With the exploitation of underground sources, nature receives a huge negative impact on the local environment introducing surface subsidence. A mining region needs to be observed in sequences before, during, and after coal extraction from the coal mine. Different measuring methods exist to monitor subsidence, and all of them apply various instrumentation. A choice of methodology depends on access to a field of observation and requested accuracy. Obviously, the most accurate results provide geometric leveling, but, many times, the terrain does not allow surveyors to walk over the dangerous outfields. Looking for the most adequate and feasible method, this research did a comparison between observation of the same points, applying statistical analysis of differences between the reference points heights, and tested methods. Monitoring procedure comprised utilization of total stations (TS), global navigation satellite system (GNSS), and unmanned aerial vehicles (UAV). In this paper, the Velenje coal mine was taken as a case study, and observation data were collected during 2017.

In underground coal mining engineering, one of the most important tasks is to monitor, predict and manage the surface subsidence due to underground coal excavation. The impact of underground mining excavation reflects as subsidence of the overlying strata and the formation of surface depressions soon after excavation. The surface subsidence is one of many natural processes that exhibit a progression from small beginnings that accelerate and approach a climax over time. When detailed data is lacking, a logistic function is often used. In this paper, the analysis of the surface subsidence above underground mining sites in the Velenje Coal Mine by using a modified sigmoid function (surrogate of logistic function), with the common “S” shape, is introduced. Furthermore, the time estimation of the next and the final epoch measurement is considered.

Impacts of underground mining have been reduced by continuous environmental endeavors, scientific, and engineering research activities, whose main object is the behavior and control of the undermined rock mass and the subsequent surface subsidence. In the presented Velenje case of underground sublevel longwall mining where coal is being exploited both horizontal and vertical, backfilling processes and accompanying fracturing in the coal layer, and rock mass are causing uncontrolled subsidence of the surface above. 3D point clouds of the study were acquired in ten epochs and at excavation heights on the front were measured at the same epochs. By establishing a sectors layout in the observational area, smaller point clouds were obtained, to which planes were fitted and centroids of these planes then calculated. Centroid heights were analyzed with the FNSE model to estimate the time of consolidation and modified according to excavation parameters to determine total subsidence after a certain period. Proposed prognosis approaches for estimating consolidation of active subsidence and long term surface environmental protection measures have been proposed and presented. The C2C analysis of distances between acquired 3D point clouds was used for identification of surface subsidence, reclamation areas and sink holes, and for validation of feasibility and effectiveness of the proposed prognosis.

Nowadays designing of selected areas of mines underground workings can be effectively improved by the application of computer techniques: 3D scanning, computer simulations and Virtual Reality. This, in fact, would result in the more reliable design process, significantly reduced designing costs and efforts, and improvement of the mines staff’s safety. This scientific paper presents a method developed for redesigning of selected areas of mines underground workings in which auxiliary transport is carried out. The method combines 3D laser scanning technique with computer simulations carried out in a CAD/MBS system, in order to determine the location of potential collisions of the transported loads with the arch yielding support and the equipment. The obtained results, visualized using Virtual Reality, will form input data in the process of designing the selected area of the mines underground workings. Finally, an example of the application of the described method during transportation of big-size load is given.

Application of new technologies and operational methodologies in mining sector targets to obtain a beneficial outcome in the long term. Instrumentation and monitoring systems for shafts, underground tunneling, storing faculties, etc. are often automated. Implemented systems provide data of mines state, integrated enhanced protection, and early warning solutions. Navigation and positioning in mines are deemed to be unstable in parts of mining tunnels when the external reference points are very far apart, thus significantly increasing the error of the internal network. This paper demonstrates a simulation of an innovative analytical and numerical solution for better positioning in the mines, yielding to increased accuracy of the control points, while reducing the time needed for performing measurements. Based on real tunnel dimensions, different control network configurations are tested. Statistical analysis of simulated environments and virtual measurements, created by combining various instrumentation, confirms cm-level positioning accuracy. The innovative approach to a mine control network design is based on involving fixed-length bars in the network design, gaining in shorter measurements sessions, but keeping homogeneous accuracy throughout the network. The concept is tested on 27 simulated network configurations, combining network points distribution and measurement accuracy of distances and angles. Obtained results and statistical analysis prove that consistent cm-level accuracy can be expected within the network. Extending the concept to space mining, which is becoming an attractive destination for chasing the rare-earth elements (REEs), this methodology will be a spin-off for space exploration mainly applicable in the Lunar lava tube positioning, which are the most secure place to settle the new human life.

Precise drilling and excavation in future Lunar mining sites as well as in building habitats areas will be supported by robotized instrumentation. To ensure accurate positioning of facilities or structures, customized surveying instruments will be used to perform measurements needed for calculating locations of surveyed objects. Precise positioning in unexplored areas is difficult, even on the Earth, with all available support. This issue becomes even more complex on the Moon’s surface, considering environmental conditions and the absence of Earth logistics. This paper solves a problem of centimeter-precision positioning on the Moon’s surface. The solution is called Lunar Regional Navigation Transceiver System (LRNTS). It is based on a network of transceiver facilities, holding onboard both navigation transmitters and receivers. Transmitting modules of LRNTS act in the same way as the Global Navigation Satellite Systems (GNSS) space segment, sending navigation messages to the receivers. Receiving modules are needed for self-calibration of LRNTS to calculate their coordinates. In this paper, 12 different LRNTS-simulated configuration setups within Shackleton Crater are tested against positioning accuracy and visibility along the crater. The results show that LRNTS of nine transceivers can achieve sub-centimeter horizontal and better than 2 cm vertical accuracy, with consistent visibility of six and more transceivers throughout the Shackleton Crater.