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.

Automatic scanning and representing an environment with collision avoidance includes, for example, obtaining a first representation of the environment using a first scanning path, determining a second scanning path based on the first representation of the environment operable to avoid contact with the environment when obtaining a second representation of the environment, obtaining the second representation of the environment based on the second scanning path, and wherein the second representation of the environment is different from the first representation of the environment. The method may be employed in imaging and/or representing a rock wall having a plurality of spaced-apart holes for receiving charges for mining.

Disclosed are a method and a device for identifying full-section excavation parameters of large-section tunnel with broken surrounding rock, which is capable of solving the problem of inaccurate arrangement of blasting hole points in tunnel excavation engineering, including following steps: establishing a three-dimensional finite element model based on a blasting section design of a tunnel; performing a simulation with the three-dimensional finite element model based on blasting design parameters to obtain blasting quality parameters; selecting a group closest to a preset quality parameter from multiple groups of the blasting design parameters as target blasting design parameters, wherein the preset quality parameter is an acceptance grade standard of the tunnel; obtaining first thermal imaging information of a first hot spot of a surface to be blasted; calibrating actual hole spacing parameters based on the first thermal imaging information and the target blasting design parameters.

An apparatus, rock drilling rig and drilling method is provided. The apparatus provides position control data for controlling positioning a rock drilling unit of a rock drilling rig arranged for drilling transverse drill hole patterns in an underground tunnel. The apparatus includes a teaching feature for gathering data on manually controlled movements at the location of the drill hole pattern and to thereby detect a movement path, which is collision free. The data on the taught collision free movement path is implemented when controlling the rock drilling unit during an actual drilling phase.

The present invention relates to a method and related devices for carrying out TBM excavation and expansion blasting, which uses a blast protector and a cart to expand a pilot tunnel by blasting after the pilot tunnel has been formed; and which specifically includes: a step of forming a pilot tunnel; a step of forming a horizontal or vertical blast hole; a step of installing a blast protector within the pilot tunnel; a step of blasting the upper and lower halves of the pilot tunnel to expand the upper and lower halves; and a step of removing the debris formed during the blasting of the upper and lower halves, by dumping the debris into a cart. Accordingly, the rail and cable are protected from the debris formed during the blasting, and working efficiency is improved.

An arrangement and method of utilizing rock drilling information in a mine whereby drill holes are drilled in a surrounding rock material by a first mining vehicle. During drilling measuring data is produced and is inputted to a monitoring device for analyzing procedures. The monitoring device produces rock condition data of the rock material being drilled. The produced rock condition data is then implemented in a second mining vehicle.

The present disclosure relates to a half-cast mark identification and damaged flatness evaluation and classification method for blastholes in tunnel blasting, including the following steps: S1-2: photographing first and second contrast images as well as a half-cast mark image after blasting; S3-6: performing denoising, gray-scale processing and binary processing on the above images, and identifying a boundary of a half-cast mark in each of the images; S7-9: determining a flatness damage variable, a quantitative relation among an area of a half-cast mark region, the damage variable and a fractal dimension, and a damage value of the half-cast mark image; S10-11: forming five-dimensional (5D) eigenvectors to obtain multi-dimensional digital information features of the images; and S12-13: selecting eigenvectors of 60 images as training data to input to a naive Bayes classifier (NBC), and taking eigenvectors of remaining 30 images as classification data to input the above well-trained NBC for classification.

A delivery system for mixing and dispensing a gel stemming material into a blast hole is disclosed. The system includes a dual-pump assembly in fluid communication with respective sources of a first gel precursor fluid and a second gel precursor fluid; a pair of hoses associated with a means to vary an effective length of said hoses; a dosing head having a first inlet and a second inlet, said inlets arranged in respective fluid communication via said hoses with the dual pump assembly to receive the first and second gel precursor fluids, the dosing head being configured to receive and mix the first and second gel precursor fluids to produce the gel stemming material and to dispense the gel stemming material via an outlet. In use, the effective length of the hoses may be varied to position the dosing head and dispense the gel stemming material in the blast hole.

Disclosed are a method and a device for identifying full-section excavation parameters of large-section tunnel with broken surrounding rock, capable of solving the problem of inaccurate arrangement of blasting hole points in tunnel excavation engineering, and including the following steps: establishing a three-dimensional finite element model based on a blasting section design of a tunnel; performing a simulation with the three-dimensional finite element model based on blasting design parameters to obtain blasting quality parameters; selecting a group closest to a preset quality parameter from multiple groups of the blasting design parameters as target blasting design parameters, wherein the preset quality parameter is an acceptance grade standard of the tunnel; obtaining first thermal imaging information of a first hot spot of a surface to be blasted; calibrating actual hole spacing parameters based on the first thermal imaging information and the target blasting design parameters.

A tunnel section subjected to grouting reinforcement is divided into two parts, that is, an upper half section and a lower half section, cutting vibration reduction holes used in coordination with cutting holes are formed in the upper half section, and the cutting vibration reduction holes are not charged and are filled with water bags only. According to the blast hole arrangement structure used for blasting for the rheological soft-weak surrounding rock tunnel of the invention, a cutting blasting effect is improved, excess energy is emptied and absorbed, propagation of shock waves and stress waves around is reduced, and vibration is reduced; and according to the invention, the purpose of forming vibration isolation holes in a tunnel excavation contour line of the upper half section is to prevent, absorb, reflect and refract the propagation of the blasting shock waves, stress waves and seismic waves.