Diagnosis of tunnel roof stability with a robotic sensor test bed

Paper presented at the conference Risk assessment in the extractive industries, held in Exeter, 23-24 March 1994, and first published London: IMM, 1994, preprint volume. 18pp., 12 refs. (Originally entitled: Tunnel roof diagnosis using a robotic sensor test bed.) An integral roof diagnosis method is proposed to assist in assessment of risk regarding the stability of an excavation. A Robotic Sensor Test Bed (RSTB) is being developed for the characterisation of roof stability. The sensor test bed consists of a sonic/ultrasonic wave response sensor, a laser surface profiler and a surface temperature sensor. These sensors are mounted on an articulated robot manipulator for performing remote-controlled or fully automated diagnoses. A number of laboratory and field sonic/ultrasonic tests were conducted. A high-energy ultrasonic transducer and an impact device were used to resonate rock slabs. The fracture depths of the slabs were found to be inversely related to the measured resonance frequencies. The agreement between identified and actual dimensions was acceptable. Field tests also showed that loose rock on the surface can be clearly distinguished from solid formation by comparing their wave responses. The robotic laser profiler part of the RSTB was used to measure surface geometry. Different scanning methods are being developed to achieve the fastest and most precise measurements and to provide pertinent information about rock joints and major fractures