An apparatus, rock drilling rig, method and computer program for executing navigation for a rock drilling rig in a mine tunnel. The rock drilling rig is positioned at faces of rounds and is navigated before initiating drilling. The navigation is executed without a predetermined tunnel line. The realized tunnel line is formed by combining navigation data on several rounds. Length and direction of the round to be drilled next may be adjusted according to need.

A tunnel dynamic blasting device based on geological body intelligent perception, a system and a method are provided. A blasting design instrument body of the tunnel dynamic blasting device is disposed with a 3D laser scanning device, a digital camera device, a borehole locating device, an electronic screen, a built-in computer and a wireless communication device. The 3D laser scanning device, the digital camera device, the borehole locating device, the electronic screen and the wireless communication device are connected to the built-in computer. A housing of the blasting design instrument body is disposed with a battery compartment having a lithium battery secured therein. A range finder is secured above the housing. Problems of non-systematicness and lag of tunnel blasting design and coarseness of borehole locating nowadays are solved, thus the tunnel excavation efficiency and borehole arrangement accuracy in the tunnel cross-section are improved, thereby improving the tunnel blasting quality.

The invention provides a machine for tunnelling in rock. The machine includes a pilot drill assembly for drilling a series of interfering parallel holes or a pilot hole into and generally perpendicular into a rock face and a blast hole drill assembly for drilling a series of blasting holes around the pilot hole or previous blast hole. The machine further includes a charge handling and loading assembly for loading the first series of holes with propellant charges and an ignitor system for igniting the charges. Included further is a rock clearing means for removing the blast rock from the blast face and a rock pick for clearing and picking the floor, roof or walls to provide access for the machine into the tunnel and a mobility assembly for moving the machine forward. Also included is a control console provided with control means for controlling the pilot drill assembly, blast hole drill assembly, charge handling and loading assembly, ignitor system, rock clearing means, the rock pick, a measure system for gas detection and management, a rock stress measure system and recording system.

The present invention relates to a surrounding rock pretreatment method for a TBM (tunnel boring machine) passing through a round tunnel section with high rock-burst risk. A technical solution of the present invention is as follows: the surrounding rock pretreatment method includes the following steps: 1. determining a pretreatment area, wherein an area in which a clear spacing between a to-be-constructed tunnel and an adjacent existing tunnel in a TBM tunneling direction is less than 2 times that of a tunnel diameter of the TBM to-be-constructed tunnel is the pretreatment area: 2. performing controlled blasting; 3. injecting high pressure water, and selecting part of blast holes I to perform cyclic water injection pressurizing; and 4, performing normal tunneling by the TBM.

A system and method for drilling a borehole using a drilling rig having a rotary drill bit includes monitoring one or more drilling parameters; determining whether the one or more monitored drilling parameters are within predetermined specifications for one or more of the monitored drill parameters; and, executing an exception control procedure for control of a drilling parameter. The exception control procedure receives an input sensor value associated with a drilling parameter and applies feedback control to establish a scaled error value that is used to compute a setting value for the drilling parameter. The drilling parameters controlled may include the rotation speed of the drill bit, the feed rate of the drill bit, the weight-on-bit, or rotation torque during retraction of the drill bit. A computer-readable database of specifications of drill bits may be provided as a part of the system.

An assembly (7) for triggering an explosive in a hole (9) to produce an explosive blast in the hole includes (a) an explosion trigger (15, 19) for triggering the explosive in the hole, (b) a detonation unit body (21) that is configured to be located at or proximate an open end of the hole in an initial position of the assembly in the hole and (c) a trigger cord (31) that is connected to the detonation unit body and to the explosion trigger.

A method for generation of a boom trajectory for automated boom positioning includes the steps of receiving target pose data indicative of at least target position of a first boom object of the boom for positioning a work machine of the mine vehicle to a target pose in accordance with a mine work plan, receiving geometry data of the first boom object, the geometry data being mapped with start pose data indicative of the start position and orientation of the first boom object, receiving obstacle data, selecting trajectory generation locations for the first boom object, and generating, before starting positioning of the work machine for the target pose, a positioning trajectory for each of the selected trajectory generation locations on the basis of the target pose data, the geometry data, the start pose data, and the obstacle data.

A simplified blasting system enables utilization of electronic delay detonators (23e) and pyrotechnic delay detonators (23p) in a simplified blasting set up. Both the electronic time delay detonators (23e) and the pyrotechnic delay detonators (23p) have shock tube fuses (32) which enables both types of detonators to be initiated by a common trunkline such as a low energy detonating cord trunkline (38). This system eliminates the need for separate firing systems, an electric firing system for electrically-initiated electronic delay detonators and a detonating cord trunkline for the non-electrically-initiated pyrotechnic delay detonators.

A system for storing potential energy includes a hydraulic cylinder, a mass to be lifted, and a sealing ring at the edge of the mass to be lifted. The mass to be lifted is a solid rock mass in the form of a cut-out solid rock. The hydraulic cylinder is formed by the cavity between surrounding rocks and the cut-out solid rock. The cavity is sealed with respect to the surrounding rocks by the sealing ring. A method for producing such a system is also provided.

In one embodiment, the present disclosure provides a robot automated mining method. In one embodiment, a method includes a robot positioning a charging component for entry into a drill hole. In one embodiment, a method includes a robot moving a charging component within a drill hole. In one embodiment, a method includes a robot filling a drill hole with explosive material. In one embodiment, a method includes operating a robot within a mining environment.