivot and elevate. At the upper end of the boom 15,
A tilt arm 19 is pivotally connected by a tilt arm shaft 20, and a tilt hydraulic cylinder (as shown) is provided between the boom 15 and the tilt arm 19, so that the tilt arm 19 can be tilted. A swing arm 22 is pivotally attached to the tilt arm 19 by a swing arm shaft 23, and a swing hydraulic cylinder (as shown) is provided between the swing arm 19 and the tilt arm 19, so that the swing arm 22 can swing. A guide mounting 25 is fixed to the swing arm 22, and the guide shell 26 is slidably supported by the guide mounting 25. A rock drill 27 is mounted on the guide shell 26, and can be moved forward and backward by a feed motor 28. A rod 30 with a bit 29 is attached to the rock drill 27, and the rock drill 27 is equipped with a rod 30 with a bit 29, and is applied with impact and rotation to drill the face 3.
1. Drill a hole.

Boom 15 and arm 19.22 of this drilling device 10
The pivot shaft 14 is the joint of the . Elevation axis 16° Tilt arm axis 20. Angle detectors 1, 2, 3, and 4 are attached to the swing arm shafts 23, respectively, to generate information on their rotation angles, and the guide shell 26 generates information on the forward and backward movement distance of the rock drill 27. A distance detector 5 is attached to the base 12, and an inclination angle detector 6 that generates information on the inclination angle of the truck is further mounted on the base 12.
is installed. 32 is a laser beam indicating a reference line provided parallel to the Z axis of the tunnel coordinate system; 33 is an outrigger; and 134 is a control device.

FIG. 2 is a block diagram of this drilling position control device. Processing device 37, operation console 38, each detector 1. 2. 3. 4
．． 5. 6 and an input section 39 that receives signals from the console 38. An output section 41 that sends control command signals to a group of electromagnetic control valves 40 of a known hydraulic circuit that controls the drive of actuators such as cylinders for booms and arms and feed motors of rock drills, and an interface with an offline computer 42. It is composed of Ace 43.

When performing drilling work, drilling position control data is created in advance by the off-line computer 42 and stored in the storage device 35 through the inter-Ace 43 of the control device 34 via an intermediate medium. This drilling position control data is based on the position where the bogie is placed in the reference position, that is, in the center of the tunnel a predetermined distance behind the face 31, with the Z axis and the longitudinal centerline of the bogie aligned, and the left and right sides of the bogie are installed horizontally. , the rotation angle of each joint corresponding to the movement of the rock drill 27 to align it with the laser beam 32 serving as a reference line, the forward and backward movement distance data of the rock drill, and the position of each drilling target according to a predetermined drilling pattern. This is the rotation angle and forward/backward travel distance data corresponding to the movement to align with the direction. Next, the drilling device IO is installed near the face, and the rock drill 27 is aligned with the laser beam 32. At this time, the detection data of each detector 1.2, 3.4.5.6 is sent to the central processing bag W37 through the input section 39. Carriage position calculation is started by pressing the push button on the operation console 3B, and the calculation device 36 reads data corresponding to the movement from the reference position stored in advance in the storage device 35 to the laser beam 32, and compares it with the detected data. The position and angular deviation of the cart are calculated and stored in the storage device 35 as cart position data. When the automatic operation button on the console 38 is pressed, the central processing unit 37 stores the drilling control data from the pre-stored reference position and the bogie position data calculated based on the detected data. It is read from the device 35, and the arithmetic unit 36 performs a correction calculation of the drilling control data corresponding to the movement of the rock drill 27 to align it with the target drilling position and direction, and the boom 15. Joints 14, 15, 20 of arm 19°22.
The rotation angle of the rock drill 22 and the forward and backward movement distance of the rock drill 29 are stored in the storage device 35 as operation control data. After the above correction process is completed, drilling starts, and the central processing unit 37
A position control command signal is generated while comparing the detected values from the detectors 1, 2, 3.4, and 5.6 with the stored operation control data. This command signal is sent to the electromagnetic control valve group 40 through the output section 41, which controls the drive of each actuator of the drilling device 10 to move the rock drill 27 to the position and direction of the target hole according to the drilling pattern. move it.

In this embodiment, the operation control data is calculated as follows.

(a) The x, y, z coordinates of the drilling target position on the face surface and the X of the target hole end in the tunnel coordinate system described above.

Specify the y and z coordinates.

(b) In the bogie coordinate system, where the longitudinal centerline of the bogie is the Y' axis, the horizontal direction on the plane perpendicular to the Y' axis is the X' axis, and the direction orthogonal to this is the Y' axis, the bogie is at the reference position. coincides with the tunnel coordinate system when placed in

Here, the rotation angles θy, θx2+θx1 of the respective joints 14, 16, 20, and 22 for moving the rock drill 27 from the reference state where it is placed at the backward end on the Z' axis to the above-mentioned drilling target position are determined.
．． θy4 and the forward distance 1z of the rock drilling machine 27 are calculated from the geometric relationship of the dimensions of each part of the drilling device 10, as is well known.

(C) Calculate an auxiliary data string R1 used to perform correction calculations commensurate with the deviation from the reference position when the cart is installed during actual work.

The above is performed for all holes in the order of drilling according to the drilling pattern.

(d) Each joint 14, 16, 20, 22 when two points of the specified part of the rock drill 27 are aligned with the laser beam 32 when the tunnel coordinate system and the trolley coordinate system match.
Rotation angle Lθ)'++ Lθx2. Lθ×,.

LθVa+ and the forward distance t, 1zs of the rock drill 27,
x, y of the position where the laser beam is irradiated on the face 31
, calculated based on the z coordinate.

(e) Laser beam 3 is applied to the rock drill 27 during actual work.
An auxiliary data string R2 for calculating the position of the truck is calculated from the detection data obtained when the position is adjusted to 2.

The above calculations are performed using an offline computer 42 installed in the office since the control unit W, 34 installed in the drilling equipment IO lacks the calculation function in this embodiment, and the results are sent to a cassette. Although it is stored in the storage device 35 of the control device 34 via an intermediate medium such as a tape or a floppy disk, the control device 34 mounted on the drilling device 10
This can also be done on-site, if available.

(f) When the cart 11 is actually installed and the rock drill 27 is aligned with the laser beam 32, each joint 14, 16...
20.22 rotation angles L'θy+, L'θx,, L'θ
3. L' θYa, advance distance of the rock drilling machine 27 L'lz
, is obtained as information generated by each detector 1, 2.3.4.5. These values are Lθy,,L when the bogie coordinate system matches the tunnel coordinate system.

θx,,Lθ3. It is different from Lθy,, Llz. Therefore, a coefficient matrix Ra is used to convert the operation amount difference into a coordinate difference and a direction cosine using the auxiliary data string R2.

is created and used to find the DL as shown in the following equation.

Here, DL+, DLz, and DL are the x, y, and z coordinates of the positional deviation of the laser beam 32 in the truck coordinate system, and DL, DL are the X and Y components of the cosine of the direction.

(Using a linear relational expression, calculate the bogie position shift in the tunnel coordinate system.

Here, DEl, DEx, and DE3 are the X, Y, and Z coordinates of the cart deviation in the tunnel seating thread, and RHx.

RHy is a coordinate transformation matrix based on the direction cosine DL, , DLS, RHz is a coordinate transformation matrix based on the tilt angle information generated by the tilt angle detector 6, L, , L2, L3 are the x, y, and y of the laser beam in the tunnel coordinate system. It is the z coordinate.

(1)) Target drilling position (x
.

y, z) and the drilling target position (
x'', y', z') is RHx・RHy−RH
If z=RH, it is expressed by the following equation.

Therefore, the target drilling position (x', y', z') in the truck coordinate system is calculated from equation (4).

Tl) Furthermore, the correction amount of the drilling angle is calculated using the following formula.

Here, f, s, and e are the x, y, and z components of the direction cosine in the tunnel coordinate system, and f', s", and e" are the components of the direction cosine in the bogie coordinate system.

(a) Create a coefficient matrix Rat that converts the coordinate and direction cosine differences in the bogie coordinate system into differences in operation control data using the auxiliary data string R5, and calculate the operation control data using the following equation.

This θy,', θx2'θx3'θ'Ia"lZ
By controlling the positioning of the rock drill 27 based on the operation control data of s', accurate drilling can be performed even if the installation position of the cart is different from the reference position.

〔Effect of the invention〕

With this invention, there is no need to horizontally adjust the horizontal position when installing the cart during drilling, and accurate drilling positioning is possible, reducing the time required for installing the cart, improving work efficiency, and automatically It is possible to provide an inexpensive drilling device that does not require a horizontal device.

[Brief explanation of drawings]

FIG. 1 is a side view of a drilling device equipped with a drilling position control device according to an embodiment of the present invention, and FIG. 2 is a block diagram of an embodiment of this drilling position control device. In the figure, 1, 2, 3, 4 are angle detectors, 5 is a distance detector,
6 is an inclination angle detector, IO is a drilling device, 11 is a trolley, 1
5 is a boom, 19 is a tilt arm, 22 is a swing arm, 26 is a guide shell, 27 is a rock drill, 32 is a laser beam, 35 is a storage device, 36 is a calculation device, and 37 is a central processing unit. Procedural amendment cap button June 3, 1985 Patent Application No. 91819 2, Name of the invention Drilling position control device 3, Relationship with the person making the amendment Case Patent applicant name Koga Mining Co., Ltd. 4, Agent address: 6th floor, Tokyo Bank Building, 4-2 Marunouchi, Chiyoda-ku, Tokyo, 628-ku Nichiei Patent Office ■100 Phone: 03-284-18765 Detailed explanation of the invention in the specification to be amended. 6. Contents of amendment (1) In the 9th line of page 16 of the specification, "(gl According to auxiliary data string R1...") was changed to "(j) According to auxiliary data string R1..." Correct. That's all.

Claims (1)

[Claims] In a drilling device in which a boom is pivotably supported on a trolley so that it can be lifted up and down and rotated, and a guide shell on which a rock drill is mounted so as to be able to move forward and backward is supported by the boom, rotation angle information of each joint of the boom is generated. An angle detector, a distance detector that generates forward and backward distance information of the rock drilling machine, an inclination angle detector that generates information on the tilt angle of the truck, and when the truck is installed at the reference position, Information that the angle and distance detectors should generate for movement of the rock drill when aligning the machine with a reference line of a tunnel coordinate system and when aligning with the position and orientation of each drilling target according to a predetermined drilling pattern. information generated by the angle detector, distance detector, and inclination angle detector when the rock drill is aligned with the reference line of the tunnel coordinate system from the position where the cart is installed during work; From the pre-stored information in the storage device, calculate the positional deviation and angular deviation of the cart with respect to the reference position, calculate the rotation angle and forward and backward movement distance to align the rock drilling machine with the position and direction of the drilling target, and then calculate the position. A drilling position control device comprising a central processing unit that generates a control command signal.