In this paper, we propose a novel simultaneous localization and mapping algorithm, R-LIO, which combines rotating multi-line lidar and inertial measurement unit. R-LIO can achieve real-time and high-precision pose estimation and map-building. R-LIO is mainly composed of four sequential modules, namely nonlinear motion distortion compensation module, frame-to-frame point cloud matching module based on normal distribution transformation by self-adaptive grid, frame-to-submap point cloud matching module based on line and surface feature, and loop closure detection module based on submap-to-submap point cloud matching. R-LIO is tested on public datasets and private datasets, and it is compared quantitatively and qualitatively to the four well-known methods. The test results show that R-LIO has a comparable localization accuracy to well-known algorithms as LIO-SAM, FAST-LIO2, and Faster-LIO in non-rotating lidar data. The standard algorithms cannot function normally with rotating lidar data. Compared with non-rotating lidar data, R-LIO can improve localization and mapping accuracy in rotating lidar data.

Microseismic monitoring is a common monitoring tool in the mining production process; for supervising a huge amount of microseismic data, effective analysis tools are necessary. In this study, the monitoring results of microseismic events at the Maoping lead-zinc mine in Yiliang County, Yunnan Province, and the spatiotemporal distribution characteristics of microseismic events are analyzed. We analyze the temporal characteristics of microseismic events using fractal theory, combining the change in fractal dimension with the rock burst incubation process. We also construct an observation area model for event anomalies based on the spatial distribution characteristics of microseismic events. The results show that the growth of the fractal dimension is consistent with the trend of the incubation process before rock burst, and the larger the fractal dimension, the higher the rock burst risk. The observation model, based on the density of microseismic events, can effectively refine the rock burst discrimination range and facilitate subsequent observations. An effective and feasible method of microseismic analysis is provided.

The underground pressure disaster caused by the exploitation of deep mineral resources has become a major hidden danger restricting the safe production of mines. Microseismic monitoring technology is a universally recognized means of underground pressure monitoring and early warning. In this paper, the wavelet coefficient threshold denoising method in the time–frequency domain, STA/LTA method, AIC method, and skew and kurtosis method are studied, and the automatic P-phase-onset-time-picking model based on noise reduction and multiple detection indexes is established. Through the effect analysis of microseismic signals collected by microseismic monitoring system of coral Tungsten Mine in Guangxi, automatic P-phase onset time picking is realized, the reliability of the P-phase-onset-time-picking method proposed in this paper based on noise reduction and multiple detection indexes is verified. The picking accuracy can still be guaranteed under the severe signal interference of background noise, power frequency interference and manual activity in the underground mine, which is of great significance to the data processing and analysis of microseismic monitoring.

The monitoring system of rock mass stability and activity characteristic was established using the microseismic monitoring technology in view of the problem that the dynamic disaster of ground pressure was easy to occur in the process of deep mining. The monitoring network was set up according to the actual characteristics of the mine and the wave velocity was corrected by the method of fixed-point blasting. A monitoring network with a positioning error of 10 m was established finally. The waveform of the monitoring data was picked up and the temporal-spatial evolution characteristics of microseismic events were analyzed, the microseismic events increased greatly and in a high level, the spatial distribution was concentrated highly, the potential dangerous areas were delineated. The research results can provide references for the investigation of rock mass stability monitoring in underground engineering.

To further understand the changing pattern of the bottom structure’s ground pressure activity under the influence of faults, predicting the potential occurrence of geological hazards and rock blast problems to reduce the loss of resources is important. A new microseismic monitoring system was established based on the original Pulang copper mine microseismic monitoring system. This paper analyzed the change law of the microseismic events on the fault in the first mining area of the Pulang copper mine, calculated the cumulative apparent volume and energy index changes of the microseismic events near the fault base, and quantitatively analyzed the microseismic event anomalies under the influence of the fault. The results show that rupture of the rock makes the cumulative apparent volume and energy index change significantly, while the timeliness of both makes the cumulative apparent volume predictive of the occurrence of rock fracture and rockburst, and the number of microseismic events corresponds to the intensity of the fault activation, which plays a predictive and guiding role in the subsequent study of fault activation, stability monitoring, and safe production in the mine area of Pulang copper mine.

This paper designs a high performance wireless communication access point based on 802.11n for mining for low communication speed and low transmission power in mine. The access point is composed of hardware layer and software layer. This access point supports double frequency at 2.4GHz and 5GHz, and it can reach communication speed at 300Mbps, which improved significantly performance of wireless communication for mining. We tested and optimized the access point in Lab. Finally we tested the access point in industry, the comprehensive test result showed that the access point can satisfy wireless communication requirements for mining.