Mining method suitable for high-recovery-rate mining of unmanned remote control carry-scraper

Abstract

The invention provides a mining method suitable for high-recovery-rate mining of an unmanned remote-control carry-scraper. According to the mining method, the bottom of a stope is exploded to form a bottom structure with the bottom being completely hollow, and the unmanned remote-control carry-scraper can conveniently work within the range; constructing a rectangular tooth-shaped rock drilling chamber at the uppermost position of the stope; groove broaching blasting is carried out, the total height is controlled to be 12.5 m, groove broaching blasting is postponed, lateral blasting is carried out on ore rock around the groove broaching, the lateral blasting height is 10 m, and a convex space with the groove broaching position protruding is formed; lateral blasting and side hole blasting are consistent in height, blasting is conducted at the same time, and upward layer-by-layer blasting is conducted to form a continuous blasting method of an inverted-T-shaped space; the unmanned remote control carry-scraper is combined with the movable three-dimensional laser radar scanner to remove ore, and high ore shoveling rate operation is achieved. The bottom of the stope is in a full-empty bottom form, large-range operation of the unmanned remote control carry-scraper at the bottom is achieved, the ore resource recovery rate is increased, the construction procedure is simplified, and the safety of ore removal access is greatly improved.

Description

Technical Field

[0001] The invention relates to the field of metal mining, and in particular to a mining method suitable for high recovery rate mining by an unmanned remote-controlled scraper. Background Art

[0002] The mining of thick and large ore bodies mainly adopts the open-pit and subsequent filling mining method, with a trench-type bottom structure arranged at the bottom and a manually driven shovel loader used for mining. This method has the following problems: First, due to the manual driving of the shovel loader, the distance for the shovel loader to enter the mining area is limited, and more ore resources often remain at the bottom of the mining area; second, the formation of the trench-type bottom structure requires the use of medium-deep hole blasting at the bottom, and the construction process is complicated; third, when the mining area is located inside the ore body, the trench-type bottom structure is all ore resources, which are permanently lost resources, reducing the recovery rate of ore resources; fourth, the eyebrow line of the trench-type bottom structure is easy to be damaged due to the thin thickness of the ore rock, resulting in a limited shoveling distance for the shovel loader, and more ore resources remain at the bottom. With the development and promotion of unmanned and intelligent shovel loaders, it is urgent to develop a mining method suitable for unmanned remote-controlled shovel loaders with high recovery rate. Summary of the invention

[0003] In response to the above problems, the present invention provides a mining method suitable for high recovery rate mining with unmanned remote-controlled shovel loaders. The method provides a method for improving the recovery rate of ore in the mining area and the stability of the bottom structure out of the mine, so as to facilitate unmanned shovel loaders to shovel out ore safely and efficiently.

[0004] To solve the above problems, the technical solution adopted by the present invention is:

[0005] A mining method suitable for high recovery rate mining by unmanned remote-controlled scraper loader, comprising the following steps: S1: constructing a mine-exit tunnel at the center line position of the bottom of two adjacent mines with planned recovery, the mine-exit tunnel running through the upper plate vein tunnel and the lower plate vein tunnel, so as to facilitate tunnel ventilation; S2: constructing a mine-exit approach in the mine-exit tunnels on both sides of the bottom of the mine toward the planned recovery mine; S3: constructing a through-vein tunnel at the bottom of the recovery mine along the center line position of the planned recovery mine, the tunnel running through the upper plate vein tunnel and the lower plate vein tunnel; using the through-vein tunnel as a free space, blasting to form a bottom structure with a completely empty bottom, so as to facilitate the operation of the unmanned remote-controlled scraper loader within the range; S4: constructing a connecting tunnel at the uppermost position of the mine, the connecting tunnel running through the upper plate vein tunnel and the lower plate vein tunnel; using the connecting tunnel as a free space, a rectangular tooth-shaped chisel is formed on the ore rock brush within the top range of the mine. Rock chamber; S5: A groove is made at the end of the ore exit route in the planned mining area, and the groove is formed by blasting; S6: After 5 consecutive groove blastings each time, the total height of the groove is controlled at 12.5m, the groove blasting is temporarily suspended, and the lateral blasting of the ore and rock around the groove is started, with a lateral blasting height of 10m, forming a "convex" shaped space with a raised groove position; bamboo tubes are used as spacers between the explosive bags for lateral blasting, with a hole plug and 1m thick bottom sand at the bottom, and 3 0.5m long explosive bags and 1.5m long empty bamboo tubes are circulated in the upper part; S7: Side hole blasting, in order to reduce the blasting vibration and damage to the surrounding rock, bamboo and explosive bags are used for cyclic charging; S8: The lateral blasting and side hole blasting are at the same height, and they are detonated at the same time, and a continuous blasting method of blasting upwards layer by layer to form a "convex" shaped space; S9: After blasting, an unmanned remote-controlled shovel loader is used to mine.

[0006] Preferably, in step S3, the bottom structure form of the bottom is completely empty, with the through-vein tunnel as the free space, and the ore and rock within the bottom range of the recovery stope are brushed, and the brushing height is consistent with the height of the through-vein tunnel, and the brushing is carried out to the boundary of the recovery stope, finally forming a bottom form of the bottom of the stope being completely empty.

[0007] Preferably, in the rock drilling chamber formed by brushing in step S4, the brushing height is consistent with the height of the connecting tunnel, and the brushing sides on both sides of the connecting tunnel are in a rectangular tooth-like structure.

[0008] Preferably, in step S5, the construction of the grooved blasthole and the blasthole in the stope are constructed simultaneously, and a 165mm blasthole is constructed, and the blasthole runs through the stope to the position where the bottom of the stope is completely empty. After the blasthole construction is completed, the groove is drawn first. In order to control the groove shape well, the length of each groove is 6m and the height is 2.5m; wherein the groove blasting method is: tie the plug with a fine steel wire, lower it into the blasthole, lower it until the plug is obviously shaken in a large range, indicating that the plug has reached the position where the bottom is completely empty; then lift the plug up until the plug no longer shakes, indicating that the plug is in place, tie the fine steel wire with a wooden stick at the top of the blasthole, and place it on the top of the blasthole; put 1m thick bottom sand in the blasthole, and then put 3 0.5m long medicine bags on the top of the bottom sand into the blasthole, insert the detonating cord into the medicine bag, and lead it to the top of the blasthole, so as to facilitate the use of electronic detonators for detonation in the later stage; 1.5m thick surface sand is placed at the top of the charge. Each layer of groove blasting is charged and blasted according to this method.

[0009] Preferably, in each blasting in step S8, the total height of the groove is controlled at 12.5m, the lateral blasting side hole blasting height is 10m, and the blasting is performed layer by layer upward to form a "convex" shaped space in an upward continuous blasting method.

[0010] Preferably, in step S2, the angle between the mine exit route and the mine exit tunnel is greater than 40°, which is convenient for the rotation of the shovel loader, and the end of the mine exit route is located at the boundary of the stope.

[0011] Preferably, in step S7, a 1m bamboo and a 0.5m powder bag are used for cyclic charging; for the side holes at the upper part of the mining access road, the charging position is 4m away from the bottom of the hole to prevent the eyebrow line of the mining access road from being damaged and to ensure the safe length of the mining access road; the blasthole at this position is constructed to a completely empty position at the bottom of the hole, and the hole is plugged during the charging process, lifted to a distance of 4m from the bottom of the hole, and then charged.

[0012] Preferably, in step S9, when mining is nearly completed and the position and height of the bottom ore pile cannot be determined, a mobile three-dimensional lidar scanner is installed on the top of the shovel loader, and the unmanned shovel loader is remotely controlled to enter the goaf, a 360-degree scan of the bottom position of the mining area is performed, and the position and three-dimensional size of the ore pile are checked in real time. The shovel loader is then controlled to mine until the bottom of the mining area is almost flat after scanning with the three-dimensional scanner, indicating that mining has been completed.

[0013] Preferably, a three-dimensional laser radar scanner is controlled on-site by a mobile phone to perform a 360-degree scan of the bottom of the mining area. After the scan, the location of the ore pile and the size of the three-dimensional shape are viewed in real time using mobile phone software.

[0014] Preferably, after the mining is completed, a concrete sealing wall is constructed at a safe position at the junction of the mining access road and the goaf, and then a filling pipe is arranged at the position of the chamber connecting road in the previous stage for filling.

[0015] The beneficial effects of the present invention are:

[0016] (1) The bottom of the stope is completely empty, which is convenient for unmanned remote-controlled scrapers to operate in a large area at the bottom, which is conducive to mining;

[0017] (2) The original trench bottom structure is all ore resources, which are permanently lost resources. The present invention uses an unmanned remote-controlled scraper to recover these resources, thereby improving the recovery rate of ore resources.

[0018] (3) The construction procedure is simplified; in the original mining method, medium-deep hole blasting is required to form a trench bottom structure, while the present invention only uses large-diameter blastholes for blasting.

[0019] (4) The safety of the mining access is greatly improved. The end of the mining access of the trench bottom structure is in a "triangular ∠" shape, and the thickness of the end of the mining access is thin, which is easily damaged by the impact of rolling ore and rock, and the stability of the mining access is poor; while the original rock at the upper part of the mining access in the present invention is in a "rectangular ∟" shape, the original rock at the upper part of the mining access is thick, and a 4m blasting spacing is reserved at the eyebrow position to improve its stability. The safety of the mining access of the present invention is greatly improved compared with the original technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the 880m plan view of the present invention.

[0021] Figure 2 This is the -820m plan view of the present invention.

[0022] Figure 3 The cross section of the present invention is perpendicular to the direction of the stope Figure Ⅰ-Ⅰ .

[0023] Figure 4 This is a morphological diagram of the ore pile after three-dimensional scanning of the bottom of the stope of the present invention.

[0024] In the figure: 1. Tunnel along the vein in the lower wall of the mining area, 2. Tunnel along the vein in the upper wall of the mining area, 3. Mine exit tunnel, 4. Mine exit access road, 5. Tunnel through the vein, 6. The bottom structure of the mining area with no space at all, 7. Tunnel along the vein in the lower wall of the upper part of the mining area, 8. Tunnel along the vein in the upper wall of the mining area, 9. Connecting tunnel, 10. Rectangular toothed chamber, 11. Rectangular toothed pillars, 12. The range of primary grooving, 13. The range of primary side collapse. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] The invention discloses a mining method suitable for high recovery rate mining by unmanned remote-controlled scraper, wherein the bottom of the mining field is blasted to form a bottom structure with a completely empty bottom, so that the unmanned remote-controlled scraper can operate within the range; a rectangular toothed rock drilling chamber is constructed at the uppermost position of the mining field; the total height of the groove is controlled at 12.5m, the groove blasting is temporarily suspended, and the lateral blasting of the ore rock around the groove is started, and the lateral blasting height is 10m, forming a "convex"-shaped space with a raised groove position; the lateral blasting and the side hole blasting are consistent in height, and are detonated at the same time, and a continuous blasting method of blasting upward layer by layer to form a "convex"-shaped space; the unmanned remote-controlled scraper is used in combination with a mobile three-dimensional laser radar scanner to mine, so as to realize the operation of high shoveling rate of ore. The bottom of the mining field of the invention is a completely empty bottom form, which realizes the operation of the unmanned remote-controlled scraper in a large range at the bottom, improves the recovery rate of ore resources, simplifies the construction procedure, and greatly improves the safety of the mining access road.

[0027] As shown in the figure, the bottom of the stope is located in the middle section of -880m, the upper part is located in the middle section of -820m, the stope height is 60m, the stope width is 15m, and the stope length is the thickness of the ore body. The planned recovery stope is 3#R stope.

[0028] Step 1: construct a mine-exit tunnel at the centerline position of the bottom of two adjacent mines planned for recovery. In this embodiment, a mine-exit tunnel 3 is constructed at the centerline position of the bottom of the 1#R and 3#P mines adjacent to the 3#R mine. The mine-exit tunnel 3 runs through the upper wall vein tunnel 2 and the lower wall vein tunnel 1 to facilitate tunnel ventilation.

[0029] Step 2: Construct an exit route 4 in the exit tunnels 3 on both sides of the bottom of the mine toward the direction of the return mine 3#R. The angle between the exit route 4 and the exit tunnel 3 is greater than 40°, which is convenient for the rotation of the shovel loader. The end of the exit route is located at the boundary of the mine. It should be noted here that the remote-controlled shovel loader is nearly 12m long and the angle is greater than 40°, which is conducive to the turning of the shovel loader and improves the transportation efficiency of the shovel loader.

[0030] Step 3: construct a through-vein tunnel 5 along the center line of the stope at the bottom of the 3#R stope, which runs through the upper-wall along-vein tunnel 2 and the lower-wall along-vein tunnel 1 at the bottom of the stope; use the through-vein tunnel 5 as a free space, and blast to form a bottom structure 6 of the stope bottom that is completely empty. The bottom structure parameters of the stope bottom are consistent with the length and width of the stope, which is convenient for unmanned remote-controlled scrapers to operate in a large area in the area;

[0031] Step 4: Construct a connecting tunnel 9 at the upper center line of the 3#R mining area. The connecting tunnel 9 runs through the upper plate vein tunnel 8 and the lower plate vein tunnel 7. Use the connecting tunnel 9 as a free space to brush the ore rock within the top range of the mining area to form a rectangular toothed rock drilling chamber 10. By using rectangular tooth columns, the safety of the chamber roof is improved, which facilitates employees to safely construct and load explosives in the chamber.

[0032] Step 5: groove near the end of the ore exit route 4, so that the ore rock for groove blasting can be shoveled out; the groove is formed by blasting. The construction of the groove blasthole is carried out at the same time as the blasthole in the stope, and a 165mm blasthole is constructed, which penetrates the stope to the position of the bottom structure 6 where the bottom of the stope is completely empty. After the blasthole construction is completed, the rectangular toothed column 11 is preferably grooved. In order to control the shape of the groove well, the length of each groove is 6m and the height of the groove is 2.5m.

[0033] Step 6: Continuously blast the groove 5 times each time, and control the total groove height at 12.5m. Suspend the blasting of the first groove range 12, and start lateral blasting of the surrounding ore rock of the first groove range 12 to form a side collapse area 13. The lateral blasting height is 10m, forming a "convex" shaped space at the position of the first groove range 12. Lateral blasting uses bamboo tubes as spacers between the explosive bags for charging, with a plug and 1m thick bottom sand at the bottom, and 3 0.5m long explosive bags and 1.5m long empty bamboo tubes for the upper circulation.

[0034] Step 7: side hole blasting. To reduce the blasting vibration and damage to the surrounding rock, a 1m bamboo and a 0.5m charge bag are used for cyclic charging. For the side hole on the upper part of the mining access 4, the charging position is 4m away from the bottom of the hole to prevent the eyebrow line of the mining access 4 from being damaged and to increase the safe length of the mining access 4. The blast hole at this position is constructed to the bottom structure 6 of the bottom of the hole, which is completely empty at the bottom of the stope. During the charging process, the hole plug is lifted to a distance of 4m from the bottom of the hole, and then the charge is charged.

[0035] Step 8: The lateral blasting and the side hole blasting are at the same height and are detonated at the same time, blasting upward layer by layer to form a continuous blasting method of "convex" shaped space.

[0036] Step 9: After blasting, use an unmanned remote-controlled shovel loader to mine. When the mining is nearly completed and the position and height of the bottom ore pile cannot be determined, install a mobile 3D laser radar scanner on the top of the shovel loader, remotely control the unmanned shovel loader to enter the goaf, and then use the mobile phone to control the 3D laser radar scanner on site to perform a 360-degree scan of the bottom of the mining area. After the scan, use the mobile phone software to view the position and size of the ore pile in three dimensions in real time, and then control the shovel loader to mine until the bottom of the mining area is almost flat after scanning with the 3D scanner, indicating that the mining area has been mined.

[0037] Step 10: After the mining is completed, a concrete sealing wall is constructed at a safe position at the junction of the mining access road 4 and the goaf, and then a filling pipe is arranged at the location of the chamber connecting road in the previous stage for filling.

[0038] As a further improvement of the present invention, in step three, the bottom structure 6 of the mining area is completely empty, and the through-vein tunnel 5 is used as the free space to brush the ore and rock within the bottom range of the recovery mining area. The brushing height is consistent with the height of the through-vein tunnel, and the brushing is carried out to the bottom boundary of the recovery mining area, and finally a bottom structure 6 of the mining area is completely empty. First, it is convenient for unmanned remote-controlled shovel loaders to operate in a large range in the area; second, large-diameter blastholes are used for blasting, which simplifies the construction procedure; third, the ore recovery rate of the mining area is improved.

[0039] As a further improvement of the present invention, the rock drilling chamber formed by brushing in step 4 has a brushing height that is consistent with the height of the connecting tunnel, and the brushing on both sides of the connecting tunnel is in a rectangular tooth-shaped structure. First, the brushing space is convenient for blasthole construction; second, the rectangular tooth-shaped columns reserved on both sides improve the stability of the roof, which is convenient for blasthole construction and charging;

[0040] As a further improvement of the present invention, the method for blasting a groove range of 12 in step 5 is as follows: tie the plug with a thin steel wire, lower it into the blast hole, lower it until you can clearly feel the plug shaking in a large range, indicating that the plug has reached the position where the bottom is completely empty; then lift the plug up until the plug no longer shakes, indicating that the plug is in place, and then tie the thin steel wire with a wooden stick at the top of the blast hole and place it on the top of the blast hole; put 1m thick bottom sand in the blast hole, and then put 3 0.5m long medicine bags on the top of the bottom sand into the blast hole, insert the detonating cord into the medicine bag, and lead it to the top of the blast hole, so as to facilitate the use of electronic detonators for detonation in the later stage; place 1.5m thick surface sand at the top of the charge. Each layer of groove blasting is charged and blasted according to this method.

[0041] As a further improvement of the present invention, in each blasting in step eight, the groove height is 12.5m, the side blasting side hole blasting height is 10m, and the upward continuous blasting method of blasting layer by layer to form a "convex" shaped space is beneficial to the safety of the construction charging process.

[0042] The analogy between the mining method of the present invention and the conventional mining method is shown in the following table.

[0043]

[0044] It can be seen from the table that the mining method of the present invention has a high ore recovery rate, which is 11 percentage points higher than that of the conventional mining method, indicating that after the unmanned remote-controlled shovel loader is applied to the mining method, the mining field recovery rate is greatly improved; from the design length of the mining access road and the retained length after mining, the present invention saves engineering workload, involves a short construction length, and after mining, the integrity rate of the mining access road is better, which is more than 20 percentage points higher than that of the conventional method.

[0045] In summary, it is shown that the present invention can fully realize the high-efficiency shoveling of ore from the mine by the unmanned remote-controlled scraper, and the overall recovery rate of the mine is greatly improved.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mining method suitable for high recovery rate mining with unmanned remote-controlled scraper, It is characterized in that The steps include: S1: The mine exit tunnel is constructed at the midline position of the bottom of the two adjacent stopes planned for recovery. The mine exit tunnel runs through the upper wall vein tunnel and the lower wall vein tunnel to facilitate tunnel ventilation; S2: construct the mine access road in the mine tunnels on both sides of the bottom of the stope in the direction of the planned mining stope; S3: construct a through-vein tunnel at the bottom of the mining site along the center line of the planned mining site, which runs through the upper wall along-vein tunnel and the lower wall along-vein tunnel; use the through-vein tunnel as a free space, and blast to form a bottom structure with a completely empty bottom, so that the unmanned remote-controlled scraper can operate within this range; S4: A connecting tunnel is constructed at the uppermost position of the stope, and the connecting tunnel runs through the upper wall vein tunnel and the lower wall vein tunnel; the connecting tunnel is used as a free space to form a rectangular tooth-shaped rock drilling chamber for the ore rock brushing within the top range of the stope; S5: Draw a groove at the end of the ore exit route in the planned mining area, and the groove is formed by blasting; S6: After 5 consecutive blastings, the total height of the groove is controlled at 12.5m. The groove blasting is temporarily suspended, and the lateral blasting of the ore rock around the groove is started. The lateral blasting height is 10m, forming a "convex" shaped space where the groove is located. The lateral blasting uses bamboo tubes as spacers between the explosive bags for charging. The bottom is a plug and 1m thick bottom sand. The upper circulation is 3 0.5m long explosive bags and 1.5m long empty bamboo tubes. S7: side hole blasting, in order to reduce the blasting vibration and damage to the surrounding rock, bamboo and explosive bags are used for circular charging; S8: The lateral blasting and the side hole blasting are at the same height, detonated at the same time, and blasted upward layer by layer to form a "convex" shaped space; S9: After blasting, use an unmanned remote-controlled shovel loader to carry out mining.

2. A mining method suitable for high recovery rate mining with an unmanned remote-controlled scraper according to claim 1, It is characterized in that In step S3, the bottom structure form of the bottom is completely empty. The through-vein tunnel is used as the free space, and the ore and rock within the bottom range of the recovery stope are brushed. The brushing height is consistent with the height of the through-vein tunnel, and the brushing is carried out to the boundary of the recovery stope, finally forming a bottom form of the bottom of the stope being completely empty.

3. A mining method suitable for high recovery rate mining with an unmanned remote-controlled scraper according to claim 1, It is characterized in that In step S4, the rock drilling chamber formed by brushing the sides has a brushing height that is consistent with the height of the connecting tunnel, and the brushing sides on both sides of the connecting tunnel form a rectangular tooth-like structure.

4. A mining method suitable for high recovery rate mining with an unmanned remote-controlled scraper according to claim 1, It is characterized in that In step S5, the construction of the grooved blasthole and the blasthole in the stope are constructed at the same time, and a 165mm blasthole is constructed, and the blasthole runs through the stope to the position where the bottom of the stope is completely empty. After the blasthole construction is completed, the groove is drawn first. In order to control the groove shape well, the length of each groove is 6m and the height is 2.5m; the groove blasting method is as follows: tie the plug with a fine steel wire, lower it into the blasthole, and lower it until the plug is obviously shaken in a large range, indicating that the plug has reached the position where the bottom is completely empty; then lift the plug up until the plug no longer shakes, indicating that the plug is in place, tie the fine steel wire with a wooden stick at the top of the blasthole, and place it on the top of the blasthole; put 1m thick bottom sand in the blasthole, and then put 3 0.5m long medicine bags on the top of the bottom sand into the blasthole, insert the detonating cord into the medicine bag, and lead it to the top of the blasthole, so as to facilitate the use of electronic detonators for detonation in the later stage; 1.5m thick surface sand is placed at the top of the charge. Each layer of groove blasting is charged and blasted according to this method.

5. A mining method suitable for high recovery rate mining by unmanned remote-controlled scraper according to claim 1, It is characterized in that In each blasting in step S8, the total height of the groove is controlled at 12.5m, the lateral blasting side hole blasting height is 10m, and the upward continuous blasting method of blasting upward layer by layer to form a "convex" shaped space.

6. A mining method suitable for high recovery rate mining by unmanned remote-controlled scraper according to claim 1, It is characterized in that In step S2, the angle between the mine exit route and the mine exit tunnel is greater than 40°, which is convenient for the rotation of the scraper, and the end of the mine exit route is located at the boundary of the stope.

7. A mining method suitable for high recovery rate mining with an unmanned remote-controlled scraper according to claim 1, It is characterized in that In step S7, a 1m bamboo and a 0.5m powder bag are used for cyclic charging; for the side holes at the upper part of the mining access road, the charging position is 4m away from the bottom of the hole to prevent the eyebrow line of the mining access road from being damaged and to ensure the safe length of the mining access road; the blasthole at this position is constructed to a completely empty position at the bottom of the hole, and the hole is plugged during the charging process, lifted to a distance of 4m from the bottom of the hole, and then charged.

8. The mining method according to claim 1, which is suitable for high recovery rate mining with unmanned remote-controlled scraper. It is characterized in that In step S9, when mining is nearly completed and the position and height of the bottom ore pile cannot be determined, a mobile three-dimensional lidar scanner is installed on the top of the shovel loader, and the unmanned shovel loader is remotely controlled to enter the goaf, perform a 360-degree scan of the bottom position of the mining area, and check the position and three-dimensional size of the ore pile in real time. Then, the shovel loader is controlled to mine until the bottom of the mining area is almost flat after scanning with the three-dimensional scanner, indicating that mining has been completed.

9. A mining method suitable for high recovery rate mining with an unmanned remote-controlled scraper according to claim 8, It is characterized in that Use the mobile phone to control the 3D LiDAR scanner on site to perform a 360-degree scan of the bottom of the mining area. After the scan, use the mobile phone software to view the location of the ore pile and the size of its 3D shape in real time.

10. A mining method suitable for high recovery rate mining with an unmanned remote-controlled scraper according to any one of claims 1 to 9, It is characterized in that After the mining is completed, a concrete sealing wall is constructed at a safe location at the junction of the mining access road and the goaf, and then a filling pipe is arranged at the location of the chamber connecting road in the previous stage for filling.

Images