| 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<SB>1</SB>and 8B<SB>1</SB>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<SB>1</SB>and 8B<SB>1</SB>, 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
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