JP2024087370A - Remote control system for face drilling machine - Google Patents

Abstract

To provide a remote control system for a face drilling machine capable of easily and accurately moving a boring machine of the face drilling machine to a predetermined position in tunnel construction in mountainous areas.SOLUTION: A remote control system (300, 400) has a 3D scanner (201) that measures three-dimensional distances within a tunnel (10) in which a face drilling machine (100) is located and outputs three-dimensional data, a tunnel shape extraction unit that extracts a tunnel face and side shapes from the three-dimensional data, a position detection unit that detects position information of the face drilling machine from the three-dimensional data, and a remote control device (300) that controls the operation of the face drilling machine. The face drilling machine has a drilling machine (102), a drive/braking system, and a control unit that operates the face drilling machine according to control by the remote control device. The remote control device moves the face drilling machine to a predetermined working position according to the position information of the face drilling machine detected by the position detection unit, and at the predetermined working position, the drilling machine of the face drilling machine forms a hole (13) at the desired position of the tunnel.SELECTED DRAWING: Figure 1

Description

The present invention relates to a remote control system for a face drilling machine used in tunnel construction in mountainous areas, etc.

When constructing tunnels in mountainous areas, it is necessary to drill (bored) holes in the tunnel face to load detonators and explosives. The large self-propelled drilling machines used to drill holes are also called drill jumbos, and various excavation methods using drill jumbos have been proposed.

For example, the drill jumbo disclosed in Patent Document 1 has a function for drilling charge holes, as well as a rock bolt driving function for drilling rock bolt insertion holes in the peripheral wall surface near the face and driving rock bolts into the rock bolt insertion holes, and a grout filling function for filling the rock bolt insertion holes with grout. Typically, drilling charge holes and rock bolt insertion holes, driving rock bolts, and filling grout are performed by an operator seated in the cockpit of the drill jumbo by operating various control levers and buttons.

In addition, in order for the drill jumbo to drill the charge holes and rock bolt insertion holes in a predetermined pattern, it is necessary to accurately detect the positions of the drill jumbo itself and the drilling machine attached to the move. Various proposals have been made regarding this position control.

For example, Patent Document 2 discloses a control method for accurately positioning a drill hole by installing a collimation target whose coordinates can be measured on the carriage and rock drill of a drill jumbo and providing a surveying device to the rear of the carriage that measures the coordinates of the collimation target.

Patent Document 3 also discloses a method in which a total station is installed on a stand above the drill jumbo, and the total station detects the position and orientation of the drill jumbo by detecting the reflected laser beam from a reflective target placed inside the tunnel.

JP 2020-094422 A JP 2005-220627 A JP 2004-138422 A

As mentioned above, in order to drill charge holes and rock bolt insertion holes in a predetermined pattern, the drill jumbo itself is first moved to a position where drilling work can be performed, and the position is fixed with outriggers. After that, the operator operates a lever or the like to move the boom and move the drilling machine to the specified position. However, when constructing tunnels in mountainous areas, it is desirable to reduce the number of on-site workers working inside the tunnel as much as possible from the perspective of ensuring safety and improving the working environment.

In addition, in Patent Document 2, it is necessary to install collimation targets, and complex calculations are required to calculate the position and orientation of the drill jumbo from detecting their positions. Similarly, in Patent Document 3, it is necessary to place reflective targets at multiple locations inside the tunnel, and complex calculations are required to calculate the position and orientation of the drill jumbo from detecting their positions. In this way, in Patent Documents 2 and 3, not only the equipment and system configuration but also the calculations are complicated.

The present invention was devised in consideration of the above circumstances, and its object is to provide a remote control system for a face drilling machine that can easily and accurately move the boring machine of the face drilling machine to a predetermined position in mountain tunnel construction.

In order to achieve the above-mentioned object, one embodiment of the present invention is a remote control system for controlling a face drilling machine that excavates a tunnel, comprising: a 3D scanner that measures three-dimensional distances within a tunnel in which the face drilling machine is located and outputs three-dimensional data; a tunnel shape extraction unit that extracts the face and side shape of the tunnel from the three-dimensional data; a position detection unit that detects the position information of the face drilling machine from the three-dimensional data; and a remote control device that controls the operation of the face drilling machine, wherein the face drilling machine comprises a drilling machine whose position and attitude can be changed, a drive/braking system for self-propelling, and a control unit that operates the face drilling machine according to the control of the remote control device, and the remote control device moves the face drilling machine to a predetermined working position according to the position information of the face drilling machine detected by the position detection unit, and at the predetermined working position, the drilling machine of the face drilling machine forms a hole at a desired position of the tunnel.
In addition, one embodiment of the present invention is characterized in that the face drilling machine further has an outrigger, and the remote control device drives the outrigger at the specified working position to fix the position of the face drilling machine.
In addition, one embodiment of the present invention is characterized in that the remote control device operates the boom, the guide shell and the drilling machine of the face drilling machine in accordance with a pre-prepared drilling pattern to form face drilling and rock bolt drilling of the tunnel.
In addition, one embodiment of the present invention is characterized in that the face drilling machine has a boom that extends, rotates, and rises and falls using a multi-joint actuator, and a guide shell that is supported at the tip of the boom and rotates, rises and falls and slides, the drilling machine is mounted on the guide shell, and the remote control device controls the boom, guide shell and drilling machine of the face drilling machine at the specified working position to form a hole at the desired position of the tunnel.

According to one embodiment of the present invention, the face drilling machine can be moved to a desired working position based on the position information of the face drilling machine detected based on three-dimensional data, and the drilling machine of the face drilling machine can be easily and accurately moved to a desired position using this as a reference.
Furthermore, according to one embodiment of the present invention, the working position of the face drilling machine can be fixed by the outriggers, and the drilling machine of the face drilling machine can be easily and accurately moved to the desired position.
Furthermore, according to one embodiment of the present invention, even when forming charge holes or rock bolt holes according to a drilling pattern, the drilling machine can be accurately moved to the desired position, so that holes can be formed that accurately match the drilling pattern.
Furthermore, according to one embodiment of the present invention, the boom, guide shell and drilling machine of the face drilling machine can be controlled to easily and accurately form a hole at a desired position in the tunnel.

1 is a cross-sectional view of a tunnel for explaining the overall configuration of a remote control system for a face drilling machine according to one embodiment of the present invention. FIG. A block diagram showing an example of the functional configuration of a face drilling machine used in this embodiment. 2 is a block diagram showing an example of a functional configuration of a remote control device according to the present embodiment. FIG. A block diagram showing an example of the functional configuration of a tunnel drilling management system in this embodiment. FIG. 2 is a front view of a face showing an example of a drilling pattern on the face in this embodiment. 1 is a flowchart showing an example of a tunnel excavation process using a remote control system for a face drilling machine according to this embodiment.

1. System Configuration Hereinafter, a remote control system for a face drilling machine according to an embodiment of the present invention will be described in detail, taking a tunnel excavation work as shown in FIG. 1 as an example.

As shown in FIG. 1, the remote control system for a face drilling machine according to this embodiment is composed of a drill jumbo 100, a remote control device 200, and a tunnel excavation management system 400. The drill jumbo 100, which is a face drilling machine, is located in front of the face 12 in the tunnel 10. The drill jumbo 100 has multiple booms 101, drilling machines 102 attached to the tips of the booms 101, guide shells 103, outriggers 104, an imaging unit 107, etc. The movement of the drill jumbo 100 itself, the operation of the booms 101, drilling machines 102 and guide shells 103, the operation of the outriggers 104, and other operations can be automated under the control of the remote control device 300 described later.

A mobile cart 200 is installed inside the tunnel 10, and the cart 200 is equipped with a 3D scanner 201 and, if necessary, a thermographic camera 202. The 3D scanner 201 is installed at the top of the cart 200, and by moving the cart 200, it is possible to measure three-dimensional distances inside the tunnel, including the tunnel inner wall 11, the face 12, and the drill jumbo 100. The thermographic camera 202 is an infrared camera that uses infrared rays to obtain temperature distribution images of the drill jumbo 100 and the face 12.

The tunnel excavation management system 400 in this embodiment can detect the relative position of the drill jumbo 100 within the tunnel 10 using three-dimensional distance measurement data (hereinafter referred to as 3D data) acquired by the 3D scanner 201. The remote control device 300 can move the drill jumbo 100 to a predetermined position using the position data detected from the tunnel excavation management system 400.

The remote control device 300 and the tunnel excavation management system 400 according to this embodiment may be configured as a single device, or may be configured as separate devices connected to enable data communication. The remote control device 300 and the tunnel excavation management system 400 according to this embodiment can be constructed on a general-purpose server or personal computer having one or more processors such as a CPU (Central Processing Unit) or MPU (Micro Processor Unit).

The following describes the functional configuration and operation of the drill jumbo 100, remote control device 300, and tunnel excavation management system 400 in this embodiment with reference to Figures 2 to 4.

2, the drill jumbo 100 is a face drilling machine that performs operations such as drilling charge holes for blasting construction inside a tunnel 10, drilling rock bolt insertion holes, driving rock bolts into the rock bolt insertion holes, and filling the rock bolt insertion holes with grout, and can be remotely controlled by a remote control device 300.

The drill jumbo 12 includes a boom 101, a drilling machine 102, a guide shell 103, an outrigger 104, a drive/braking system 105, a rock bolt driving device 106, and an imaging unit 107.

Multiple booms 101, for example two or four, are provided. The base end of the boom 101 is attached to the front of the main body of the drill jumbo 100, and is extended and retracted using a multi-joint actuator 111, rotates horizontally, and rises and falls vertically. The multi-joint actuator 111 is composed of various conventionally known actuators such as hydraulic cylinders and motors. The multi-joint actuator 111 also has multiple actuators. Note that the multi-joint actuator 111 may be configured to extend, retract, rotate, and raise and lower the boom 101, and any multi-joint actuator used in various conventionally known drill jumbos can be used.

The drilling machine 102 is mounted on a guide shell 103. Although not shown, the drilling machine 102 is composed of a drilling rod with a bit attached to the tip, a drifter that strikes the rear end of the drilling rod, and a feeder that moves them back and forth on the guide shell 103. The rotation of the drilling rod, the strike by the drifter, and the back and forth movement by the feeder are performed by a drilling machine actuator 112. The drilling machine actuator 112 is composed of various conventionally known actuators such as hydraulic cylinders and motors. The drilling machine actuator 102 is equipped with multiple actuators, although not shown. Furthermore, the drilling machine actuator 102 only needs to be able to rotate the drilling rod, strike by the drifter, and move back and forth by the feeder, and drilling machine actuators used in various conventionally known drill jumbos can be used.

The drilling machine 102 has the function of drilling holes in the tunnel face 12 of the tunnel 10 to drill charge holes by blasting, and the function of drilling rock bolt insertion holes perpendicular to the wall surface 11 of the tunnel 10 onto which concrete has been sprayed. The drilling of such charge holes and rock bolt insertion holes is achieved by changing the position and attitude of the drilling machine 102 via the boom 101 and guide shell 103. In addition, the drilling machine 102 may be any machine capable of drilling holes in the tunnel face 12 and the wall surface 11, and various conventionally known configurations can be used for the drilling machine 102.

The guide shell 103 has an elongated shape that extends linearly, and is supported by a guide mounting provided at the tip of the boom 101. The guide shell 103 rotates around an axis parallel to the extension direction of the guide shell 103 by multiple guide shell actuators 113, pivots horizontally, rises and falls in the vertical direction, and slides back and forth along the extension direction of the guide shell 22.

The guide shell actuator 113 is composed of various actuators known in the art, such as hydraulic cylinders and motors. The guide shell actuator 113 is equipped with multiple actuators, but is illustrated here as a single actuator to simplify the illustration. Note that the guide shell actuator 113 only needs to be able to rotate, pivot, raise and lower, and slide the guide shell 103, and any guide shell actuator used in various drill jumbos known in the art can be used.

The position and attitude of the drilling machine 102 can be changed by each movement of the boom 101 by the articulated actuator 111 and each movement by the guide shell actuator 113. It is designed to drill holes at a desired angle at a desired location on the face 12 of the tunnel 10 or on the peripheral wall surface 11 near the face 12.

The outrigger 104 extends from the main body of the drill jumbo 100 by an outrigger actuator 114, lifting the main body above the underground surface and fixing the position of the drill jumbo 100 itself. The outrigger actuator 114 is composed of various conventionally known actuators such as hydraulic cylinders and motors. Note that the outrigger actuator 114 is equipped with multiple actuators, but is shown here as a single actuator to simplify the illustration.

The drive/brake system 105 is equipped with steering wheels and drive wheels for self-propelling the main body of the drill jumbo 100. The steering wheels are provided on both sides in the width direction of the vehicle at the front of the main body, and are steered to change the direction of travel. The drive wheels are provided on both sides in the width direction of the vehicle at the rear of the main body, and are driven to rotate to move the drill jumbo 100 forward and backward. The drive/brake system 105 is also equipped with a power source, steering actuator, brakes, and brake actuators, all of which are not shown.

The power source provides rotational driving force to the drive wheels, and is an engine (internal combustion engine) or a motor (electric motor). The steering actuator changes the steering angle of the steered wheels. The brakes brake the steered wheels and drive wheels. The brake actuator drives the brakes. Note that, although this embodiment has been described as running using the steered wheels and drive wheels, the main body may also run using crawlers.

The rock bolt installation device 106 includes a grout filling mechanism (not shown) and an insertion mechanism (not shown). The grout filling mechanism fills the rock bolt insertion hole drilled by the drilling machine 102 with grout such as mortar or cement milk. The grout filling mechanism includes a grout injection pipe inserted into the rock bolt insertion hole, an injection pipe moving part that moves the grout injection pipe back and forth linearly, and a pump that pressurizes grout into the grout injection pipe. The insertion mechanism includes a storage and holding mechanism that stores and holds multiple rock bolts, an extraction mechanism that extracts one of the multiple rock bolts stored and held in the storage and holding mechanism, a fixing member attachment mechanism that attaches a fixing member to the rock bolt extracted by the extraction mechanism, and a casting mechanism that casts the rock bolt with the fixing member attached into the rock bolt insertion hole. Such a rock bolt installation device 106 can use rock bolt installation devices used in various conventionally known drill jumbos. In addition, the rock bolt driving device 106 drives rock bolts into the peripheral wall surface 11 of the tunnel 10, stabilizing the peripheral wall surface 11.

The imaging unit 107 is attached to the top of the main body of the drill jumbo 100, and images the tunnel face 12 of the tunnel 10 to generate image information, which is then transmitted to the remote control device 300 via the communication unit 130. The image information includes image information of the tunnel face 12 of the tunnel 10 and the surrounding wall surface 11 in its vicinity. In this embodiment, one imaging unit 107 is provided, but it is optional to provide two or more imaging units 28 with different imaging ranges.

The operations of the drill jumbo 100 using the above-mentioned articulated actuator 111, drilling machine actuator 112, guide shell actuator 113, outrigger actuator 114, drive/braking system 105, and rock bolt driving device 106 are controlled by the boom control unit 121, hole drilling control unit 122, guide shell control unit 123, outrigger control unit 124, travel control unit 125, and rock bolt driving control unit 126, respectively. These various operations of the drill jumbo 100 can be controlled according to control signals received from the remote control device 300 via the communication unit 130.

For example, the remote control device 300 controls the operation of the boom 101, the drilling machine 102, the guide shell 103, the outriggers 104, the drive/braking system 105, and the rock bolt driving device 106 based on the position information of the drill jumbo 100 received from the tunnel excavation management system 400 described below. That is, the remote control device 300 moves the drill jumbo 100 to a predetermined position where drilling work will be performed based on the position information of the drill jumbo 100, and when the predetermined position is reached, it operates the boom, etc. to perform drilling work in a predetermined pattern.

The communication between the communication unit 130 and the remote control device 300 may be via a wired line using a signal cable. However, using a wireless line is preferable because it eliminates the need for cable laying and also prevents the cable from interfering with work inside the tunnel.

The boom control unit 121 controls the multi-joint actuator 111 to control the extension and retraction, horizontal rotation, and vertical raising and lowering of the boom 101.

The drilling control unit 122 controls the drilling machine actuator 112 to control the rotation of the drilling rod, the impact of the drifter, and the forward and backward movement of the feeder.

The guide shell control unit 123 controls the guide shell actuator 113 to control the rotation, horizontal rotation, vertical rise and fall, and forward and backward sliding of the guide shell 103.

The outrigger control unit 124 controls the extension and retraction of the outrigger 104 by controlling the outrigger actuator 114.

The travel control unit 125 controls the travel of the drill jumbo 100. Specifically, it performs on/off control of the power source, adjustment of power transmission, rotation speed control, steering amount control, braking control, etc.

The rock bolt casting control unit 126 controls the grout filling mechanism and insertion mechanism described above. Specifically, the rock bolt casting control unit 126 controls the reciprocating linear movement of the grout injection pipe by the injection pipe movement unit, and the pressure feeding of grout to the grout injection pipe by the pump. It also controls the extraction of the rock bolt by the extraction mechanism, the attachment of the fixing member to the rock bolt by the fixing member attachment mechanism, and the casting of the rock bolt with the fixing member attached into the rock bolt insertion hole by the casting mechanism.

The above-mentioned boom control unit 121, hole drilling control unit 122, guide shell control unit 123, outrigger control unit 124, travel control unit 125 and rock bolt driving control unit 126 can also be realized by starting a program that realizes each function on at least one processor 131.

3, the remote control device 300 includes communication units 301 and 302, a control unit 303, an operation unit 304, a display unit 305, and a program storage unit 306. The remote control device 300 is installed at a location away from the site where the excavation work of the tunnel 10 is being carried out, for example, at a location inside the tunnel 10 away from the face 12, or at a location outside the tunnel 10.

The communication unit 301 enables wireless communication with the drill jumbo 100 described above, transmits control signals for controlling the drill jumbo 100, and can receive status signals indicating the attitude and operating state of the drill jumbo 100, as well as image information of the face 12, etc. The communication unit 302 enables communication with the tunnel excavation management system 400 described below, and can receive position information of the drill jumbo 100 from the tunnel excavation management system 400. The communication unit 302 may be any unit that enables communication with the tunnel excavation management system 400, and may employ a wired or wireless interface. The control unit 303 controls the overall operation of the remote control device 300.

The operation unit 304 receives input from an operator remotely controlling the drill jumbo 100 to generate an operation signal, which is then transmitted to the drill jumbo 100 via the communication unit 301, thereby controlling the operation of the drill jumbo 100. In addition, routine operations may be stored as a program in the program storage unit 306, for example, and read by the control unit 303 upon request and transmitted to the drill jumbo 100 as an operation signal.

In this embodiment, the operating unit 304 includes a traveling operating unit, a boom operating unit, a guide shell operating unit, a hole drilling operating unit, and a rock bolt operating unit. Each of these operating units includes an operated member such as a joystick, an operating lever, or an operating switch that is operated by an operator, and the configuration of each operating unit can be the same as that used in various conventionally known remote control devices.

Specifically, the traveling operation unit generates operation signals related to the traveling of the drill jumbo 100, such as starting, stopping, moving forward, moving backward, turning left and right, and traveling speed. The boom operation unit generates operation signals related to the extension and contraction of the boom 101, turning in the horizontal direction, and raising and lowering in the vertical direction. The guide shell operation unit generates operation signals related to the operation of the guide shell 103 rotating in the horizontal direction, raising and lowering in the vertical direction, and sliding in the forward and backward directions. The hole drilling operation unit generates operation signals related to the rotation of the drilling rod of the drilling machine 102, striking by the drifter, and sliding in the forward and backward directions by the feeder. The rock bolt operation unit generates operation signals related to the reciprocating linear movement of the grout injection pipe by the injection pipe movement unit, the pumping of grout into the grout injection pipe by the pump, the extraction of the rock bolt by the extraction mechanism, the attachment of the fixing member to the rock bolt by the fixing member attachment mechanism, and the driving of the rock bolt with the fixing member attached into the rock bolt insertion hole by the driving mechanism.

The display unit 305 displays images of the inside of the tunnel 10 or the face 12 received from the tunnel excavation management system 400. The operator operating the remote control device 300 operates the operation unit 304 while checking the images showing the conditions inside the tunnel 10 displayed on the display unit 305 to run the drill jumbo 100 and carry out the necessary work.

While visually checking the face 12 and the drilling pattern shown by the image displayed on the display unit 305, the boom operation unit, guide shell operation unit, and drilling operation unit are controlled to drill the charge holes.While visually checking the peripheral wall surface 11 near the face 12 to which concrete has been sprayed, the boom operation unit, guide shell operation unit, and drilling operation unit are controlled to drill the rock bolt insertion holes, and the rock bolt operation unit is operated to drive the rock bolts.

The drill jumbo 100 may be provided with a pan head device for remotely controlling the shooting direction of the imaging unit 107 and a pan head control unit for controlling the operation of the pan head device, and the remote control device 300 may be provided with a pan head operation unit for remotely controlling the pan head device.

4. Tunnel Excavation Management System As shown in Fig. 4, the tunnel excavation management system 400 has an input unit 401 for inputting various data. Here, the input unit 401 is connected to the 3D scanner 201 and the thermography camera 202 installed in the tunnel by wire or wirelessly, and inputs 3D data. The input unit 401 is also connected to input devices such as a keyboard and a pointing device of the system, and in this embodiment, drilling pattern data can be input.

The tunnel excavation management system 400 has a control unit 402 that controls the operation of the entire system, and the control unit 402 is connected to an input unit 401, a tunnel shape extraction unit (face shape extraction unit 403 and tunnel side shape extraction unit 404), a drill jumbo position detection unit 405, a data storage unit 406, an output unit 407, and a communication unit 408.

The tunnel face shape extraction unit 403 and the tunnel side surface shape extraction unit 404, which constitute the tunnel shape extraction unit, extract the face shape and the tunnel side surface shape, respectively, from the 3D data acquired by the 3D scanner 201, and store them in chronological order in the data storage unit 406 as tunnel shape data.

The drill jumbo position detection unit 405 detects the position of the drill jumbo 100 in the tunnel 10 from the 3D data acquired by the 3D scanner 201, and accumulates the drill jumbo position data together with the tunnel shape data in the data accumulation unit 406 in chronological order. The position of the drill jumbo 100 can be detected, for example, by installing a specified reflector on the drill jumbo 100 and measuring the distance from the 3D scanner 201 from the 3D data to detect the position of the drill jumbo 100. It is also possible to identify parts of the drill jumbo 100 from the 3D data showing the inner wall of the tunnel 10 by AI analysis, and detect the position of the drill jumbo 100. The accumulated data in the data accumulation unit 406 can be used, for example, to build a machine learning model in AI analysis.

The output unit 407 is a display unit such as a computer monitor. For example, it can display the face shape extracted by the face shape extraction unit 403 together with the drilling pattern, and can also display thermographic images from the thermographic camera 202 as necessary.

The communication unit 408 enables communication with the remote control device 300, and transmits the above-mentioned drill jumbo position information and, if necessary, thermographic images to the remote control device 300.

The functions of the control unit 102, the face shape extraction unit 103, the tunnel side shape extraction unit 104, and the drill jumbo position detection unit 405 can be realized by executing a program stored in a memory (not shown) on a processor.

5. Drilling Pattern Several methods have been proposed for indicating the positions of the charge holes and the rock bolt search holes to be drilled in the face 12. For example, there is a method of projecting a laser beam onto the face 12, and a method of projecting an image showing the charge hole positions onto the face (for example, JP 2018-150720 A, etc.). However, such methods require the separate provision of a laser beam projection means or a projection means such as a projector.

In contrast, according to this embodiment, the position of the drill jumbo 100 is fixed by the outrigger 104, so that the position of the drill jumbo 100 can be accurately detected using the 3D scanner 201, and the boom 101 and guide shell 103 of the drill jumbo 100 can be operated based on the detected position to form a specified charge hole or rock bolt hole according to the drilling pattern.

As shown in FIG. 5, based on the image of the face 12 and the drilling pattern displayed on the display unit 305 of the remote control device 300, the control unit 303 controls the boom 101, the drilling machine 102, and the guide shell 103 of the drill jumbo 100 according to a program to form predetermined holes 13a in the face 12 according to the drilling pattern. The drilling pattern may be drawn in advance taking into account the rock type, rock quality, strength, number of holes to be drilled, number of blasting stages, amount of charge, etc. of the ground to be drilled, or may be determined by AI analysis using such data. The drilling pattern is updated as the excavation of the tunnel 10 progresses. The same applies to the drilling pattern for the rock bolt insertion holes.

Alternatively, a drilling pattern may be projected using laser light, and a marking device or worker may directly mark the face 12 using spray paint based on the drawing of the drilling pattern, and the control unit 303 may control the drill jumbo 100 as described above based on the image and marking of the face 12 displayed on the display unit 305, to form the specified drilling holes 13a in the face 12 according to the drilling pattern.

6. Tunnel Excavation Work Hereinafter, a work process using the remote control system in this embodiment will be described with reference to FIG.

In FIG. 6, the tunnel face shape extraction unit 403, tunnel side surface shape extraction unit 404, and drill jumbo position detection unit 405 of the tunnel excavation management system 400 extract the tunnel shape from the 3D data acquired by the 3D scanner 201, measure the position of the drill jumbo 100, and acquire an image of the tunnel face from the imaging unit 107 (step 501). Next, they determine the drilling pattern and explosive amount as described above, and display the tunnel face 12 and the drilling pattern on the display unit 305 of the remote control device 300 (step 502).

The remote control device 300 moves the drill jumbo 100 from its current position to a position where drilling work will be performed, and fixes the position with the outriggers 104 (step 503). In this embodiment, the shape inside the tunnel 10 and the position of the drill jumbo 100 are measured, so the control unit 303 of the remote control device 300 controls the drive/braking system 105 of the drill jumbo 100 through the communication unit 301, and the drill jumbo 100 can be automatically moved to a work position just before the face 12 inside the tunnel 10. Alternatively, the operator may operate the travel operation unit of the operation unit 304 to move the drill jumbo 100 to a predetermined work position while visually checking the situation inside the tunnel 10 displayed on the display unit 305.

Once the drill jumbo 100 has been fixed in a predetermined working position by the outriggers 104, the remote control device 300 operates the boom 101 and guide shell 103 according to a drilling pattern based on the positional relationship between the face 12 and the jumbo drill 100, and the drilling machine 102 drills a charge hole in the face 12 (step 504). By using the position information of the drill jumbo 100, which is fixed in position by the outriggers 104, more accurate drilling work can be performed.

When drilling of the charge hole 13a has been completed in the drilling pattern at the face 12, the worker visually checks the situation inside the tunnel 10 displayed on the display unit 305 of the remote control device 300, and inserts an explosive with a detonator attached into the charge hole 13a by the underground worker or by remote control, and then operates the travel control unit to move the drill jumbo 100 to a retreat position within the tunnel 10, sufficiently away from the face 12 (step 505).

Once the evacuation of the tunnel, including the workers inside, is complete, the blast is detonated using a detonator to excavate the face 12 (step 506).

After the blasting work is completed, on-site workers use backhoes and rock drills to perform excavation and debris removal work (step 507). Specifically, the tunnel 10 is excavated so that the tunnel face 12 is almost flat, the tunnel wall 11 near the tunnel face 12 is excavated to a specified cylindrical shape, and the tunnel 10 floor is almost flat. The debris generated by the blasting and excavation work is transported outside the tunnel 10 by heavy machinery such as wheel loaders and dump trucks, or by a transport device such as a belt conveyor.

After the excavation waste is removed, on-site workers install shoring (step 508), and concrete is sprayed onto the tunnel wall surface 11 and the tunnel floor surface near the face 12 using a concrete sprayer (step 509).

Next, when the drilling pattern for the rock bolt insertion holes is determined (step 510), the remote control device 300 moves the drill jumbo 100 to the work position and secures it with the outriggers 104 (step 511). In this embodiment, the shape inside the tunnel 10 and the position of the drill jumbo 100 are measured, so as described above, the remote control device 300 can control the drive/braking system 105 of the drill jumbo 100 to automatically move the drill jumbo 100 to the rock bolt drilling work position just before the face 12. Alternatively, the operator may operate the travel operation unit of the operation unit 304 to move the drill jumbo 100 to a predetermined work position while visually checking the situation inside the tunnel 10 displayed on the display unit 305.

When the drill jumbo 100 moves to the working position and is secured by the outriggers 104, the remote control device 300 operates the boom 101 and guide shell 103 according to the drilling pattern for the rock bolt search holes based on the relative positions of the face 12 and the jumbo drill 100, and the drilling machine 102 drills the rock bolt search holes (step 512). At that time, the remote control device 300 may move the drill jumbo 100 to drill the rock bolt insertion holes as necessary.

When the drilling of the rock bolt insertion holes is completed, the remote control device 300 operates the boom 101 and the guide shell 103 according to the drilling pattern to cast the rock bolts (513). The operator can also cast the rock bolts by operating the rock bolt operation unit while visually checking the condition of the peripheral wall surface 11 of the tunnel 10 displayed on the display unit 305. In detail, a series of operations are performed, such as the reciprocating linear movement of the grout injection pipe by the injection pipe movement unit, the pump pumping the grout into the grout injection pipe, the extraction mechanism extracting the rock bolt, the fixing member attachment mechanism attaching the fixing member to the rock bolt, and the driving mechanism driving the rock bolt with the fixing member attached into the rock bolt insertion hole. At that time, the remote control device 300 may move the drill jumbo 100 to drive the rock bolts as necessary.

Once the rock bolts have been driven into the rock bolt holes, the same work is repeated, and the tunnel 10 is excavated. Each time a predetermined length of the tunnel 10 has been excavated, the surrounding wall surface 11 on which the rock bolts have been driven is covered with a waterproof sheet, a center (formwork) is placed opposite the surrounding wall surface 11, and concrete is poured between the surrounding wall surface 11 and the centerwork, thereby carrying out the lining work. The tunnel 10 is constructed by repeating this process of tunnel excavation and lining.

As described above, according to the remote control system of this embodiment, the position of the drill jumbo 100 can be accurately detected using the 3D scanner 201, and the boom 101, guide shell 103 and drilling machine 102 can be operated based on the position of the drill jumbo 100 fixed by the outriggers 104, thereby accurately forming a predetermined charge hole or rock bolt hole according to the drilling pattern. In this way, in tunnel construction in mountainous areas, the drill jumbo can be fixed at a desired position, and the drilling machine can be moved to a predetermined position based on the fixed position.

10 Tunnel 11 Tunnel inner wall 12 Face 13 Charge hole 100 Drill jumbo (face drilling machine)
101 Boom 102 Drilling machine 103 Guide shell 104 Outrigger 105 Drive/braking system 106 Rock bolt driving device 107 Imaging unit 200 Cart 201 3D scanner 202 Thermography camera 300 Remote control device 301, 302 Communication unit 303 Control unit 304 Operation unit 305 Display unit 400 Tunnel excavation management system 401 Input unit 402 Control unit 403 Face shape extraction unit (tunnel shape extraction unit)
404 Tunnel side shape extraction unit (tunnel shape extraction unit)
405 Drill jumbo position detection unit 406 Data storage unit 407 Output unit 408 Communication unit

Claims (4)

1. A remote control system for controlling a face drilling machine for excavating a tunnel, comprising:
a three-dimensional scanner that measures three-dimensional distances within a tunnel in which the face drilling machine is installed and outputs three-dimensional data;
a tunnel shape extraction unit that extracts a face and a side shape of the tunnel from the three-dimensional data;
a position detection unit that detects position information of the face drilling machine from the three-dimensional data;
A remote control device for controlling the operation of the face drilling machine;
having
The face drilling machine has a drilling machine whose position and attitude can be changed, a drive/brake system for self-propelling, and a control unit that operates the face drilling machine according to the control by the remote control device,
The remote control device moves the face drilling machine to a predetermined work position according to the position information of the face drilling machine detected by the position detection unit, and forms a hole at a desired position of the tunnel by the boring machine of the face drilling machine at the predetermined work position.
A remote control system comprising: The face drilling machine further has an outrigger,
The remote control system according to claim 1, characterized in that the remote control device drives the outriggers at the predetermined working position to fix the position of the face drilling machine. The remote control system according to claim 1 or 2, characterized in that the remote control device operates the boom, the guide shell and the drilling machine of the face drilling machine according to a drilling pattern prepared in advance to perform face drilling and rock bolt drilling of the tunnel. The face drilling machine has a boom that expands and contracts, rotates, and rises and falls using a multi-joint actuator, and a guide shell that is supported at the tip of the boom and rotates, rises and falls, and slides, and the drilling machine is mounted on the guide shell,
The remote control system according to claim 1 or 2, characterized in that the remote control device controls the boom, the guide shell and the drilling machine of the face drilling machine at the specified working position to form a hole at a desired position of the tunnel.

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