Free Exhibits - District Court of Colorado - Colorado

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 1 of 13

United Sta
Tanaka
et

im

pi
Date

Number
of

4639868
Jan 27

Patent

CONTROL

MFHOD
U.S

References

Cited

APPARATUS FINAL DRILLING

PATENT
7/1974

DOCUMENTS
175/24
.....

TRANSFORMED FROM SECONDARY PAITERNS
Inventors Kazumoto

AND

3823.787 4.545017

Haworth

364/422

Primary
Assistant

Smith

ExaminerGail
Agent
or

Mashimo
Kobayashl

Osainu

Sate

both

of

Attorney Mathis

FInnBurns

Hayes Doane

Swecker

Higashihiroshima

Toyohiko

ABSTRACf
drilling

Assignee

Mazda
Hiroshima Japan

method

of

drilling

an such

imaginary
that the

facing

excavating
facing

curved
nonparallel

tunnel
to

imaginary

an

existing

facingS

The
first

App No
Filed

method
for

steps

of

obtaining

between with
respect

primary

coordinate

sys

Mar
Application Japan Priority 59.56797

tern defined

the imaginary
defined

secondary
the

coordinate

system

with

respect drilling

Foreign

tern

of

the

transforming primary primary coordinate system into of
the

facing

pat

secondai7 system

Mar

24

drilling obtaining

pattern

secondary system

coordinate

second

equation

transformation and
final

Int

C1
173/39
33/1

G06F
364/420

E21B
364/422 33/503 175/24

the

secondary
defined the

US
Field of

coordinate and
final

system

respect

to

drilling pattern

vehicle
to

transforming
drilling pattern

secondary
final

of

coordinate system

Search

405/138 Claims Drawing
Figures

173/39

42 33/1

-i
DRILl Ii CONVERT COORDINATES VEHICULAR OR

SSSTW
PRESS AND ST COORDINATE KS INTO PATTERN

SYSTEM
ITRANSFORM DRILLING1 INTO PATERR

43J4ORYAIR

EQ

ui_I

IPATTERN
jDI1ILLING

ICONVERY

DRILLING

PATItRNP TWO COCRpINATE5
TRANSFORM COORDINATES

I5F1INTOTI4OSEOR IS4ATE
loetset

Ic SYSTDI

POINTS

$.JA

AND

IVEHICULAR ICOORDIHATE

7H00TA
fTSANSFCRU

to.iii1
two
OR
III

cOORDINATES

SPJCOOPDINATE
INTO VEIRCULAS COORDINATE

WS

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 2 of 13

U.S

Jan

Sheet

61

4639868

WS

0002039

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 3 of 13

U.S

Patent

Jan

27

1987

Sheet

of

4639868

Fig

RO

IC

Fig

WS

0002040

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 4 of 13

tqtr

_Q

-4

t%4

00

IS

00

00

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 5 of 13

U.S

Jan 27

1987

Sheet

of

4639868

Pig

/INPUT

CONVERT P__/
COORDINATES

PATTERN

VEHICULAR
COORDINATE SYSTEM INTO DRLLING

j9

EXPRESS POINTS
AND BY

PATTERN

COORDINATE TRANSFORM PATTERN
DRILLING
DRILLING

EQ CI
CONVERT PATTERN
DRiLLING

re

jIO

INTO

TWO
TRANSFORM

TWO

COORDINATES OFK2 CORDINATE SYSTEM INTO THOSE COORDINATE SYSTEM

Pig

DETECT

POINTS

AND BY VEHICULAR
COORDINATE SYSTEM

7H

OBTAIN

EQ II

TRANSFORM

TWO

COORDINATES COORDINATE iNTO THOSE OF VEHICULAR SYSTEM COORDINATE

WS

0002042

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 6 of 13

U.S

Patent

Jan

Sheet

of

4639868

Pig

Pig
RdSJ
input

24

WS

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 7 of 13

4639868
the

angular

deviations

are employed the with
the reference

as points

correction does not

CONTROL APPARATUS WHICH MAKES
DRILLING PRIMARY

DRILLING

value
necessarily

deviation

PAnERN
AND

angular deviations
in unsatisfactory

when
posi

rRANSFORJSIED

viewed
tioning

on

plane

resulting

accuracy

BACKGROUND
The
methods excavated apparatus
tions
is

THE
generally relates to drilling tunnel or the like to

SUMMARY
Accordingly
tion 10
is

THE
object the drilling

present for

invention

an

essential

present

be

to

provide

an

improved
in

inven method
facing
for

which

boom
predetermined accordance
facing at

with

numerical curved excavation

type

which

when
pastern respect

drilled

drilling

on

the

in

pattern drilled present

in

coordinate system defined
for

with

expressed to the
basis

ac
of

of by
the

facing

such

that

ing

curved between

excavation

is

transformed system

on the

drilling

apparatus
to for

More
drilling

relation spect defined to

coordinate and
to

defined with

re

invention

relates facing of

method
in the to case

an of imaginary fac facing arranged
drilling of 20

an with

existing respect

coordinate
for

system

imaginary excavation
ing

curved tunnel

the

facing

curved

excava
and

curved

tion system then
fined

drilling defined

pattern respect

expressed
the

coordinate

angularly

nonparallel
it

an

existing so

with

Conventionally
that

the

drilling respect

pattern the

of
existing

coordinate
facing the
Is

system

de

when
in

or

the

like

is

excavated

performed mined
that

at

number
the drilled

drilling

of
into the

predeter such
are

on

the

basis

relation respect defined pattern to

between
the

coordinate
facing

system

defined nate into 25

with

existing respect

and vehicle

system

with

to in

drilling

blasted apparatus mined
is

end
required to

mounted be
positioned at the

drilling defined

expressed
so the

sys
vehicle

predeter

tem
that

with

respect for

such

drilling the

For
method which of
the has after

facing

curved

excavation of
the

drilled

elimination inherent

accurately disadvan of

been

conventionally

widely teaching

employed so

in tages

conventional

positioning has preliminarily operation

operation
to

drilling

boom
the the

kind
In ferred

be stored ever based

teaching
that

played

How
such

accomplishing an improved

this

object the

according method

to

one
there

pie
is

known
skill

embodiment of

playback
tim

present

invention

inconveniences on low

provided
drilling efficiency
is

drilling tunnel

automatically

an and

operator

its

to be excavated
rectangular said pattern

which
coordinate
is

extremely faciory

positioning

accuracy

is

not

satis

drilling

pattern

expressed
respect drilling

system
In place

defined

trans

Thus method

of

the

playback disclosed

formed

exprssed
respect to

in drilling

ex

coordinate
vehicle

system
that

defined

with

ample in Japanese No Tokkosho
In the in

Patent

38752/1982

such

boom mounted
with
drilling

on

said

drilling
is

vehi

dc and
control

apparatus
at

method
coordinate
is

pattern

through
position

thereof of
said tunnel to

expressed with
pattern respect latter

rectangular facing in

system
into

defined drilling

on

the

basis

of

predetermined fmal drilling
facing to as

respect expressed drilling drilling
is

transformed system on and then

pattern
for

when an imaginary
so

coordinate

defined

employed primary

be

the

of the
drilling

45

nonparallel pattern fined

an

existing in

facing

and

drilling

pattern
at

boom
numerically of the facing
the the like case
is

expressed
respect so as to

coordinate
said

apparatus
terrnined

prede
through feed
automatically

imaginary
into

facing

system de has been
drilling

given
pattern defined said into

be

transformed
in

back
drilled

control

that

expressed
respect

secondary
said pattern

coordinate
facing

system
that

Meanwhile
tunnel

of

excavation
facing

of facing

existing
is

such

curved
for

or

the

an

imaginary

secondary
said steps

drilling

curved

excavation over
blasting penetration blasting facing at

retracted facing to

rearwardly from new an
existing to

pattern

comprising

the

pretreat and

ment

of
second
said

be obtained
to angle the

by

expressing

of

first

nonparallel

existing

so

form

prede
coordi
vehicle

second
using

secondary second
coordinates

termined
nate
is

therebetween
respect to

since the drilling defined

another

first

and

system of said
that

by
first

system

defined

mary coordinate
equation secondary
oo relations
first

system

respectively

deviated
the

system curved
defined for

with
dcviation

re
the

between coordinate systems between
said
first is

said

primary on
the

spect

excavation with curved

obtained

between
drilling respectively prior art

coordinate systems and
is

respect

to

and second

another

facing to

excavation
the

coordinates
said

between second

required

be modified

and

coordinates
drilling pattern into third

numerical
reference respect to

control point the

method
in

since

between
fined point the
in

system and
defined

de
65

converting said and fourth coordinates primary
fourth using

of

third

and

fourth that

points third

existing

reference respect

coordinate coordinates

system are

such

said

and by with

the

coordinate system excavation

with

respectively into

transformed and

measured
directions

said

equation

another

fourth

terms

of

deviations

in

coordinates of

secondary

coordinate system

WS

0002044

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 8 of 13

4639868
said said

another

third

and

fourth

representing

FIG
ing

is

view

similar to

FIG
block

particularly

showand
to

secondary
detecting

drilling
fifth

pattern
sixth coordinates

embodiment

of

present

invention

and

of

reference

point

fixed in

coordinate
fifth

FIG FIG
the

fragmentary
particularly

diagram

showing of
that like

second

embodiment
invention

system
said

terms of

coordinates of
respectively

present

invention
the to description present parts are pro-

final

system
for

such

that sec-

Before ceeds
like it

second ondary
basis

equation and
final

transformation

said

be

noted

coordinate systems is coordinates of relationsbetween said
fifth

on

the
10

numerals drawings

several

designated views

by
the

accompanying
coordi-

another
nates point

coordinates

and between
sixth

said

DETAILED DESCRIPTION

OF THE
is

and

said

with
the basis said

IEN1ION
Referring

being

determined

on

now

the

point transforming
nates third said third

and

fourth into

coordifurther 15

FIG
trolled

drilling

system

drawings to which
to
first

con
embodiment
drilling actuator

of

secondary
fourth respectively third

coordinate system of
said

according
present invention

of

the

may

be

applied
rotary

system
that
final

equation and
are fourth

system mounted
said tuted
final

includes

drilling drilling

vehicle vehicle

said

coordinates
into

of

on
first

the

boom
cell

consti guide

system
pattern

convened

said

by

drilling

of

said the

coordinate system
control

20 drilling

10
ling

cylinder

for sliding

the guide

and
fixedly

dril supto

Consequently method
of drilling

type

apparatus

13
legs

drilling

present pattern respect tunnel for

invention of
the
is

since

pri system
exca25

ported confront led while
rear at

support
facing
its

standing
first

on boom

the
is

so

mary
defined vating
first

coordinate imaginary
facing

cou
Meanat
its

rear

with
the

for

end

with
is

rotary of

actuator

second end and

retractably
first

equation

primary
into the

end moved toward more
to 30 the front

boom
cell

so

to

be

and

secondary
pattern

drilling defined

coordinate systems of secondary
to the existing
is

away
is

from boom
drilling

IC Furthermounting

secondary system then
using the the

coordinate
facing

cylinder

the for

second

control

respect drilling

and by

not shown
which
operations

controlling

apparatus
for

13
on

secondary second ary and
pattern spect

pattern

transformed between
into

constituted

by

feed

motor

controlling

equation
fmal

seconddrilling
final

apparatus

13
so IC

is

mcunted guide

coordinate systems
final

drilling rethe 35

rear
is

end portion and rod

of

the

of

the

coordinate system vehicle

defined between
is

mounted away
cylinder

guide on the cylinder
facing

cell

10

as to

be

moved

the

drilling final that

deviation

toward
the

from the
drilling

primary
eliminated tioned at

and
the

systems can

apparatus
front

upon 13

actuation
is

provided and be
is

be

accurately

ppM
of
the

with
slidably

having

it the

its

Ed
to

bit as to

predetermined
in

on
and

guide
facing

moved

imaginary lion
tunnel

facing accordance with
the present

toward invencurved
resulting scribed

away

from device

by the above of the

Accordingly can be

feed

motor
drilling

imaginary
accurately

excavating
drilled

device system

13

drilling

improvement
tunnel

of
like

excavation

accuracy

of

the

Furthermore guide

cylinder cylinder

not
for

for

the

or

the

boom
and
to cylinder the

BRIEF
These
invention description

OF
features the

45

cylinder for
lifting

15

for extending
cell as

the

boom
are
fixed

16

boom
hay-

and
will

present

Accordingly
three-dimensional ing

shown

in

become

apparent
reference

from

rectangular y-axis vehicle extension are are parallel to as so

coordinate system have an

taken
thereof in

an

x-axis drilling

a-axis to origin

respect set at the extension the

embodiments
ing

with

to

the

accompanysystem
to

so

to the

which view
of present invention

time
of

when an
guide

of

boom
and
the to the

and an

FIG
which applied

is

may be
of
55

guide
the
is

direction

of

a-axis relative to

so provided

be

displaced

FIG
boom
mounted

is

displacement
drilling

the

drilling in

vehicle

through about
lift

employed with
is

system
internal

of

FIG

boom
by
the

circumferential actuator

the

a-axis

apparatus
an configuration

rotary in the cylinder

through an of

BL
about

of

the

FIG
of

block employed

boom
by
60

circumferential

drilling
first

system of of

14 and

through

extension

Lex

FIG
present

embodiment

of
der

the

invention
is

boom 15 Meanwhile
apparatus
to the

direction the

the

by
as
lift

cylin
the

guide so provided through
to

FIG
curved
first

view
the drilling

of

excavation

of
to the

drilling relative

13

is

be of about
the

method
invention curved

boom

angle

embodiment
schematic

present

guide
tunnel

cell

in the the cylinder

circumferential

direction

FIG
FIG

view

of

65

x-axis the

by

SS of
the described direction

guide
y-axis

10

FIG
drilling

is

flow

of

procedures

of

the

the for

by

the the

not shown
slide

method of

swinging

guide

cell

and through

WS

0002045

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 9 of 13

4639868
Ls
the cylinder
it

10

in

of be
that respect vehicular that reference the to

s-axis rectangular the drilling

are

also

expressed

by

of
described

system

should
defined to as

same
perpendiculars points coordinate

above
extended
axes

coordinate
vehicle

system
referred

are
to

respectively
three to

from of

the

hereinbelow

Thus

assuming and
reference

system numerals and

and

the so

coordinate obtain by and
points

12

system

01 02
generally spherical rotary the

03
represent

numerals
respectively origin

Li
between
the these

Subsequently of the coordinate system

distances the origin

angles

and lengths having an

of

system coupling of between foremost
posltion the

set

m4
in

rotary

actuatorS

and

nS
the

can above

be described transformation
it

order

position

boom
10

Ic
expressed

10

to the

perform and

between
also

foremost by

guide

can

be

12
an

coordinate
origin

systems vectors of and
in

can

be

so

coordinates driving

01
the

02
17

04 Li
for arbitrarily of

Accordingly
in

arranged
axes

boom 83

of

the

Ri coordinate system
are

the

12
sys

spherical

coordinate system

coordinate system
drilling the
15

expressed of

the

boom
and 16 and
cell

mounted
rotary the cylinder

tem
nate

and
axes

then
the

amounts

between system and

coordi those the
there-

apparatus
cylinders for

13

constituted

of

14
the

15

not shown

12
are coordinates

system and angles obtained
the basis the the relations

swinging

tO
the

between
the

The
servo device mechanism

system 18
for

further

mi
in

boom

driving

20

coordinate system and
the point coordinates the

coordinates system of
point

mS
and between
the in

of

17 an encoder
18
is

19 and

servo mechanism

microcomputer connected to the actuators
the the rotary

21 The
of
the

12
n2
and

iCi

boom
for

driving

17 14
15

coordinate system
the 25 unit point
in

coordinates system

n4
the

nS

n6

cylinders

and guide

16 and
cell

not shown
the

the arithmetic

swinging of

10
operation

encoder

19

detects through of actuators
rotary cylinder actuator

arithmetic the the

actuated

amounts i.e and
the direction

xO yO sO

operation of equation transformation between
position

the

coordinate systems

and

cylinders for driving cylinders

14
device

16

and
cell

4p
the
in

not
actuator

shown
of
the the

10
30 drilling drilling the

formed
pattern points

4r 12
12
be

each coordinate 4iq

number

The
rotary

actuators

17
16

4r

system namely of each
is

14
the

the

system
stored

to
the

not shown servo mechanism 18
cylinder control

guide
the earlier said the drilling to

and

motor
13
are

for

memory tion frp Meanwhile
35 pattern coordinates transforms

24so
4ir the

as to

therein

with

direc

being

arithmetic

expressed by unit 25 converts
the

unit the

vector
drilling

apparatus each other

connected 21

an

interface are transmitted

the
to

dxl and 25

microcomputer

memory 24 The arithmetic

two
the

qr and
unit into coordinates respectively

wof
and by obtained

As shown
first

in

FiG

the

microcomputer
units

includes

arithmetic

register

25

26

and
as 40 the

of

the

Xl coordinate system
unit drilling arithmetic laser of the existing facing

24 When memory shown in FIG
is

curved
facing face

tunnel for

equation

xO yO sO
system
units

by

the

excavation
is

arithmetic

set

an

imaginary over

which obtained be with
for

rear-

Furthermore
register

includes

second and

wardly from
existing

blasting to be to

penetration

SI
at

27
in

and

28
is

29

30

31

As
to

new

facing

12
It

by

blasting

an
45

shown
point acts as

vertically that facing

applied point

rectangular respect to the existing

11
existing retracted

coordinate
facing

systems
the

defined facing

reference

XI and

excavation

point mined
is

which
length

is

over

predeter
the

are

respectively

referred in

tc

as

Ri and 12 coordinate
to points coordinates

S2 along
as point are

the the expressed

beam
coordinates

systems
positioned

hereinbelow on
the point

relation

and
50 the

defined

system

points

and

at al
are

m2 m3
the point

ni
in the

n3

of

a2 b2 c2
bi ci and
first

respectively the operation the

The
system of
the

expressed

coordinates
nates

m5 me
n6
of
are

of

the

system and and coordiexpressed
in the

b2 c2 of
manual
unit

boom
then
unit

by
are
into in

n4
to

point inputted to

Xi
In 55

i9a of

encoder
the

19

coordinate system order

the

respectively coordinates the vehicular

transformed

arithmetic

28

transform

the

coordinates

ml

m2 m3

at

ci

and

c2
The

expressed

ni
nates

n2

m4
an
as

11 coordinate system into the coordithe coordinate me and n4 nS
defined so as 60

coordinate system

coordinates

ci
the

of

at

c2
and
in

of the

coordinate system system indicating tion of curved lines of curved tunnel is
to

system

and

at
c2
27
the

ci
point are

point

have

origin

set at

center

of an

inlet

of

curved of
the

coordinates vehicular register nates 65

expressed
to

tunnel points are

shown

FIG
in

system of
coordinates

inputted

The
the

calculated lines

expressed from points expressed
the

the intersection the

of

system between coordinate an an

of relations the

at hi
vehicular

coordinate
the point

curved system
origin

by

system and
in

bi
system
point

and

11
of
three s-axis the

Meanwhile
axes i.e

the

coordinate

and
in the

vectors and

coordinate

coordinates
nate

at
and

b2
the

of the

coordi of

xaxis

12 coordinate system

system

coordinates

at b2 c2

WS

0002046

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 10 of 13

4639868
point
tic in

the

vehicular

coordinate system

the

arithme
equation the

nates

ni
to the

n3

and
register

n6 22
basis the

of

the

point

are

performs

an

inputted

first

II
11
the coordinate

sO yO tO
system
the

between and
arithmetic

Subsequently
the coordinates in in the the

on
the

vehicular 30
transforms

of

and coordinate system

above
and

system

Meanwhile
coordinates

step

two

of and coordinate system
respectively

expressed pressed

Xi

arithmetic of the

26
vehicular

12

coordinate

system

It
of

relations

ex be
in

tween

ml
system and
the

m3
12 n2

by
at

the the
arithmetic unit

xO The
into in arithmetic coordinates unit

tO
unit

the

11
the

the coordinates

m4 m5
and
in

conof

10

m6
between
the

system of coordinates

verts the

the

two

and
pattern

30

4p 4q 4r
system

Ki coordinate system and
of
the point
in

n4 n5
the

expressed

coordinate

n6
15

12
obtained
arithmetic

coordinate

system

equation the third

Xl
is

Moreover
tic

register

system and
it

includes central

an

arithme-

coordinate systems
In

unit

CPU
is

34

In represents

should

order
for

to

be

perform

that

operation of

ence feed which

numeral

the

earlier the drilling

device apparatus
using

tion dinate 20 dinate

between
relations

equa coor coor
are

controlling

13
as-

systens systems by
the

between
to the

the

11

and

not

shown

in

FIGS
pattern

and

By

an

with

respect

points

ymptotic

calculating the drilling

given

equations

transforms

4r of
81
dinate

4p 4q
into pattern
in

arithmetic

PD coor

83
system
defined to as referred

expressed
respect

the
the

spherical

to

boom

here-

inbelow

The drilling pattern P0 boom coordinate system
metic but
basis unit

boom coordinate 01 02 03 04 Li Li
which
stored
in

m1 1m2 n3
at
n2 30

r46$In5

m4
tms
tIO

32 not only
delivered to drilling

is

the

third

33
the

the

servo

mechanism 18

of

pattern

P0

01
the

02 03
positioning

LI
servo where
driving indicative 35

tn3

4.1n4
is

of device

boom

coordinate

system amount 4evice

mechanism 17 and an
actuated

operations

of the

L2
second
since

01
11
is

boom

coordinate
rotation the

matrix and

0304
19

of

angles

12

boom
arithmetic

driving twit

coordinate systems

and

191

of the encoder

actuated
the

atbtint

01
of
is

04
is

LI9
to

detected
the

second

arithmetic

servo mechanism

18
guide
cell set positions pattern

boom
to

i.e 40

front

subjected

feedback corre

a0
is

control sponding

so

as to to

be

the device

P0

01

L2
the

the control to

boom

coordinate

system

feed

motor
18 drilling

02 03 04 Li At the same time in re
poaidrilling 45

vector

indicative

shifts

between

the

11

and

coordinate systems
are calculating

The above
ploying
tain

solved
to

em
ob
12

sponse
tioning

positioning

an asymptotic of
for

method so

servo
at

mechanism

per
drilling

formed

yO and
transformation
is

zO
the the

predetermined

points to

apparatus input
the

13
and an
operation

response device

an

equation
operational signal

between by

signal

from
50

coordinate systems and the vector

represented

matrix

control to the

CPU
24 and
to actuate the

34
first

signals ters
first

memory
so

outputs and

command
regis 24 and

22

and second

the

memory
the

registers steps invention

22 to

and

Hereinbelow
of
nel present using to

10
FIG

drilling the

method
tim55

Is

system flow
chart

will

be

with

reference of
the

of

The

drilling

pattern

4p 4q 4r
was obtained two
at the

of the

Initially

drilling

pattern
is

4p 4q
given and
is

K2 coordinate system
to step
is

which

12
memory With
existing

system

inputted

coordinates

24
respect facing to the the points

and disposed on of
the in nate

by
Thereafter above
step

the

arithmetic using the

unit

25
obtained
at

the the

11

coordinates

m4 mS m6
n6
are

by
the

equation
pattern

coordinates

of

of

the

12 coordi
is

point

expressed
addition to the

the

coordinate system

obtained
point

system and

which

expressed at the

by
step

two coordinates convened
of

ml
iii

above

and
in

the

n3

of

into

the

coordinates system
respectively

Xl
unit

m3

and

m4

system of the

The coordinates
point

ml ml
coordi

coordinate 26
as

by

the

arithmetic

and

follows

WS

0002047

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 11 of 13

4639868
10 sO
transformation

yO and

zO Namely equation ii for between the Xi coordinate system and
system and
the
is

at
9.lJ
ft

the

vehicular

represented

by

the

matrix

tsr

vector

vI II
10

so
ts0

Meanwhile
the drilling

is

such
the

that cell

target

iQo

operated attached to
to the

at the the nate

Thereafter above
step

by using
the
is

the

equation
pattern

obtained of
the

at

drilling

front

end

of

which and

by of

two coordinates
system coordinates coordinate
as

beam
the

Thus
retracted laser

by employing

the

point

on
rear15

Ki
inro

existing

Xi
over

and
the

the

point

the

above

step

is

converted of the

wardly
along nates

predetermined
point

and coordi system lows

ii

the vehicular
arithmetic unit

beam
of
the

from
point

respectively

fol

ai
of
are

and

the

coordinates

b2
system
the

expressed detected 19 and
into the
first

in the

Xi

coordinate
unit

i9a

of

20

encoder and

then

are

transformed by

arith
the

metic
point expressed the

the

coordinates vehicular

a2
and
are

al
of system such

.S
Iq
taO
25

in the

coordinate

coordinates

bi
system

a2
to

c2
the

of

the

cSI
Ii

i/SI

so

vehicular register 27-

inputted

Subsequently
the

on

the

basis

of

tw
the drilling
is

relations

system
respect to the

and

the and
the

system with
step

of

above and

Furthermore
30 coordinate dinates

pattern

of
the

vehicular

i.e
the in

coordinates
the

system

which

expressed of

two

coor

ci

coordinate system
the point

vehicular
is

coordinates

bY ci
the

vehicular

coordinate into the

system

at

the

above
system

step

convened
unit

coordinate system and

between

a2
point in the vehicular

pattern

4m 4q 4r
by
pattern

c2

of

the

coordinates

aX b2
the

Xi coordinate system and

vehicular coordinate

31

coordinate system between coordinate
In tion

IT
system and of

4p
the

10

Subsequently

the

drilling

the
at the step
is

coordinate
into

system
to

is

system
arithmetic operation the

the

perform

equa

drilling

pattern

P6 by

62
the

64

Li L2
unit pattern

of

Ii

for

transformation the vehicular

between coordinate system

coordinate
relations

system
the

arithmetic
drilling

boom Conse P0 of the
at

system between

and

coordinate with

system and the

quently i.e

on

of the

boom coordinate system
the front

of
cell facing
is

coordinate system
are

respect

the

end

of

given

the

following

simultaneous

predetermined back control performed

K.2 drilling

feed operation
in
is

that

an automatic

.1

SI

ci\

at
so

As

is

clear

from of

the

foregoing

the

lot L.cI

drilling ling pattern the

the

present invention coordinate been system

when
for

the

dtjl

of

12

curved

ar
Joi

given
is

pattern

of
the

at

SI

so

the

12

system system between
pattern into

of using
the

Xi
transformation

by
the

%c2
where
indicative vehicular
is

tems
transformation rotation matrix
is

The

12 sys of the Xi coordinate system
and that of
the for

coordi transforma
the

between

Xi

and

nate tion
lar

by between
the

using

the

equation On

coordinate systems

and

Xi coordinate
the

system and
the

vehicu of
the

coordinate system
pattern

Subsequently on the

basis

drilling

of

system
facing

boom
excavation performed

positioned

12
drilling

curved
is

such

the automatic

Accordingly
is

according

with
the

present

inven

vector

indicative

shifts

between

the

Xi
an of

os

tion tem and
vehicular

between
becomes
the possible

sys
is drill

vehicular

coordinate

systems
equations so are

system
to accurately

The above
asymptotic

simultaneous
calculating

solved

eliminated
facing

on the

method

to obtain

12

curved

excavation

resulting

WS

0002048

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 12 of 13

4639868
ii
in

12
for the

excavation

accuracy
obtain

curved

tunnel

drilling defined

pattern

expressed
respect

final

coordinate
vehicle

system
that

etc

drilling said drilling
is

such and

Meanwhile
transformation

in

order

to the

for

boom
with back
facing drilling

mounted

on

vehicle

mounted feed
of said

between arranged disposed

and

12

sys

apparatus
control

positioned

through
position

tems
points

it

is

so

this

embodiment
the existing

two
are

thereof
basis

at

predetermined
final

and by

on

on

the

of

drilling facing as to

pattern
for

expressed nate

of

and
operation

12
of
said
is

method

when an imaginary
is

excavat

systems of by

and then
and
using

arithmetic

co
per
10 as the

ing to

curved an
existing

tunnel facing

so

employed primary

be

nonparallel pattern

ordinates

12

coordinate systems
also

drilling

ex
to

formed

an

However shown in
present facing facing

alternatively

asymptotic can be second
as

pressed respect to

primary
said

coordinate
facing

system been
drilling

defined so pattern defined

FIG
to so

showing be
set as to

so arranged embodiment in at the the

imaginary
into

has

be

transformed
rn to

ex

invention

shown

new
of
15

12

pressed respect drilling

secondary
said existing
is

coordinate such

system

blasting

existing

secondary
said steps

extend

through

center

curvature formed

of

the

curved
the

Thus
between
this indicative the

pattern

further

transformed
the

an

angle

drilling

pattern

comprising
first

pretreatment
coordinates

of
and

between

Ki
and of

denotes

rotation

new

facing the

12
rota20

expressing

and second
said

of

second by
said that said using

points

secondary and

angle amount

coordinate system of
respectively

the

of

tion

between

the

and

12

coordinate systems
facing the

primary
first

coordinate equation and
the basis said

system

such between

can

be

transformation

determined excavation mined
facing as

Meanwhile
is

curved

vertically

over

the

primary on

systems
relations
first

is

blasting

predeter from the
the

obtained coordinates 25

between
coordinates

first

shown

in

Furthermore
the parallel shifts

xO
the.XI

and

and
facing

zO

indicative

of

between

between second

said

coordinates

and

said

another

and of on

12 and new facing 12 coordinate systems are
vector
existing facing these

12 i.e
xand
fixed point

coordinates
said

a-components on

convening and
said 30 fourth

coordinate-s

primary of

drilling third

pattern fourth that

into

third

and

three-dimensional the

connecting
the

points

of

and components

primary
fourth

coordinate system such are
using

facing

Since data of
the

can of

be

and

respectively into

trans another

curve
ture the

SI
curved
facing

curva
between
facing

formed
third

equation
coordinates

tunnel

fourth

of another

angle

secondary
third

existing

new
length

12

and

coordinate
the to 35 fourth drilling detecting the point nate 40

system

with

and

blasting

penetration the

becomes

coordinates pattern and
fixed in sixth coordinates

possible

secondary

obtain

data-R
systems
In

SI

xl yO zO
Xi and
equation

for transformation

theiquatiqn between
to obtain data

ofa

order
the

and

point of terms
final

yD
to
first

ZO

curve and

It

Si
equation an
the arithmetic unit

22
can

then

system coordinates
tively

of

coordi secondary another and sixth system respec

said

coordinate

xl
as

shown
the rotation

no

be
in

second
said

transforma
coordinate basis

tion

between
is

secondary on
the

second
the

embodiment
into the

present

invention about

by

systems tween
45

obtained
fifth

of
said

relations

said

dividing axis

another

fifth

y-axis

values

of

the

coordinates
said

said sixth

angles the

coordinates said said

and
point

can

be

Furthermore by
blasting in

another

dividing

coordinates with on
the basis of

of curvature and
the the

Si

into

being
point

determined

of of

z-axis

xl
steps

can
the

be

obtained
acSO

Since cording
tion ing to

subsequent the second

of

nates

transforming of said
third

said

and

fourth

coordi
into

system
fourth coordinates said using third

present drilling

inven

further

are the
to

same

as

those of

method accord
invention of
the

coordinate ond equation

system of
into said said

respectively said
final

by

sec and
fourth are

the

embodiment
is

further

present

description ity

brev
55

coordinates converted
final

coordinate drilling

system of

pattern

Although
scribed

the

present

invention

has been
to

de
accom
said
in

system

by way of
it

the

drilling

method

as

claimed
is

wherein by
said vector said point

panying and
art

isto

noted apparent
to

various those skilled the 60

drilling indicative

partern

constituted

modifications Therefore

will

coordinates
acting as

of and
point

position

third

unless

and scope be construed of
as present

modinven

drilling

point third said

indicative fourth

of

ifications

depart should

direction
is

of

said

such from
in

said said

point

tion therein

being

over
drilling

unit as

vector

point wherein

method
is is

claimed on

What
of

is

said

disposed

said

existing

facing

drilling

of

automatically in

drilling drilling pattern defined
final

65

and point
to said

applied such over

at said

reference

tunnel

to
in

be excavated rectangular
to said facing

which

fixed length

expressed with
respect

coordinate
is

system

rearwardly path of

retracted

said

beam

predetermined from said

along

point

WS

0002049

Case 1:03-cv-02579-RPM

Document 142-2

Filed 01/11/2007

Page 13 of 13

4639868
13
drilling said reference laser to
is is

14
coordinate
said at said that reference
is

as

claimed on

system

with
representing

another

third

and

fourth drilling detecting point

secondary
reference

and point

beam

vertically

pattern
fifth

said retracted

fixed

and

sixth

coordinates

rearwardly
path

over

predetermined
said reference

and

fixed

point

of

said

secondary

coordi

of
drilling

beam from
as points

point wherein

claimed
are disposed

in terms of another fifth and sixth system coordinates of said final coordinate system respec nate tively tion

said

and second

on

said

existing

second
said obtained

equation

for
final

transforma coordinate

facing
drilling

between
is

secondary

method be

of

automatically in drilling

facing pattern defined
final

10

systems tween

on

the

basis

relations said

be

of

tunnel

to in

said

coordinates between
said

and

another

expressed with

coordinate
said facing
in is

system

coordinates and
said

coordinates and
said fixed point

respect pattern

transformed
coordinate vehicle

sixth

coordinates on the
basis

drilling defined

expressed
respect

system
that
15

being point transforming of
third

of

said

reference

with

drilling said drilling
is

boom
with back
facing drilling ing to

on

vehicle

and

mounted feed of
said said

another

and coordinate

coordi system of
said said into

apparatus thereof on the
basis at

through

nates

predetermined
said pattern

further

fourth

coordinates

of

coordinate ond equation coordinates

system of
said said

respectively that said

by
third

sec
are

when
tunnel

an imaginary
so

excavatas to

and

fourth

curved an
existing

employed primary

be

nonparallel pattern

coordinate
drilling

system of

and

ex
with
to cx25 said

convened
final

pattern

pressed respect to said into

coordinate

system

defined given so

coordinate system
as pattern

has

drilling drilling

claimed
is

in

wherein
said said third point

be

transformed
in

secondary coordinate system
facing that

pattern defined

constituted

pressed respect drilling drilling

secondary
said existing
is

with

coordinates acting as drilling point

position

said into

secondary
final

vector

indicative

of

pattern

further

transformed

direction
is

such over
said unit as

point

pattern
radius

comprising on
the

obtaining of

pretreatment steps of curve data composed of
said

of
30

vector claimed

from
in said

said

point wherein
facing reference point

drilling said

method
point
is is

curvature between be

curved
existing blasting

tunnel

an

reference
laser

on

angle

formed
to

and
at said exist
first

beam

vertically facing

applied such

at said

new facing
ing

obtained
blasting

by

point
35

to said

existing

facing

and

penetration length

rearwardly path of
said

over

equation and convening and
said fourth

transformAtion

bteen
systexns drilling

said

predetermined from said
in said
at

along point wherein
existing said facing

drilling pattern into third said
is

al claimed on

primary coordinates of

and such
respectively

points

of

and point
40 to

beam
said

is

vertically

applied such

reference point

system are
first

third

said

fixed length

and

trans another

formed by
third

equation of

rearwardly path of said

over

beam

predetermined from said

along

point

and

fourth

coordinates

45

so

60

65

WS

0002050