A mining method suitable for high recovery rate mining of unmanned remote-controlled scrapers

Abstract

The application provides a mining method suitable for high recovery rate mining of unmanned remote control shovel loader, which comprises the following steps: forming a bottom structure with a full empty bottom at the bottom of a stope by blasting; facilitating the operation of the unmanned remote control shovel loader in the range; constructing a rectangular tooth-shaped rock drilling chamber at the uppermost position of the stope; performing slot blasting with the total height controlled at 12.5 m; temporarily performing slot blasting; starting lateral blasting on the surrounding ore rock of the slot; forming a protruding "convex" type space at the slot position with the lateral blasting height of 10 m; performing the continuous blasting method of the lateral blasting and the edge hole blasting with the same height and simultaneous initiation to form the "convex" type space layer by layer upward; and using the unmanned remote control shovel loader combined with a mobile three-dimensional laser radar scanner to mine, thereby realizing the high shovel rate operation of the ore. The stope bottom of the application is in the form of a full empty bottom, the unmanned remote control shovel loader can be operated in a large range at the bottom, the recovery rate of the ore resources is improved, the construction procedure is simplified, and the safety of the mining access is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of metal mine mining, and particularly relates to a mining method suitable for high recovery rate mining of unmanned remote control shovel-truck. BACKGROUND

[0002] Thick ore body mining mainly adopts the open stope subsequent filling mining method, arranges the trench type bottom structure at the bottom, and uses the shovel-truck driven by human to mine. The method has the following problems: 1. Since the shovel-truck is driven by human, the shovel-truck has a limited distance to shovel ore into the stope, and a large amount of ore resources is often left at the bottom of the stope; 2. The trench type bottom structure needs to be formed by using the medium-length hole blasting at the bottom, and the construction process is complicated; 3. When the stope is located in the ore body, the trench type bottom structure is all ore resources, and the ore resources are permanent loss resources, which reduces the ore resource recovery rate; 4. The eyebrow line of the trench type bottom structure is easily damaged due to the thin thickness of the ore rock, so that the shovel-truck has a limited shoveling distance, and a large amount of ore resources is left at the bottom. With the development and popularization of unmanned intelligent shovel-truck, it is urgent to develop a mining method suitable for high recovery rate mining of unmanned remote control shovel-truck. SUMMARY

[0003] In view of the above problems, the present application provides a mining method suitable for high recovery rate mining of unmanned remote control shovel-truck, which provides a method for improving the recovery rate of ore in the stope and the stability of the bottom structure ore mining access, and facilitating the safe and efficient shoveling of ore by the unmanned shovel-truck.

[0004] To solve the above problems, the technical scheme adopted by the present application is:

[0005] A mining method suitable for high recovery rate mining of unmanned remote control shovel, comprising the following steps: S1: constructing a mine roadway at the middle line position of the bottom of two adjacent stope in the planned recovery stope, the mine roadway penetrates the upper discarding vein roadway and the lower discarding vein roadway, facilitating roadway ventilation; S2: constructing a mine access in the mine roadway on both sides of the bottom of the stope towards the planned recovery stope; S3: constructing a cross-vein roadway at the middle line position of the bottom of the recovery stope along the planned recovery stope, the roadway penetrates the upper discarding vein roadway and the lower discarding vein roadway; taking the cross-vein roadway as a free space, blasting to form a bottom structure with a full empty bottom, facilitating the operation of the unmanned remote control shovel in the range; S4: constructing a connecting roadway at the uppermost position of the stope, the connecting roadway penetrates the upper discarding vein roadway and the lower discarding vein roadway; taking the connecting roadway as a free space, forming a rectangular tooth-shaped rock drilling chamber in the range of the top of the stope; S5: slotting at the end position of the mine access in the planned recovery stope, the slotting is formed by blasting method; S6: after 5 times of continuous blasting of the slotting, the total height of the slotting is controlled at 12.5m, the slotting blasting is temporarily suspended, and lateral blasting of the surrounding rock of the slotting is started, the lateral blasting height is 10m, forming a "convex" type space protruding at the slotting position; the lateral blasting uses bamboo tubes as spacers between the cartridges for charging, the bottom is a hole plug and a 1m thick bottom sand, and the upper part is a cycle of 3 cartridges with a length of 0.5m and a 1.5m long empty bamboo tube; S7: side hole blasting, in order to reduce the blasting vibration and damage of the surrounding rock caused by blasting, bamboo and cartridge cyclic charging are used; S8: the lateral blasting and the side hole blasting have the same height and are initiated at the same time, and the continuous blasting method of upward layer-by-layer blasting to form a "convex" type space; S9: after blasting, the unmanned remote control shovel is used for mining.

[0006] Preferably, the bottom structure of step S3 with a full empty bottom takes the cross-vein roadway as a free space, and the surrounding rock in the range of the bottom of the recovery stope is brushed, the brushing height is consistent with the height of the cross-vein roadway, the brushing reaches the boundary of the recovery stope, and finally a bottom structure with a full empty bottom is formed.

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

[0008] Preferably, in step S5, the construction of the slotting blast hole and the simultaneous construction of the blast hole in the stope are carried out, and a 165mm blast hole is constructed, which penetrates the stope to the position of the full empty position at the bottom of the stope. After the construction of the blast hole is completed, the slotting is preferentially carried out, and the length of each slotting is 6m and the height is 2.5m, so as to control the shape of the slotting well. The slotting blasting method is as follows: a fine steel wire is used to tie a plug, which is lowered into the blast hole, and the plug is lowered until it is obviously felt that the plug shakes in a large range, which indicates that the plug has reached the position of the full empty position at the bottom. Then the plug is pulled up until the plug no longer shakes, which indicates that the plug is placed in place. A wooden stick is used to tie the fine steel wire at the uppermost part of the blast hole, and the wooden stick is arranged at the upper part of the blast hole. A 1m thick bottom sand is placed in the blast hole, and then 3 0.5m long explosive packages are placed in the blast hole above the bottom sand. A detonating cord is inserted into the explosive packages, and a lead wire is arranged at the uppermost part of the blast hole, so as to facilitate the blasting by using electronic detonators in the later period. A 1.5m thick surface sand is placed at the position of the uppermost part of the charge. Each layer of slotting blasting is carried out according to the above method.

[0009] Preferably, in step S8, the total height of each blasting of the slotting is controlled to be 12.5m, and the height of the side blast hole blasting is 10m. The upward continuous blasting method is used to form a "convex" type space.

[0010] Preferably, in step S2, the angle between the ore extraction access and the ore extraction roadway is greater than 40°, so as to facilitate the rotation of the shovel truck, and the end of the ore extraction access is located at the boundary of the stope.

[0011] Preferably, in step S7, 1m bamboo and 1 0.5m explosive package are used for cyclic charging. For the side hole at the upper part of the ore extraction access, the charging position is 4m away from the hole bottom, so as to prevent the eyebrow line of the ore extraction access from being damaged and to ensure the safety length of the ore extraction access. The blast hole is constructed to the position of the full empty position at the bottom of the hole, and the plug is lifted to a distance of 4m from the hole bottom during the charging process, and then the charging is carried out.

[0012] Preferably, in step S9, when the ore extraction is close to completion and the position and height of the bottom ore pile cannot be determined, a mobile three-dimensional laser radar scanner is installed at the top of the shovel truck, a remote control unmanned shovel truck enters the mined-out area, and the position of the bottom of the stope is scanned for 360 degrees. The position and three-dimensional form of the ore pile are viewed in real time, and then the shovel truck is controlled to carry out ore extraction until the bottom of the stope is almost flat after scanning by using the three-dimensional scanner, which indicates that the stope has been completed.

[0013] Preferably, the position of the bottom of the stope is scanned for 360 degrees by using a mobile phone to control the three-dimensional laser radar scanner, and the position and three-dimensional form of the ore pile are viewed in real time by using a mobile phone software after scanning.

[0014] Preferably, after the ore extraction is completed, a concrete closed wall is constructed at the safe position of the junction of the ore extraction access and the mined-out area, and then a filling pipe is arranged at the position of the chamber communication way in the previous stage for filling.

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

[0016] (1) The stope bottom is in the form of a full empty bottom, facilitating the wide operation of the unmanned remote control shovel truck at the bottom, and being beneficial to ore extraction;

[0017] (2) The original trench type bottom structure is all ore resources, which is a permanent loss resource. The present application realizes the extraction of the part of the resource by using the unmanned remote control shovel truck, and improves the ore resource extraction rate.

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

[0019] (4) The safety of the ore extraction access is greatly improved. The trench type bottom structure has a triangular ∠ shape at the end of the ore extraction access, and the end of the ore extraction access is thin and easy to be impacted and damaged by rolling ore rock, and the stability of the ore extraction access is poor. In the present application, the original rock above the ore extraction access is in a rectangular ∟ shape, the thickness of the original rock above the ore extraction access is large, and the stability is improved by reserving a 4m blasting interval at the eyebrow line position. The safety of the ore extraction access of the present application is greatly improved compared with the original technology. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 880m plan view of the present application.

[0021] Figure 2 -820m plan view of the present application.

[0022] Figure 3 Vertical section of the present application perpendicular to the stope direction Figure I-I .

[0023] Figure 4 Stope bottom three-dimensional scanning of the present application after the ore heap shape diagram.

[0024] In the figure: 1, stope bottom lower disc along the vein roadway, 2, stope bottom upper disc along the vein roadway, 3, ore extraction roadway, 4, ore extraction access, 5, through vein roadway, 6, stope bottom full empty bottom structure, 7, stope upper disc along the vein roadway, 8, stope upper disc along the vein roadway, 9, connecting roadway, 10, rectangular tooth-shaped chamber, 11, rectangular tooth-shaped intercolumn, 12, one-time slotting range, 13, one-time side collapse range. DETAILED DESCRIPTION

[0025] The present application will be further described below in combination with the drawings and examples.

[0026] The application discloses a mining method suitable for high recovery rate mining of an unmanned remote control shovel loader, a bottom structure form of a full empty bottom is formed by blasting at the bottom of a stope, and the unmanned remote control shovel loader is facilitated to work in the range; a rectangular tooth-shaped rock drilling chamber is constructed at the uppermost position of the stope; slot blasting is performed, the total height is controlled to be 12.5 m, the slot blasting is temporarily suspended, lateral blasting is started on the surrounding ore rock of the slot, the lateral blasting height is 10 m, and a convex "V" type space is formed at the position of the slot; the lateral blasting and the side hole blasting have the same height, are simultaneously initiated, and form a continuous blasting method of the "V" type space by layer-by-layer upward blasting; the ore is mined by the unmanned remote control shovel loader combined with a movable three-dimensional laser radar scanner, and high shovel rate operation of the ore is realized. The bottom of the stope is in the form of a full empty bottom, the unmanned remote control shovel loader is realized to work in a large range at the bottom, the ore resource recovery rate is improved, the construction procedure is simplified, and the safety of the ore mining access is greatly improved.

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

[0028] First step: an ore mining roadway is constructed at the middle line position of the bottoms of two adjacent stopes of the planned recovery stope, in this embodiment, the ore mining roadway 3 is constructed at the middle line position of the bottoms of the 1#R and 3#P stopes adjacent to the 3#R stope, the ore mining roadway 3 penetrates the upper disc along-vein roadway 2 and the lower disc along-vein roadway 1, and the roadway is facilitated to be ventilated;

[0029] Second step: an ore mining access 4 is constructed in the ore mining roadway 3 at the two sides of the stope bottom towards the 3#R stope, the included angle between the ore mining access 4 and the ore mining roadway 3 is greater than 40°, the shovel loader is facilitated to turn, and the end of the ore mining access is located at the stope boundary; it should be noted that the length of the remote control shovel loader is close to 12 m, and the included angle greater than 40° is beneficial to the turning of the shovel loader and improves the transportation efficiency of the shovel loader.

[0030] Third step: a through-vein roadway 5 is constructed at the middle line position of the stope bottom of the recovery stope 3#R, the roadway penetrates the upper disc along-vein roadway 2 at the stope bottom and the lower disc along-vein roadway 1 at the stope bottom; the through-vein roadway 5 is taken as a free space, a bottom structure 6 of a full empty bottom of the stope bottom is formed by blasting, the bottom structure parameters of the full empty bottom of the stope bottom are consistent with the length and width of the stope, and the unmanned remote control shovel loader is facilitated to work in a large range in the area;

[0031] Fourth step: a connecting roadway 9 is constructed at the middle line position of the upper part of the 3#R stope, the connecting roadway 9 penetrates the upper disc along-vein roadway 8 and the lower disc along-vein roadway 7; the connecting roadway 9 is taken as a free space to form a rectangular tooth-shaped rock drilling chamber 10 by brushing the ore rock in the range of the top of the stope; the safety of the chamber roof is improved by using the rectangular tooth column, and the employees are facilitated to safely construct and charge in the chamber.

[0032] Step 5: Cut a groove at the end of the ore-drawing drift 4 to facilitate shoveling the ore and rock blasted in the groove cutting; the groove is formed by blasting. The construction of the groove holes and the holes in the stope are carried out simultaneously. Drill 165-mm holes that penetrate the stope to the position of the bottom structure 6 at the bottom of the fully empty stope. After the hole construction is completed, preferentially cut the rectangular-tooth-shaped intermediate pillar 11. To better control the shape of the groove, the length of each groove cut is 6 m and the height is 2.5 m.

[0033] Step 6: Continuously blast the groove 5 times each time. Control the total height of the groove to be 12.5 m. Suspend the blasting in the first blast range 12, and start lateral blasting on the ore and rock around the first blast range 12 to form a first side-collapse area 13. The height of the lateral blasting is 10 m, forming a "convex"-shaped space protruding at the position of the first blast range 12. For the lateral blasting, use bamboo tubes as spacers between the explosive charges. The bottom is a hole plug and 1 m thick bottom sand, and the upper cycle consists of 3 0.5-m-long explosive charges and 1.5-m-long empty bamboo tubes.

[0034] Step 7: Blast the side holes. To reduce the blasting vibration and damage to the surrounding rock mass during blasting, use 1 m of bamboo and 1 0.5-m-long explosive charge for cyclic charging; for the side holes above the ore-drawing drift 4, the charging position is 4 m from the bottom of the hole to prevent the brow line of the ore-drawing drift 4 from being damaged and improve the safety length of the ore-drawing drift 4. The holes at this position are constructed to the bottom structure 6 at the bottom of the fully empty stope at the bottom of the hole. During the charging process, a hole plug is used and lifted to a distance of 4 m from the bottom of the hole, and then charging is carried out.

[0035] Step 8: The height of the lateral blasting and the side-hole blasting is the same, and they are detonated simultaneously, and blasting is carried out layer by layer upward to form a continuous blasting method for the "convex"-shaped space.

[0036] Step 9: After blasting, use a remotely controlled LHD to draw ore. When the ore drawing is nearly completed and the position and height of the bottom ore pile cannot be determined, install a mobile 3D lidar scanner on the top of the LHD, remotely control the LHD to enter the goaf, and then use a mobile phone to remotely control the 3D lidar scanner on-site to scan the bottom position of the stope 360 degrees. After scanning, use the mobile phone software to view the position of the ore pile and the size of the 3D shape in real time, and then control the LHD to draw ore until the bottom of the stope is nearly flat after scanning with the 3D scanner, indicating that the ore drawing in the stope has been completed.

[0037] Step 10: After the ore drawing is completed, construct a concrete closure wall at a safe position where the ore-drawing drift 4 intersects with the goaf, and then arrange filling pipes at the position of the chamber connecting drift in the previous stage for filling.

[0038] As a further improvement of the present invention, the bottom structure 6 of the fully open bottom of the mining area in step three uses the cross-cutting roadway 5 as a free space to brush the ore and rock within the bottom range of the mining area. The brushing height is consistent with the height of the cross-cutting roadway and extends to the bottom boundary of the mining area, ultimately forming the bottom structure 6 of the fully open bottom of the mining area. This has three advantages: first, it facilitates large-scale operation of unmanned remote-controlled loaders in this area; second, it simplifies the construction procedure by using large-diameter blast holes for blasting; and third, it improves the ore recovery rate of the mining area.

[0039] As a further improvement of the present invention, the rock drilling chamber formed by brushing the sides in step four has the same height as the connecting roadway. The brushing sides on both sides of the connecting roadway are formed into a rectangular tooth-shaped structure. Firstly, the space of the brushing side facilitates the construction of blast holes; secondly, the rectangular tooth-shaped columns reserved on both sides improve the stability of the roof and facilitate the construction of blast holes and charging of explosives.

[0040] As a further improvement of the present invention, the blasting method for the single-stage slotting range 12 in step five is as follows: A plug is secured with a thin steel wire and lowered into the borehole until it is noticeably shaking, indicating that the plug has reached the point where the bottom is completely empty; then the plug is lifted until it stops shaking, indicating that it is in place; a thin steel wire is then secured to the top of the borehole with a wooden stick and placed on top of the borehole; a 1m thick layer of bottom sand is placed inside the borehole, and then three 0.5m long explosive charges are placed on top of the bottom sand into the borehole, with detonating cords inserted into the charges and the leads extending to the top of the borehole for later electronic detonation; a 1.5m thick layer of surface sand is placed at the top of the charging area. Each layer of slotting blasting is carried out using this method.

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

[0042] The mining method of the present invention is compared with conventional mining methods in the following table.

[0043]

[0044] As can be seen from the table, the mining method of the present invention has a high ore recovery rate, which is 11 percentage points higher than that of conventional mining methods. This indicates that the mining method significantly improves the ore recovery rate after the application of unmanned remote-controlled loader. In terms of the design length of the ore access road and the length retained after ore extraction, the present invention saves engineering work, involves a short construction length, and has a better integrity rate of the ore access road after ore extraction, which is more than 20 percentage points higher than that of conventional methods.

[0045] In summary, this invention can fully realize the high-efficiency shoveling of ore in the mining area by unmanned remote-controlled shovels, and significantly improve the overall recovery rate of the mining area.

[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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mining method suitable for high recovery rate mining using unmanned remote-controlled loaders, characterized in that, It includes the following steps: S1: Construct an ore-drawing roadway at the midline position at the bottom of two adjacent stopes to be mined. The ore-drawing roadway penetrates the upper-level drift roadway and the lower-level drift roadway to facilitate roadway ventilation; S2: Construct ore-drawing headings in the ore-drawing roadways on both sides at the bottom of the stope towards the stope to be mined; S3: Construct a cross-cut roadway at the midline position at the bottom of the stope to be mined. This roadway penetrates the upper-level drift roadway and the lower-level drift roadway; taking the cross-cut roadway as a free space, blast to form a bottom structure with a completely empty bottom, facilitating the operation of a remote-controlled LHD within this range; S4: Construct a connecting roadway at the uppermost position of the stope. The connecting roadway penetrates the upper-level drift roadway and the lower-level drift roadway; taking the connecting roadway as a free space, brush the ore and rock within the top range of the stope to form a rectangular-toothed drilling chamber; S5: Cut a groove at the end position of the ore-drawing heading in the stope to be mined. The groove is formed by blasting; S6: After continuously blasting the groove 5 times each time, control the total height of the groove at 12.5 m, suspend the groove blasting, and start lateral blasting of the ore and rock around the groove. The height of the lateral blasting is 10 m, forming a "convex"-shaped space protruding at the groove position; for lateral blasting, use bamboo tubes as spacers between the explosive charges for charging. The bottom is a hole plug and 1 m thick bottom sand, and the upper part uses 3 explosive charges each 0.5 m long and 1.5 m long empty bamboo tubes for cyclic charging; S7: Side-hole blasting. To reduce the blasting vibration and damage to the surrounding rock mass during blasting, use bamboo and explosive charges for cyclic charging; S8: The heights of the lateral blasting and the side-hole blasting are the same, and they are detonated simultaneously, and blast upwards layer by layer to form a continuous blasting method for the "convex"-shaped space; S9: After blasting, use a remote-controlled LHD for ore drawing.

2. The mining method for high recovery rate mining using unmanned remote-controlled loaders according to claim 1, characterized in that, For the bottom structure with a completely empty bottom in step S3, taking the cross-cut roadway as a free space, brush the ore and rock within the bottom range of the stoping stope, and the height of the brushing is the same as the height of the cross-cut roadway. Brush to the boundary of the stoping stope, and finally form a bottom form with a completely empty bottom of the stope.

3. The mining method for high recovery rate mining using unmanned remote-controlled loaders according to claim 1, characterized in that, For the drilling chamber formed by brushing in step S4, the height of the brushing is the same as the height of the connecting roadway, and the two sides of the connecting roadway are brushed into a rectangular-toothed structure.

4. A mining method for high recovery rate mining using unmanned remote-controlled loaders according to claim 1, characterized in that, In step S5, the construction of the groove blast holes is carried out simultaneously with the blast holes in the stope. Drill 165 mm blast holes, and the blast holes penetrate the stope to the position with a completely empty bottom of the stope; after the blast hole construction is completed, preferentially cut the groove. To well control the shape of the groove, the length of each groove cut is 6 m and the height is 2.5 m; the groove blasting method: tie a hole plug with a thin steel wire and lower it into the blast hole. When it is felt that the hole plug shakes significantly in a large range, it indicates that the hole plug has reached the position with a completely empty bottom; then lift the hole plug up until the hole plug no longer shakes, indicating that the hole plug is placed in place. 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 1 m thick bottom sand in the blast hole, and then put 3 explosive charges each 0.5 m long into the blast hole on top of the bottom sand. Insert the detonating cord into the explosive charges and lead the wire to the top of the blast hole for facilitating the later use of electronic detonators for initiation; place 1.5 m thick surface sand at the topmost position of the charging; the charging and blasting of each layer of groove cutting are carried out according to this method.

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

6. A mining method for high recovery rate mining using unmanned remote-controlled loaders according to claim 1, characterized in that, In step S2, the angle between the ore exit roadway and the ore exit tunnel is greater than 40º to facilitate the rotation of the loader, and the end of the ore exit roadway is located at the boundary of the mining area.

7. A mining method for high recovery rate mining using unmanned remote-controlled loaders according to claim 1, characterized in that, In step S7, a 1m bamboo pole and a 0.5m explosive pack are used for cyclic loading of explosives. For the side hole at the top of the ore exit, the loading position is 4m away from the bottom of the hole to prevent the eyebrow line of the ore exit from being damaged and to ensure the safe length of the ore exit. The side hole at the top of the ore exit is constructed to the bottom of the hole, which is completely empty. During the loading process, the hole plug is used to lift the hole to a distance of 4m from the bottom of the hole before loading the explosives.

8. A mining method for high recovery rate mining using unmanned remote-controlled loaders according to claim 1, characterized in that, In step S9, when the ore extraction is nearing completion and the location and height of the bottom ore pile cannot be determined, a mobile 3D LiDAR scanner is installed on top of the loader. The unmanned loader is remotely controlled to enter the goaf area to perform a 360-degree scan of the bottom of the mining area and to view the location and size of the ore pile in real time. Then, the loader is operated to extract ore until the bottom of the mining area is nearly flat after scanning with the 3D scanner, indicating that the ore extraction in the mining area has been completed.

9. A mining method for high recovery rate mining using unmanned remote-controlled loaders according to claim 8, characterized in that, Using a mobile phone to control a 3D LiDAR scanner on-site, a 360-degree scan of the bottom of the mining area can be performed. After scanning, the location and size of the ore pile in three dimensions can be viewed in real time using mobile software.

10. A mining method for high recovery rate mining using unmanned remote-controlled loaders according to any one of claims 1-9, characterized in that, After the ore extraction is completed, a concrete sealing wall is constructed at a safe location at the junction of the ore extraction route and the goaf. Then, filling pipes are arranged at the location of the connecting passage of the previous stage chamber for filling.

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