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1. 发明专利

JP2006057238A Drilling positioning control method for rock drill-equipped truck 有权
标题翻译：用于岩石钻机的钻井定位控制方法
公开(公告)号：JP2006057238A
公开(公告)日：2006-03-02
申请号：JP2004236932
申请日：2004-08-17
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： NAMURA HITOSHI , TAKAYA HIDENAGA
IPC分类号： E21B7/02 , E21B44/00
摘要： PROBLEM TO BE SOLVED: To impart a drilling positioning control function to an exiting rock drill-equipped truck with no servo function of operating a guide shell and a boom.
SOLUTION: In this drilling positioning control method for a drill jumbo 1 wherein the guide shell 12 equipped with a rock drill 13 is supported on the travelable truck 14 via an articulated boom 11, light-emitting diodes 8A
1 and 8B
1 are provided in at least two places on the guide shell 12, and imaging devices 9A and 9B are each provided in at least two placed on the drill jumbo 1. Before drilling, in a state wherein the coordinate and attitude of the drill jumbo 1 and respective installation coordinates of the imaging devices 9A and 9B are known, the coordinates of the light-emitting diodes 8A
1 and 8B
1 , which are displayed on images G1 and G2 of the imaging devices 9A and 9B, are obtained by three-dimensional image processing. Thus, the position and direction of the guide shell 12 are measured, and the rock drill 13 is moved to a prescribed drilling position.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为具有操作导向壳和吊杆的伺服功能的现有凿岩装备的卡车提供钻孔定位控制功能。解决方案：在这种用于钻巨头1的钻孔定位控制方法中，其中装备有凿岩机13的导向壳12经由铰接臂11支撑在可行驶车14上，发光二极管8A < / SB>和8B 1 设置在导向壳12上的至少两个位置，并且成像装置9A和9B分别设置在至少两个放置在钻巨头1上。在钻孔之前，发光二极管8A＆lt; SB＆gt;和＆lt; SB＆gt;＆lt; SB＆gt;＆lt; 1＆gt;和＆lt; S＆gt;的坐标的状态，其中钻头巨型1的坐标和姿态以及成像装置9A和9B的各个安装坐标是已知的，通过三维图像处理获得显示在成像装置9A和9B的图像G1和G2上的/ SB。因此，测量导向壳12的位置和方向，并且将凿岩机13移动到规定的钻孔位置。版权所有（C）2006，JPO＆NCIPI

2. 发明专利

JP2008025163A Drilling positioning control method for rock drill-equipped truck, and boom positioning control method for construction machinery 审中-公开
标题翻译：用于岩石钻机的钻井定位控制方法及建筑机械的定位控制方法
公开(公告)号：JP2008025163A
公开(公告)日：2008-02-07
申请号：JP2006197569
申请日：2006-07-20
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： NAMURA HITOSHI , TAKAYA HIDENAGA
IPC分类号： E21B7/02 , E21B44/00
摘要： PROBLEM TO BE SOLVED: To impart a drilling positioning control function to an existing rock drill-equipped truck.
SOLUTION: A three-dimensional scanner 9 is installed in a drill jumbo 1; a computer 2 is installed; data on the shapes and dimensions of a rock drill 13 and/or a guide shell 12 are preregistered in the computer 2; three-dimensional point group data are acquired by the three-dimensional scanner 9; a three-dimensional model is generated by the computer 2; pattern matching is performed between the three-dimensional model, and the data on the shapes and dimensions of the rock drill 13 and/or the guide shell 12, preregistered in the computer 2; the rock drill 13 and/or the guide shell 12 are/is identified; and the positions and directions of the rock drill 13 and/or the guide shell 12 are grasped. Additionally, in the presence of a loss of the three-dimensional point group data in terms of rock drill 13 and/or the guide shell 12, a lost part of the data is complemented on the basis of the preregistered data on the shapes and dimensions of the rock drill 13 and/or the guide shell 12.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为现有的凿岩装备的卡车提供钻孔定位控制功能。
解决方案：三维扫描器9安装在钻头巨型1中; 安装了计算机2; 关于凿岩机13和/或导向壳12的形状和尺寸的数据预先登记在计算机2中; 三维点组数据由三维扫描仪9获取; 由计算机2生成三维模型; 在三维模型和预先登记在计算机2中的凿岩机13和/或导向壳12的形状和尺寸的数据之间执行模式匹配; 凿岩机13和/或引导壳12被识别; 并且掌握凿岩机13和/或引导壳体12的位置和方向。另外，在由凿岩机13和/或引导壳体12导致的三维点组数据丢失的情况下，数据的丢失部分基于形状和尺寸上的预注册数据来补充凿岩机13和/或引导壳12。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2007170820A Three-dimensional displacement measurement method 审中-公开
标题翻译：三维位移测量方法
公开(公告)号：JP2007170820A
公开(公告)日：2007-07-05
申请号：JP2005364239
申请日：2005-12-19
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： NAMURA HITOSHI , SHIRASAKA NORIHIKO , TAKAYA HIDENAGA
IPC分类号： G01C15/00 , G01C7/02
摘要： PROBLEM TO BE SOLVED: To provide a method of measuring displacements of many measurement points, simply and in a labor-saving manner, by acquiring three-dimensional point group data by measurement before and after the displacements.
SOLUTION: The measurement is performed before and after the displacement which comprises a first step of acquiring the three-dimensional point group data, a second step of defining a displacement measurement surface 3 as a measured object and defining a three-dimensional measurement reference coordinate system A' on the displacement measurement surface 3, a third step of defining a directional vector ν, whose displacement is intended to be measured, setting a three-dimensional displacement measurement coordinate system A" so that Z' axis of the three-dimensional measurement reference coordinate system A' matches with the directional vector, and converting the three-dimensional point group data into the three-dimensional displacement measurement coordinate system A"; and a fourth step of setting a mesh on the X"-Y" plane in the three-dimensional displacement measurement reference coordinate system A" and calculating the average value of the Z" coordinates interspersed in section by each mesh. The difference between the Z" coordinate average values before and after the displacement is set as the displacement amount.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：通过在位移之前和之后通过测量获取三维点组数据，以简单且省人的方式提供测量许多测量点的位移的方法。解决方案：在位移之前和之后进行测量，其包括获取三维点组数据的第一步骤，将位移测量表面3定义为测量对象并定义三维测量点的第二步骤位移测量表面3上的参考坐标系A'，定义要测量位移的方向矢量ν的第三步骤，设置三维位移测量坐标系A“，使得三维位移测量坐标系” 尺寸测量参考坐标系A'与方向矢量匹配，并将三维点组数据转换为三维位移测量坐标系A“; 以及在三维位移测量参考坐标系A“中在X”-Y“平面上设置网格的第四步骤，并且通过每个网格计算散布在剖面中的Z”坐标的平均值。将位移前后的Z“坐标平均值之间的差设为位移量。（C）2007，JPO＆INPIT

4. 发明专利

JP2006057439A Boom positioning control method for construction machinery 审中-公开
标题翻译：建筑机械BOOM定位控制方法
公开(公告)号：JP2006057439A
公开(公告)日：2006-03-02
申请号：JP2005091560
申请日：2005-03-28
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： NAMURA HITOSHI , TAKAYA HIDENAGA
IPC分类号： E21B7/02
摘要： PROBLEM TO BE SOLVED: To impart a positioning control function to an exiting construction machinery with no servo function of operating a boom.
SOLUTION: In this drilling positioning control method for a drill jumbo 1 wherein the guide shell 12 equipped with a rock drill 13 is supported on the travelable truck 14 via an articulated boom 11, light-emitting diodes 8A
1 and 8B
1 are provided in at least two places on the guide shell 12, and imaging devices 9A and 9B are each provided in at least two placed on the drill jumbo 1. Before drilling, in a state wherein the coordinate and attitude of the drill jumbo 1 and respective installation coordinates of the imaging devices 9A and 9B are known, the coordinates of the light-emitting diodes 8A
1 and 8B
1 , which are displayed on images G1 and G2 of the imaging devices 9A and 9B, are obtained by three-dimensional image processing. Thus, the position and direction of the guide shell 12 are measured, and the rock drill 13 is moved to a prescribed drilling position.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：向没有操纵吊杆的伺服功能的现有施工机械赋予定位控制功能。解决方案：在这种用于钻巨头1的钻孔定位控制方法中，其中装备有凿岩机13的导向壳12经由铰接臂11支撑在可行驶车14上，发光二极管8A < / SB>和8B 1 设置在导向壳12上的至少两个位置，并且成像装置9A和9B分别设置在至少两个放置在钻巨头1上。在钻孔之前，发光二极管8A＆lt; SB＆gt;和＆lt; SB＆gt;＆lt; SB＆gt;＆lt; 1＆gt;和＆lt; S＆gt;的坐标的状态，其中钻头巨型1的坐标和姿态以及成像装置9A和9B的各个安装坐标是已知的，通过三维图像处理获得显示在成像装置9A和9B的图像G1和G2上的/ SB。因此，测量导向壳12的位置和方向，并且将凿岩机13移动到规定的钻孔位置。版权所有（C）2006，JPO＆NCIPI

5. 发明专利

JP2006016781A Drilling positioning method for drilling equipment, and method for measuring position of construction machinery 审中-公开
标题翻译：钻井设备钻井定位方法及建筑机械位置测量方法
公开(公告)号：JP2006016781A
公开(公告)日：2006-01-19
申请号：JP2004193294
申请日：2004-06-30
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： NAMURA HITOSHI , TAKAYA HIDENAGA
IPC分类号： E21B44/00 , E02F9/26 , E21B7/02
摘要： PROBLEM TO BE SOLVED: To provide a control method which enables positioning of drilling equipment to be inexpensively performed, without interfering with survey work even in the presence of an obstacle in between.
SOLUTION: In this drilling positioning control method for a drill jumbo 1 where a guide shell 12 equipped with a rock drill 13 is supported on a travelable truck 14 via an articulated boom 11, ultrasonic transmitters 8A
1 and 8B
1 are each provided in at least two places on the guide shell 12, and ultrasonic receivers 9A-9C are each provided in at least three places on the drill jumbo 1. Before drilling, in a state wherein the coordinate and attitude of the drill jumbo 1 and the respective installation coordinates of the ultrasonic receivers 9A-9C are known, ultrasonic waves, which are emitted from the respective ultrasonic transmitters 8A
1 and 8B
1 , are received by the respective ultrasonic receivers 9A-9C; and the position and direction of the guide shell 12 are determined from the time required for an arrival, so that the rock drill 13 can be moved up to a prescribed drilling position.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供即使在两者之间存在障碍物的情况下也能够即使在不妨碍测量工作的情况下也能够廉价地执行钻孔设备的定位的控制方法。解决方案：在这种用于钻巨头1的钻孔定位控制方法中，其中装备有凿岩机13的导向壳12经由铰接臂11支撑在可行驶的车辆14上，超声波发射器8A 和8B 1 分别设置在引导壳12上的至少两个位置，并且超声波接收器9A-9C分别设置在钻巨头1的至少三个位置。在钻孔之前，超声波接收器9A-9C的坐标和姿态以及超声波接收器9A-9C的各自的安装坐标是已知的，超声波是从各个超声波发送器8A 1 SB＆ > 1 ，由各个超声波接收器9A-9C接收; 并且引导壳12的位置和方向由到达所需的时间确定，使得凿岩机13能够移动到规定的钻孔位置。版权所有（C）2006，JPO＆NCIPI

6. 发明专利

JP2005337826A Method and apparatus for laser marking 有权
标题翻译：激光标记的方法和装置
公开(公告)号：JP2005337826A
公开(公告)日：2005-12-08
申请号：JP2004155428
申请日：2004-05-26
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： NAMURA HITOSHI , HAYASHI MINORU
IPC分类号： E21D9/00 , G01C15/00 , G01C15/02
摘要： PROBLEM TO BE SOLVED: To always permit high precision laser marking, and to permit the direct marking on the laser projection point, irrespective of whether the collimation direction of a surveying machine is parallel to the laser projection direction of a laser device or whether the shift is generated therebetween. SOLUTION: A first procedure for collimating a collimation target 10 by a telescope part 2 to measure the horizontal angle, the vertical angle, and the distance and a second procedure for projecting the laser light to the collimation target 10 to measure the horizontal angle and the vertical angle are performed in advance. Relative angle data in the laser light projection direction with respect to the collimation direction of the telescope part are obtained. When the marking position is actually collimated by the telescope part 2, the distance measured data to the marking position are obtained. The rotational amounts in the horizontal, depression, and elevation directions for projecting the laser light from the laser device 4 to the marking position are calculated from the distance measured data and the relative angle data, and the laser light is projected to the marking position. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：无论测量机的准直方向是否平行于激光装置的激光投影方向，始终允许高精度激光打标，并允许在激光投射点上的直接标记，或是否在其间产生位移。解决方案：用于通过望远镜部分2准直准直目标10以测量水平角度，垂直角度和距离的第一过程以及用于将激光投射到准直目标10以测量水平面的第二过程角度和垂直角度预先进行。获得相对于望远镜部的准直方向的激光投射方向的相对角度数据。当通过望远镜部分2实际准直标记位置时，获得到标记位置的距离测量数据。根据距离测量数据和相对角度数据计算从激光装置4将激光投射到标记位置的水平，凹陷和仰角方向上的旋转量，并将激光投射到标记位置。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

JP2005220627A Boring positioning control method in rock drill mounted carriage 审中-公开
标题翻译：岩石钻井安装运输中的定位控制方法
公开(公告)号：JP2005220627A
公开(公告)日：2005-08-18
申请号：JP2004030057
申请日：2004-02-06
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： NAMURA HITOSHI , TAKAYA HIDENAGA , HAYASHI MINORU
IPC分类号： E21B7/02 , E21D9/00
摘要： PROBLEM TO BE SOLVED: To improve working efficiency and positioning precision without interfering with boring work even when a collimation target cannot be collimated concerning boring positioning control.
SOLUTION: A boring positioning control method comprises successively moving a bit 13a of a rock drill 13 from the order of moving in accordance with a boring pattern planned previously in a state that a coordinate of a drill jumbo 1 and an attitude state are known at each plan boring point i on the basis of operation coordinate data for boring positioning set on a controller 2 before boring or during boring interruption, surveying the collimation target 8 provided on a guide shell 12 in a state that it is stopped on each plan boring point i by surveying equipment 4, acquiring a bit position of the rock drill 13 as a surveying coordinate on the basis of the survey, comparing an operation coordinate of each plan boring point by the operation coordinate data for the boring positioning with each survey coordinate surveyed really, setting a difference as composite errors at each plan boring point i, and making the composite errors a correction amount of the operation coordinate.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：即使当准直目标不能对钻孔定位控制进行准直时，也可以提高工作效率和定位精度，而不会干扰钻孔工作。解决方案：一种钻孔定位控制方法包括：根据钻头巨型1和姿势状态的坐标状态下先前计划的镗孔图案，依次移动凿岩机13的位13a，基于在镗孔或镗孔中断之前在控制器2上设置的钻孔定位的操作坐标数据，在设置在引导壳体12上的准直目标8在每个计划停止的状态下，对每个平面镗孔i进行测量通过测量设备镗孔1，基于测量获取凿岩机13的位置作为测量坐标，将每个平面镗孔的操作坐标与钻孔定位的操作坐标数据与每个测量坐标进行比较真正进行了调查，在每个计划无聊点i设置差异作为复合误差，并使复合误差成为操作坐标的校正量。版权所有（C）2005，JPO＆NCIPI

8. 发明专利

JP2007170821A Three-dimensional displacement measurement method 审中-公开
标题翻译：三维位移测量方法
公开(公告)号：JP2007170821A
公开(公告)日：2007-07-05
申请号：JP2005364241
申请日：2005-12-19
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： NAMURA HITOSHI , SHIRASAKA NORIHIKO , TAKAYA HIDENAGA
IPC分类号： G01C15/00
摘要： PROBLEM TO BE SOLVED: To provide a method of measuring the displacements of many measurement points simply and in a labor-saving manner, by acquiring three-dimensional point group data by measurement, before and after the displacement.
SOLUTION: The measurement method comprises a first step of acquiring the three-dimensional point group data of a measured object with a three-dimensional scanner 1; a second step of creating TIN (triangulated irregular network) model of the measured object, based on the three-dimensional point group data and setting it as initial TIN model before the displacement; a third step of acquiring the three-dimensional point group data of the measured object, after the displacement with the three-dimensional scanner 1 in measuring the displacement; and a fourth step of overlaying each three-dimensional point group data, after the displacement on the initial TIN model, dropping a perpendicular line from each three-dimensional point group data, after the displacement to the nearest TIN triangle mesh plane of the initial TIN model, and obtaining the distribution state by using the perpendicular line length as the displacement amount.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种通过在位移之前和之后通过测量获取三维点组数据来简单且省力地测量许多测量点的位移的方法。解决方案：测量方法包括用三维扫描仪1获取测量对象的三维点组数据的第一步骤; 基于三维点组数据，将其设置为位移前的初始TIN模型，创建测量对象的TIN（三角形不规则网络）模型的第二步; 在测量位移之后，利用三维扫描器1进行位移之后，获取测量对象的三维点组数据的第三步骤; 以及在初始TIN模型上的位移之后，叠加每个三维点组数据的第四步骤，将位移之后的每个三维点组数据的垂直线从初始TIN的最接近的TIN三角形网格平面模型，并通过使用垂直线长度作为位移量来获得分布状态。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2005083893A Method for displaying cross section measurement result and its program 有权
标题翻译：显示横截面测量结果及其程序的方法
公开(公告)号：JP2005083893A
公开(公告)日：2005-03-31
申请号：JP2003316234
申请日：2003-09-09
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： TSUJI MUNEKATSU , NAMURA HITOSHI , HAYASHI MINORU
IPC分类号： E21D9/10 , G01C7/06 , G01C15/00
摘要： PROBLEM TO BE SOLVED: To comprehend at sight, two-dimensionally, and specifically, at what positions and how much, excavation cross-section displacement, sprayed thickness, sprayed wall surface displacement, lining thickness, lining wall surface displacement, etc. are produced, as to the display of tunnel cross-section measurement results. SOLUTION: Tunnel inner space cross-section measurement results obtained by measurement using an electro-optical distance meter 5 are displayed by means of an expansion plan. In the expansion plan, the amount of displacement or the amount of bias with respect to a reference value is displayed by using equivalent lines and displayed in a color-coded manner for each of ranges of the respective equivalent lines so as to cover any item of, or a combination of, excavation cross-section displacement, sprayed thickness, sprayed wall surface displacement, lining thickness, and lining wall surface displacement. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：了解二维，具体来说，挖掘截面位移，喷涂厚度，喷涂墙面位移，衬砌厚度，衬砌墙面位移等位置和多少产生了隧道截面测量结果的显示。解决方案：通过扩展计划显示通过使用电光距离计5的测量获得的隧道内部空间横截面测量结果。在扩展计划中，通过使用等效线显示位移量或相对于参考值的偏置量，并且以各种等效线的每个范围的颜色编码方式显示，以便覆盖任何项目，或组合，挖掘截面位移，喷涂厚度，喷涂墙面位移，衬砌厚度和衬砌墙面位移。版权所有（C）2005，JPO＆NCIPI

10. 发明专利

JP2004170164A Survey method and program for displaying result thereof 有权
公开(公告)号：JP2004170164A
公开(公告)日：2004-06-17
申请号：JP2002334548
申请日：2002-11-19
申请人： Enzan Kobo:Kk , 株式会社演算工房
发明人： TSUJI MUNEKATSU , NAMURA HITOSHI , HAYASHI MINORU
IPC分类号： G01C7/06 , G01C15/00
摘要： PROBLEM TO BE SOLVED: To provide simplification, labor-saving, and accuracy improvement for various tunnel surveys carried out during tunnel construction.
SOLUTION: A computer 1, into which tunnel linear shape information is inputted is connected to a total station 5 in a state that can be communicated with each other, and a portable information communication terminal 4 capable of displaying calculation results of the computer 1 on a monitor are also provided. At least two reference points having coordinates known in advance are collimated by the total station 5 for obtaining data of measurement distance and angle, and based on the obtained data, three dimensional coordinates of the total station 5 are obtained by the resection method. Thereafter, a target point to be measured is collimated by the total station 5, and the three dimensional coordinates of the target point are obtained. At the same time, based on the tunnel linear shape information, the distance from the center line CL of the tunnel and/or the distance from the standard line in a height direction of the tunnel are computed as well as the tunnel linear distance TD of the target point. Depending on the kind of measurement, predetermined measurement result items are displayed on the monitor of the portable information communication terminal 4.
COPYRIGHT: (C)2004,JPO

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