Instrumentation of a Roof Bolter Machine for Void Detection and Rock Characterization

Void detection and identification of bed separation while drilling holes in rocks for roof bolting can be a great source of information for the evaluation of ground conditions and adjustment of ground control or support measures. This can be accomplished through the monitoring and analysis of drilling parameters by the roof bolter. This paper reviews work currently under way in a joint study between Penn State University and J. H. Fletcher & Co. The detection of voids, along with identification of rock types, can lead to development of 3D roof maps, which can subsequently be used to evaluate ground support and its suitability for given ground conditions in tunneling and mining operations. Existing algorithms for void detection utilize the sensory information of the drill unit, such as feed and rotary pressure, revolutions per minute (RPM), and penetration rate, to detect voids or joints on the roof/ ribs. While the void detection algorithms are being revised to allow analysis of available data from the existing sensory systems of the roofbolters with higher accuracy and lower number of false detections, additional sensors have been added to the drill to improve its ability for accurate detection of the voids and joints. This includes installation of vibration and acoustic sensors on a drilling unit at J. H. Fletcher & Co., and pertinent data analysis which are discussed in this paper. Initial results indicate that the data obtained by vibration and acoustic sensors at high sampling rates can be used to improve the performance of the void detection algorithms independently, and when combined with the modified algorithms using existing sensors, it can substantially improve the capabilities of current void detection system.