Automated radiation profiling and shotcreting of uranium mine drifts

该项目的目标是开发一种系统，以自动分析整个铀矿巷道(隧道)的辐射水平，并以自动方式在巷道的工作面、墙壁和天花板上喷洒混凝土(可喷射混凝土)，以将矿山人员的辐射暴露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等级(百分比浓度)有关。品位不一致，沿矿化程度变化较大。铀矿用来控制辐射暴露的技术之一是在铀矿上涂上一层喷射混凝土。铀品位越高，必须采用的喷射混凝土“屏蔽”就越厚。目前的人工方法不能提供足够准确的数据，并有可能使工人暴露在辐射和坠石危险中。准确绘制铀矿床地图的能力是提高采矿效率、更好地规划采矿作业的关键。根据辐射读数使喷射混凝土过程自动化，将通过最佳应用喷射混凝土来提高作业效率和加强工人安全。建议开发一个机器人系统，系统地收集整个漂移过程中准确的辐射测量结果，然后将喷射混凝土应用于所需的厚度。辐射传感器是一种碘化钠(NaI)传感器，它将配备屏蔽，以便进行更准确的辐射测量。将使用移动机器人基座将系统移动到面部，并使用机械手沿面部移动传感器和喷射混凝土喷嘴。根据漂移的大小，移动基地可能需要多次重新定位，以便扫描和喷射整个漂移。将使用同步定位和测绘技术来生成漂移的3D地图，同时确定移动基地相对于漂移的位置。此外，还将捕捉漂移的彩色图像，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，还可以与漂移的实际图像相匹配。最终的结果将是一个系统，它将生成一个准确的漂移面3D模型，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.