Automated radiation profiling and shotcreting of uranium mine drifts

该项目的目标是开发一个系统，自动描绘铀矿巷道（隧道）的辐射水平，并以自动化方式向巷道的工作面、墙壁和顶板喷射混凝土（可喷射混凝土），以将采矿人员的辐射照射减少到可接受的水平。在铀矿中，辐射水平通常与矿石中铀的品位（浓度百分比）有关。品位并不一致，且沿着矿化程度变化很大。铀矿中用于控制辐射照射的技术之一是用一层喷射混凝土覆盖铀矿石。铀品位越高，必须使用的喷射混凝土“屏蔽”就越厚。目前的人工方法不能提供足够准确的数据，并可能使工人暴露于辐射和落石危险。准确绘制铀矿床地图的能力是提高采矿效率的关键，有助于更好地规划采矿作业。根据辐射读数自动化喷射混凝土过程将允许通过喷射混凝土的最佳应用提高操作效率和增强工人安全。建议开发一个机器人系统，系统地收集整个平巷的准确辐射测量值，然后将喷射混凝土涂敷到所需厚度。辐射传感器是一种碘化钠传感器，将配备屏蔽，以便进行更准确的辐射测量。将使用移动的机器人底座将系统移动到工作面，并使用机械手沿工作面沿着移动传感器和喷浆喷嘴。根据巷道的大小，移动的底座可能需要多次重新定位，以便扫描和喷射整个巷道。同时定位和绘图技术将用于生成漂移的3D地图，同时确定移动的基地相对于漂移的位置。此外，还将拍摄漂移的彩色图像，以便地质学家不仅可以将辐射测量结果与生成的3D地图相匹配，还可以将其与漂移的实际图像相匹配。最终的结果将是一个系统，生成一个精确的三维模型的漂移面显示精确的辐射测量。

The goal of this project is to develop a system to automatically profile the radiation levels across a uranium mine drift (tunnel) and apply, in an automated manner, shotcrete (sprayable concrete) to the face, walls, and ceiling of the drift to reduce radiation exposure to mine personnel to acceptable levels. In a uranium mine, radiation levels are generally related to the grade (percent concentration) of uranium in the ore. The grades are not consistent, and have high variability along the extent of mineralization. One of the techniques used in uranium mines to control radiation exposure is to coat the uranium ore with a layer of shotcrete. The higher the uranium grade, the thicker the shotcrete "shielding" that must be applied. Current manual methods do not provide accurate enough data and potentially expose workers to radiation and rock-fall hazards. The ability to accurately map uranium deposits is key to improved mine efficiency, allowing for better planning of mining operations. Automating the shotcrete process based on the radiation readings will allow for improved operating efficiency and enhanced worker safety through the optimal application of shotcrete. It is proposed to develop a robotic system to systematically gather accurate radiation measurements across the drift and then apply shotcrete to the required thickness. The radiation sensor, a sodium-iodide (NaI) sensor, will be equipped with shielding to allow more accurate radiation measurements to be taken. A mobile robotic base will be used to move the system to the face and a manipulator will be used to move the sensor and shotcrete nozzle along the face. Depending on the size of the drift, the mobile base may need to reposition itself multiple times in order to scan and shotcrete the entire drift. Simultaneous Localization and Mapping techniques will be used to generate a 3D map of the drift while determining the position of the mobile base relative to the drift. In addition, colour images will be captured of the drift so that the geologists can match the radiation measurements not only to the generated 3D map, but to actual images of the drift as well. The end result will be a system that generates an accurate 3D model of the drift face showing precise radiation measurements.