Search

Penguin Automated Systems, Ontario, Canada, has developed a robotic system for the safe removal of rock blockages based on telerobotics technology with 3D scanning and underground geospatial positioning. The inside of the hang up is scanned to rapidly develop a geospatially placed 3D model for the operator to employ. The model is detailed enough for the operator to attempt to pick the ‘keystone’, and a blasting engineer or the operator can then determine the exact position where the explosive charge should be placed in the 3D model and therefore in the hang up. The operator controlling the robotic arm uses the 3D virtual reality of the robot system and the actual drawpoint information to display the location information and the arm then reaches into the hang up to position the charge using the kinematic model of the robot system. The process allows the charge to be placed from a long distance away. The end of the arm drills the rock and precisely loads the explosives, and the robot then returns the blasting cable to the command station located in a truck at a safe distance from the blockage. The system was tested and commissioned at a test mine in Ontario., Penguin Automated Systems, Ontario, Canada, has developed a robotic system for the safe removal of rock blockages based on telerobotics technology with 3D scanning and underground geospatial positioning. The inside of the hang up is scanned to rapidly develop a geospatially placed 3D model for the operator to employ. The model is detailed enough for the operator to attempt to pick the ‘keystone’, and a blasting engineer or the operator can then determine the exact position where the explosive charge should be placed in the 3D model and therefore in the hang up. The operator controlling the robotic arm uses the 3D virtual reality of the robot system and the actual drawpoint information to display the location information and the arm then reaches into the hang up to position the charge using the kinematic model of the robot system. The process allows the charge to be placed from a long distance away. The end of the arm drills the rock and precisely loads the explosives, and the robot then returns the blasting cable to the command station located in a truck at a safe distance from the blockage. The system was tested and commissioned at a test mine in Ontario.

The operation of partially or totally autonomous vehicles in underground mining requires accurate surveying and speedy acquisition of data on the operating environments, but while surface surveying has benefited greatly from global positioning systems, their signals are not available underground and existing survey methods do not allow the fast data acquisition needed to draw maps and profiles for navigation systems. A new automated surveying technique is proposed, based on the combination of HORTA inertial navigation system equipment and a 2D laser scanner with a 180 degree cross-section from any given position of the inertial navigation device. The functionality of inertial navigation and laser scanning is discussed and the results of experiments to isolate the influence of key variables on error are analysed. HORTA's bias errors, which are measurable and can be compensated, included shutoff due to overheating, misalignments of internal and external gyro and accelerometer, request for a new gravity gradient when underground, and accumulated error from the limited number of decimal places stored. Random errors resulted from vibration, external changes in gravity, gyro random drift, zero velocity drift, accelerometer drift, asynchronous time delays and azimuth error. Major errors associated with the scanner were in distance measurement, angular values, resolution and data capture, mainly caused by surface reflectivity and air clarity; these could be reduced by proper maintenance. Three-dimensional tests were conducted in the Thorold tunnel, Ontario. It was concluded that the system is currently limited not only by scanner errors but by the software system's inability to timestamp the incoming data adequately, but that it meets target accuracies for underground surveying and could easily be used to produce true 3D underground surveying data., The operation of partially or totally autonomous vehicles in underground mining requires accurate surveying and speedy acquisition of data on the operating environments, but while surface surveying has benefited greatly from global positioning systems, their signals are not available underground and existing survey methods do not allow the fast data acquisition needed to draw maps and profiles for navigation systems. A new automated surveying technique is proposed, based on the combination of HORTA inertial navigation system equipment and a 2D laser scanner with a 180 degree cross-section from any given position of the inertial navigation device. The functionality of inertial navigation and laser scanning is discussed and the results of experiments to isolate the influence of key variables on error are analysed. HORTA's bias errors, which are measurable and can be compensated, included shutoff due to overheating, misalignments of internal and external gyro and accelerometer, request for a new gravity gradient when underground, and accumulated error from the limited number of decimal places stored. Random errors resulted from vibration, external changes in gravity, gyro random drift, zero velocity drift, accelerometer drift, asynchronous time delays and azimuth error. Major errors associated with the scanner were in distance measurement, angular values, resolution and data capture, mainly caused by surface reflectivity and air clarity; these could be reduced by proper maintenance. Three-dimensional tests were conducted in the Thorold tunnel, Ontario. It was concluded that the system is currently limited not only by scanner errors but by the software system's inability to timestamp the incoming data adequately, but that it meets target accuracies for underground surveying and could easily be used to produce true 3D underground surveying data.

The telerobotics laboratory of Canada's Laurentian University is developing an optical control system for use in submarine exploration and mining. The paper describes its current research into the development of a high-bandwidth optical communication system using LED-based omni- directional transceivers, including field testing in a floating laboratory in a lake near Sudbury., The telerobotics laboratory of Canada's Laurentian University is developing an optical control system for use in submarine exploration and mining. The paper describes its current research into the development of a high-bandwidth optical communication system using LED-based omni- directional transceivers, including field testing in a floating laboratory in a lake near Sudbury.

CANMET-MMSL and Penguin Technologies have been investigating how process simulation and mine ventilation software can be combined to reduce mine ventilation costs. Many systems are designed to meet peak demand and are then run at that level. The benefits and drawbacks of tailoring the system to meet actual demand at any given time in the life of the mine can be evaluated by means of process simulation models. The development of a generic mining process model is described and the model used for evaluating a simple form of on-demand control., CANMET-MMSL and Penguin Technologies have been investigating how process simulation and mine ventilation software can be combined to reduce mine ventilation costs. Many systems are designed to meet peak demand and are then run at that level. The benefits and drawbacks of tailoring the system to meet actual demand at any given time in the life of the mine can be evaluated by means of process simulation models. The development of a generic mining process model is described and the model used for evaluating a simple form of on-demand control.

The new Chinese hydraulic, cementitious material or high-water binder has been greatly improved to form the Sungeric backfill binder. Hydraulic backfilling with this binder has several advantages over the use of traditional Portland and slag cements. One tonne of the new binder can replace 2-3 t of Portland cement when used to consolidate backfill and can reach the same compressive strength within seven days. When backfill slurries of the same pulp density are compared, the new binder attains a greater volume of in-place fill bacause of its high water of crystallisation, resulting in tightly filled stopes. Less or no dewatering of the filled stope is required and slurry transport is easier. Paste fill performance can be combined with the ease of transport of hydraulic fill, by using pulp densities typical of the latter with the new binder. In a North American mine, the backfill was test blasted successfully 24 h after it was poured., The new Chinese hydraulic, cementitious material or high-water binder has been greatly improved to form the Sungeric backfill binder. Hydraulic backfilling with this binder has several advantages over the use of traditional Portland and slag cements. One tonne of the new binder can replace 2-3 t of Portland cement when used to consolidate backfill and can reach the same compressive strength within seven days. When backfill slurries of the same pulp density are compared, the new binder attains a greater volume of in-place fill bacause of its high water of crystallisation, resulting in tightly filled stopes. Less or no dewatering of the filled stope is required and slurry transport is easier. Paste fill performance can be combined with the ease of transport of hydraulic fill, by using pulp densities typical of the latter with the new binder. In a North American mine, the backfill was test blasted successfully 24 h after it was poured.

Underground mining has long suffered from the inability to effectively design, plan and control the mining process; the result of the lack of an effective production simulator. This paper reports on the development of a comprehensive simulation of bulk mining in the underground operations of Inco Ltd's Ontario Division. Vertical retreat mining (VRM) is a bulk mining method developed to cope with mechanisation and, latterly, automation. Research has been undertaken into the adaptation and extension of simulation techniques to consider the interaction of stope design (geometry and sequencing), development, and machine systems (for drilling, blasting, loading). AutoMod PC simulation software has been adapted to model VRM stope blocks and machine systems. Machine modules have been designed to model development and production drills, explosives loaders, LHD machines and other materials handling system components. The software allows the integration of equipment performance and stoping sequence to model complex material flow logic. The model is fully interactive with 3D graphics and animation. Results are presented of conventional and fully automated tele-remote mining., Underground mining has long suffered from the inability to effectively design, plan and control the mining process; the result of the lack of an effective production simulator. This paper reports on the development of a comprehensive simulation of bulk mining in the underground operations of Inco Ltd's Ontario Division. Vertical retreat mining (VRM) is a bulk mining method developed to cope with mechanisation and, latterly, automation. Research has been undertaken into the adaptation and extension of simulation techniques to consider the interaction of stope design (geometry and sequencing), development, and machine systems (for drilling, blasting, loading). AutoMod PC simulation software has been adapted to model VRM stope blocks and machine systems. Machine modules have been designed to model development and production drills, explosives loaders, LHD machines and other materials handling system components. The software allows the integration of equipment performance and stoping sequence to model complex material flow logic. The model is fully interactive with 3D graphics and animation. Results are presented of conventional and fully automated tele-remote mining.

Recent advances in underground communications infrastructure have provided the opportunity to create the automated mine, based upon comprehensive access to voice, video and stationary/mobile machine data. This provides the means to practise lean mining through teleoperation and eventual automation. The criticality of the integration of support systems with the mining processes through such infrastructure is discussed. The success of the automated mine is seen to be dependant on the application of parallel databases, networking, digital design and simulation. The role of new generation simulation software is reviewed on the basis of experiences with current modelling of mobile machine systems. Machine system simulation will ultimately be interfaced with orebody modelling, geomechanical and other design systems, together with maintenance and equipment databases for design, planning and control purposes., Recent advances in underground communications infrastructure have provided the opportunity to create the automated mine, based upon comprehensive access to voice, video and stationary/mobile machine data. This provides the means to practise lean mining through teleoperation and eventual automation. The criticality of the integration of support systems with the mining processes through such infrastructure is discussed. The success of the automated mine is seen to be dependant on the application of parallel databases, networking, digital design and simulation. The role of new generation simulation software is reviewed on the basis of experiences with current modelling of mobile machine systems. Machine system simulation will ultimately be interfaced with orebody modelling, geomechanical and other design systems, together with maintenance and equipment databases for design, planning and control purposes.

The development is described of a telerobotics research laboratory which has been constructed at the Laurentian University and Cambrian College, Sudbury, Ontario. Issues to be studied include the number of machines an operator can manage given different levels of automation, the possibility of tele-operating the task of development using cooperative robots and the implications of scaling up telerobotic systems for the safety, timing and economics of multiple mine operations., The development is described of a telerobotics research laboratory which has been constructed at the Laurentian University and Cambrian College, Sudbury, Ontario. Issues to be studied include the number of machines an operator can manage given different levels of automation, the possibility of tele-operating the task of development using cooperative robots and the implications of scaling up telerobotic systems for the safety, timing and economics of multiple mine operations.

Simulation models are being used to develop teleremote mining systems in Inco's underground mines in Ontario. In order to evaluate teleremote mining, research has centred on adapting and extending state-of-the-art simulation techniques to consider the interaction between mining methods and machine systems for drilling, blasting and loading. The AutoMod PC simulation software, a powerful and interactive environment for three-dimensional industrial simulation and animation modelling, has been adapted to simulate teleremote mining. Machine modules have been designed to model development and production drills, explosives loaders, LHDs (Scooptrams) and other components of the materials handling system for vertical retreat mining. The software allows the integration of equipment performance and stoping sequence. It can simulate mining single or multiple stopes with or without pillars., Simulation models are being used to develop teleremote mining systems in Inco's underground mines in Ontario. In order to evaluate teleremote mining, research has centred on adapting and extending state-of-the-art simulation techniques to consider the interaction between mining methods and machine systems for drilling, blasting and loading. The AutoMod PC simulation software, a powerful and interactive environment for three-dimensional industrial simulation and animation modelling, has been adapted to simulate teleremote mining. Machine modules have been designed to model development and production drills, explosives loaders, LHDs (Scooptrams) and other components of the materials handling system for vertical retreat mining. The software allows the integration of equipment performance and stoping sequence. It can simulate mining single or multiple stopes with or without pillars.

The 70 ton trolley-driven prototype truck was commissioned at Little Stobie mine, in Ontario, in 1991, for a 29-month trial to the end of 1993. During this period it hauled over 1 000 000 tons of Ni-Cu ore from a loading chute to a dumping area, using a self-guiding mechanism. It recorded a respectable availability of 83.4% in the final year of the study, with overall availability of 75.7%. The most significant result of the maintenance data evaluation was that about 75% of the fault types were not actual mechanical faults but were caused by underground conditions. Excessive dust, large muck and foreign objects (rock-bolts) in the ore were key factors in tripping the truck's emergency shut-down mechanism. Further studies are needed to determine the reliability characteristics of the vehicle., The 70 ton trolley-driven prototype truck was commissioned at Little Stobie mine, in Ontario, in 1991, for a 29-month trial to the end of 1993. During this period it hauled over 1 000 000 tons of Ni-Cu ore from a loading chute to a dumping area, using a self-guiding mechanism. It recorded a respectable availability of 83.4% in the final year of the study, with overall availability of 75.7%. The most significant result of the maintenance data evaluation was that about 75% of the fault types were not actual mechanical faults but were caused by underground conditions. Excessive dust, large muck and foreign objects (rock-bolts) in the ore were key factors in tripping the truck's emergency shut-down mechanism. Further studies are needed to determine the reliability characteristics of the vehicle.

After two years in which no prizes had been claimed, three teams met the NASA-devised 2009 Regolith Excavation Challenge with modifications of previous designs. Features of the first-time Laurentian Rock entry, by secondary school and undergraduate students from Laurentian and Queen's universities in Canada, are briefly described and illustrated; difficulties overcome included the 4-second delay in remote control, while innovations included a polymer lithium battery and a hemispherical immersive display screen., After two years in which no prizes had been claimed, three teams met the NASA-devised 2009 Regolith Excavation Challenge with modifications of previous designs. Features of the first-time Laurentian Rock entry, by secondary school and undergraduate students from Laurentian and Queen's universities in Canada, are briefly described and illustrated; difficulties overcome included the 4-second delay in remote control, while innovations included a polymer lithium battery and a hemispherical immersive display screen.

The majority of Inco's Sudbury mines are using mine-wide communications to simplify the installation of high payback, innovative automation techniques. Based on the use of these communication techniques, the surface operators are successfully operating drills and LHDs from surface control stations. The communications systems in place at Inco make the transition to automation both convenient and simple. The health and safety benefits of the surface operation of drill and LHD equipment will contribute to the long-term health of the operators. The automation programme represents a situation where the results of research have been successfully applied in actual mine production environments. A case study of the Stobie mine is presented., The majority of Inco's Sudbury mines are using mine-wide communications to simplify the installation of high payback, innovative automation techniques. Based on the use of these communication techniques, the surface operators are successfully operating drills and LHDs from surface control stations. The communications systems in place at Inco make the transition to automation both convenient and simple. The health and safety benefits of the surface operation of drill and LHD equipment will contribute to the long-term health of the operators. The automation programme represents a situation where the results of research have been successfully applied in actual mine production environments. A case study of the Stobie mine is presented.

Effective design, planing and control of underground mining is difficult due to the lack of a good production simulator. Discussion is presented of the application of simulation models for teleremote mining systems in underground operations of Inco Limited., Ontario. In order to evaluate teleremote mining, research has centred on the adaptation and extension of state-of-the art simulation techniques to consider the interaction between mining methods and machine systems (for drilling, blasting and loading). The AutoMod PC-simulation software, a powerful and interactive three-dimensional industrial simulation and animation-modelling environment, has been adapted for simulating teleremote mining. Machine modules have been designed to model development and production drills, explosives loaders, LHDs and other materials handling system components. The software allows the integration of equipment performance and stoping sequence through its engineering-oriented language to model complex materials flow logics., Effective design, planing and control of underground mining is difficult due to the lack of a good production simulator. Discussion is presented of the application of simulation models for teleremote mining systems in underground operations of Inco Limited., Ontario. In order to evaluate teleremote mining, research has centred on the adaptation and extension of state-of-the art simulation techniques to consider the interaction between mining methods and machine systems (for drilling, blasting and loading). The AutoMod PC-simulation software, a powerful and interactive three-dimensional industrial simulation and animation-modelling environment, has been adapted for simulating teleremote mining. Machine modules have been designed to model development and production drills, explosives loaders, LHDs and other materials handling system components. The software allows the integration of equipment performance and stoping sequence through its engineering-oriented language to model complex materials flow logics.

The removal of rock blockages in mining operations has long been a risky undertaking, especially in high overhead conditions. A prototype of a new mining robot system has been created to allow miners to safely remove hang-ups and rock blockages from mines, in particular caving-type mines. The hang-up assessment and removal robotic system has been created, developed, tested and commissioned by Penguin Automated Systems Inc of Naughton, Ontario. Key features include: teleremote operator control of the system to ensure that workers can stay out of harm's way when removing rock bloackages such as hang-ups and oversize; the ability to display a 3D image of the hang-up without the operators needing to expose themselves to potential falling rock hazards; a robot arm mounted on the body of the robot that is capable of reaching 3 m horizontally and 10 m vertically; an end effector that is capable of drilling a hole and loading the hole with explosives in the precise position required. These features have been tested underground in Sudbury., The removal of rock blockages in mining operations has long been a risky undertaking, especially in high overhead conditions. A prototype of a new mining robot system has been created to allow miners to safely remove hang-ups and rock blockages from mines, in particular caving-type mines. The hang-up assessment and removal robotic system has been created, developed, tested and commissioned by Penguin Automated Systems Inc of Naughton, Ontario. Key features include: teleremote operator control of the system to ensure that workers can stay out of harm's way when removing rock bloackages such as hang-ups and oversize; the ability to display a 3D image of the hang-up without the operators needing to expose themselves to potential falling rock hazards; a robot arm mounted on the body of the robot that is capable of reaching 3 m horizontally and 10 m vertically; an end effector that is capable of drilling a hole and loading the hole with explosives in the precise position required. These features have been tested underground in Sudbury.

The first attempts at automation occurred in Sweden in the early 1970s when a 6-ton truck was equipped with automatic steering and speed control. Developments were then made involving line-of-sight control of machines. From the mid 1980s there was increased momentum in R & D with attempts to automate trucks, drilling machines, raise and tunnel borers and ground support machines. Within the last ten years much work has been carried out on the automation of LHDs, expecially in Sweden and Canada. Research to date has focussed on the monitoring, guidance and control of mobile equipment with not much consideration of the interaction between machine systems, the geological environment and mining methods. Research in these areas should provide the means to analyse the efficiency of mine production system design and optimisation. Eventually, the use of tele-remote/automated mine systems should improve efficiency by minimising throughput time, stockpiles, wastage and reworking. A far greater role for simulation, combined with animation and virtual-reality tools, will be central to further development., The first attempts at automation occurred in Sweden in the early 1970s when a 6-ton truck was equipped with automatic steering and speed control. Developments were then made involving line-of-sight control of machines. From the mid 1980s there was increased momentum in R & D with attempts to automate trucks, drilling machines, raise and tunnel borers and ground support machines. Within the last ten years much work has been carried out on the automation of LHDs, expecially in Sweden and Canada. Research to date has focussed on the monitoring, guidance and control of mobile equipment with not much consideration of the interaction between machine systems, the geological environment and mining methods. Research in these areas should provide the means to analyse the efficiency of mine production system design and optimisation. Eventually, the use of tele-remote/automated mine systems should improve efficiency by minimising throughput time, stockpiles, wastage and reworking. A far greater role for simulation, combined with animation and virtual-reality tools, will be central to further development.