In order to improve the operation efficiency of bioretention facilities and expand the resource utilization of vanadium-titanium magnetite tailings, vanadium-titanium magnetite tailings were used as the substrate modifier of bioretention facilities to explore the feasibility and decontamination effect of vanadium-titanium magnetite tailings substrate to improve the bioretention facilities. The results show that the leaching toxicity of main heavy metal ions (Cr, Mn, Zn, Cu) in vanadium-titanium magnetite tailings is lower than the standard limit. The adsorption of TP, NH₃ and by vanadium-titanium magnetite tailings substrate to the Freundlich adsorption isotherm model. The adsorption process of TP and NH₃ is dominated by chemical adsorption, which is controlled by liquid film diffusion and intraparticle diffusion, while the adsorption process of is dominated by physical adsorption. The removal rates of TP, NH₃ and by vanadium-titanium magnetite tailings substrate are 97.2%, 91.4% and 70.5%, respectively. The average effluent concentration meets the Class Ⅱ, Class Ⅳ and Class V water standards respectively in the Surface Water Environmental Quality Standard (GB 3838-2002).

To effectively study the characteristics of potential dangers in non-coal mines in Sichuan Province and strengthen safety management, statistical analysis on potential danger data from 188 non-coal mines was conducted. The results show that the proportion of general potential dangers and major potential dangers is 91.2% and 8.8%, respectively and the largest proportion of major potential dangers is in underground mines(49.0%). The number of major hazards in on-site management is about 1.3 times that of major hazards in basic management. The major potential dangers are concentrated in five aspects of drawing management, organizational construction, slope management, electromechanical transportation, and flood drainage systems. It is recommended that mining enterprises should increase investment in safety funds, standardize data management, strengthen on-site high-risk point control, and allocate professional personnel. At the same time, it is suggested that safety supervision and management departments should focus on key points, innovate regulatory models, rely on technology and expert support, and enhance regulatory efficiency.

Aiming at the problem of synchronous control of each segmented motor in the multi-point segmented combined drive system with continuous lifting of large capacity in deep shaft, based on the traditional deviation coupling control method, an improved deviation coupling control strategy was proposed using the double closed-loop control of speed and torque. The numerical model of synchronous control of six-motor segmented combined drive continuous lifting system was built, and the synchronous tracking performance of traditional deviation coupling control and improved deviation coupling control under different starting load torque and steady-state load disturbance of segmented combined drive system with continuous lifting was compared and analyzed. The results show that compared with the traditional deviation coupling control system, the improved deviation coupling control strategy can effectively solve the problem of asynchronous speed in the start-up process of the multi-point segmented combined drive system with continuous lifting of large capacity in deep shaft. At the same time, the synchronous tracking performance and dynamic response performance of the system in the start-up stage and under steady-state disturbance are improved, and the feasibility of the application of the improved deviation coupling control in the multi-point segmented combined drive synchronous control system with continuous lifting is verified.

A fusion positioning method based on UWB (Ultra Wideband) and IMU (Inertial Measurement Unit) was proposed to address the issues of low positioning accuracy and poor real-time performance of underground inspection robots in mines due to environmental influences. Firstly, the UWB ranging module was used to measure the distance between the inspection robot and the UWB base station. Secondly, a GRU (Gated Recurrent Unit) neural network model was constructed, and the UWB measurement distance and real distance were input into the neural network model for training, resulting in a GRU correction model. Then, the GRU neural network was used to correct the model for the measured distance, suppressing NLOS (Non-Line of Sight) distance errors in complex environments and obtaining more accurate distances than before. Finally, the corrected distance information was combined with the data provided by the IMU through ESKF (Error State Kalman Filter) to construct the error state equation and measurement equation, respectively, to evolve and update the system's error state and calculate more accurate position coordinates. The experimental results show that under three different NLOS environments, the corrected static experimental positioning accuracy is improved by 6.09%, 16.56% and 18.89% respectively, and the positioning accuracy in the composite scene is improved by 11.36% compared to before. In the dynamic experiment, the corrected average positioning accuracy is improved by 11.10% compared to before. By correcting the pseudo range measured under non line of sight, the impact of non line of sight can be reduced and the positioning accuracy can be improved.

Aiming at the problems of deformation of object motion, trajectory drift, and tracking loss, which lead to large errors in belt conveyor speed measurement, a method based on fusion improvement of YOLOv7-tiny and ByteTrack tracking was proposed for belt conveyor speed measurement. Firstly, the improved YOLOv7-tiny object detection algorithm was used as a detector to achieve accurate positioning of objects in images. Secondly, a secondary data association strategy was applied to strengthen the association matching of low-score confidence, while a Kalman algorithm with introduced confidence was used to make the predicted trajectory tend to the detector results, so as to improve the stability of object tracking trajectory on the belt conveyor. Finally, the camera calibration method was simplified using the image coordinates between the belt conveyor's two support rods and the distance between the support rods, and the belt conveyor speed measurement model was established to realize the speed estimation of the belt conveyor. The test results show that the MAE and MSE indicators of the proposed method have been reduced by 0.037 m/s and 0.022 m/s, respectively, effectively reducing the speed measurement error of the belt conveyor.

In response to the problems of pipeline vibration and noise caused by long-distance and large-height-difference transportation of filling industrial pumps, the relationship among pressure drop, pipe diameter, and flow velocity during slurry transportation was studied through filling slurry loop pipeline transportation tests. Based on tests data, a load model for filling industrial pumps and pipeline transportation was established in AMEsim, and the mechanism of the pre-pressure buffer device was studied on this basis. The research results indicate that the resistance loss along the pipeline is positively correlated with flow velocity and negatively correlated with pipe diameter. As the length of the pipeline increases, the peak pressure at the outlet of the pipeline increases linearly, but the rate of change in pressure pulsation decreases. The peak pressure at the outlet of the pipeline is approximately inversely proportional to the square of the pipe diameter. The pre-pressure buffer tank can significantly reduce the pressure pulsation of the filling pipeline. When the ratio of the pre-pressure buffer tank volume to the conveying cylinder volume is 0.45 to 0.55, the vibration reduction effect and economy are both good. The industrial test results on the vibration reduction of the pre-pressure buffer tank show that adding a 60 L pre-pressure buffer tank at the outlet of an 80 m³/h filling pump reduced pressure pulsation to 60% of its original level and reduced pipeline vibration noise by 14 dB, achieving good vibration reduction and noise reduction effects.

The taper valve is easy to wear during the working process of the taper valve filling pump. In view of the problem, using the Navier-Stokes equation,k-ε turbulence model and the erosion wear model of valve gap two-phase flow, based on computational fluid dynamics (CFD) software, a total of 13 groups of valve gap flow field calculation models with different taper angles from 30°to 90°were established. The valve gap flow field velocity and erosion wear characteristics of taper valve with different taper angles were studied. The effects of slurry mass fraction, particle size and taper angle on the wear of taper valve gap were analyzed. The results show that the maximum flow velocity of the taper valve gap flow field is 8.28 m/s, which appears near the bottom angle of the taper valve and the valve gap. The maximum flow velocity of the taper valve flow field decreases with the increase of the taper angle. When the taper angle increases from 30° to 90°, the maximum flow velocity decreases from 28.698 m/s to 6.766 m/s, with a decreasing rate of 76.42%. The wear of the taper valve by the tailings particles mainly occurs at the edge of the end face of the taper valve disc. The erosion wear area is discretely distributed at the edge of the valve disc, and the maximum erosion rate is 9.4×10^－4 kg/(m²·s). The erosion wear is concentrated at the edge of the end face of the valve disc, and the maximum erosion rate is 1.83×10³ kg/(m²·s). The maximum erosion wear rate is negatively correlated with slurry mass fraction, particle size and taper valve angle. The maximum abrasion wear rate is positively correlated with the slurry mass fraction and particle size, and negatively correlated with the taper angle. The industrial verification shows that the selection of 60° as the design angle of the taper valve can effectively increase the service life of the taper valve and improve the stability of the taper valve filling pump.

A multi-dimensional expansion lightweight model MD-YOLO based on YOLOv9 model was proposed to address the issues of low detection accuracy, missed detection and false detection of personnel wearing safety helmets in complex mining environments. To solve the problems of low image clarity and dust obstruction, the original feature extraction module was improved by introducing a multi-dimensional expansion module, which enabled the model to obtain a larger receptive field when detecting safety helmets and enhanced the ability to capture global features. To address the missed detection of small and density targets, a dynamic detection head (PD Dyhead) with attention mechanism was constructed, which enhanced the feature extraction ability of the model from three aspects of scale, space and task perception. The use of exponential moving average sample weighted loss function (EMA SledeLoss) improved the shortcomings of YOLOv9 model in dealing with sample imbalance problems. The experimental results show that compared with the YOLOv9 model, the detection accuracy of the MD-YOLO model reaches 92.5%, with an increase of 2.8 percentage points. The parameter quantity decreases by 26.6%, and has a 27.0% increase in detection speed. The MD-YOLO model can effectively monitor the wearing of safety helmets in various complex environments, with the best comprehensive performance.

In order to deeply understand the influence mechanism of pyrite oxidation products and residual CN^－ on the adsorption of lead-containing particles on pyrite surface, the structure and composition changes of pyrite surface in the presence of oxidation and hydrocyanide were analyzed by constructing pyrite with different oxidation degrees, supplemented by solution chemical calculation, surface product quantity and quality and electrochemical characteristics analysis, as well as Zeta potential measurement. The adsorption amount of lead-containing particles was detected, and the inhibition or synergistic effect of Fe(Ⅲ)-O/OH and CN^－ on lead adsorption behavior was clarified. The results show that the primary driving force for the physical adsorption of lead on the pyrite surface is the electrostatic attraction between positively charged lead-containing ions and negatively charged ions on the pyrite surface.Fe(Ⅲ)-O/OH reduces the amount of negative charge by increasing the positive charge on the pyrite surface, and thereby decreasing the electrostatic driving force for lead adsorption. However, CN^－ can chemically react with Fe(Ⅲ)-O/OH to form Fe(CN)₃, which is removed from the surface, ultimately increasing the electrostatic adsorption force between positively charged lead-containing ions and oxidized pyrite. The research results further reveal the influence mechanism of Fe(Ⅲ)-O/OH and CN^－ on lead adsorption, which provides a new theoretical basis for the efficient recovery of gold from low-grade gold-bearing pyrite and the treatment of lead and cyanide pollution.

A complex porphyry copper-sulfur raw ore contains 0.45% copper and 3.61% sulfur, with high development and utilization value. Research on process mineralogy shows that the ore has diverse structures, multiple types of copper minerals, easy mudification of gangue minerals, and uneven distribution of target mineral particle sizes, which makes it difficult to efficiently recover copper and sulfur. Based on mineralogical research, a flotation process flow with rough grinding of raw ore, copper-sulfur mixed flotation, fine grinding of coarse concentrate, and copper-sulfur separation was developed. At the same time, copper collectors GTB1 and GTB3 with good selectivity were used for tests. In a small-scale closed-circuit test, a copper concentrate with a copper grade of 25.145% and a copper recovery rate of 90.90% is obtained, as well as a sulfur concentrate with a sulfur content of 42.51% and a sulfur recovery rate of 66.24%.