Growing demand for raw materials forces mining companies to reach deeper deposits. Difficult environmental conditions, especially high temperature and the presence of toxic/explosives gases, as well as high seismic activity in deeply located areas, pose serious threats to humans. In such conditions, running an exploration strategy of machinery parks becomes a difficult challenge, especially from the point of view of technical facilities inspections performed by mining staff. Therefore, there is a growing need for new, reliable, and autonomous inspection solutions for mining infrastructure, which will limit the role of people in these areas. In this article, a method for detection of conveyor rollers failure based on an acoustic signal is described. The data were collected using an ANYmal autonomous legged robot inspecting conveyors operating at the Polish Ore Enrichment Plant of KGHM Polska Miedź S.A., a global producer of copper and silver. As a part of an experiment, about 100 m of operating belt conveyor were inspected. The sound-based fault detection in the plant conditions is not a trivial task, given a considerable level of sonic disturbance produced by a plurality of sources. Additionally, some disturbances partially coincide with the studied phenomenon. Therefore, a suitable filtering method was proposed. Developed diagnostic algorithms, as well as ANYmal robot inspection functionalities and resistance to underground conditions, are developed as a part of the “THING–subTerranean Haptic INvestiGator” project.
For many years now, the mining industry has seen a boost in exploring and developing the systems for monitoring operational parameters of mining machines, in particular load-haul-dump machines. Therefore, further researches on algorithmics have also advanced dynamically regarding effective performance management as well as predictive maintenance. Nonetheless, the issue of road conditions is still being neglected. That issue has a substantial impact on both the overall operator’s convenience, their performance, and machinery reliability, especially its construction node and tire damages. Moreover, such negligence pertains also to the maintenance of mine infrastructure, including the network of passages. The paper explains the use of the portable inertial measurement unit (IMU) in evaluating road conditions in the deep underground mine. The detailed descriptions of the road quality classification procedure and bump detection have been included. The paper outlines the basic method of tracking the motion trajectory of vehicles and suggests the method of visualization of the results of the road conditions evaluation. This paper covers the sample results collected by the measurements unit in the deep underground mine during six experiments. This paper is an extended version of a paper presented at the ACIIDs 2020 conference [P. Stefaniak, D. Gawelski, S. Anufriiev and P. Śliwiński, Road-quality classification and motion tracking with inertial sensors in the deep underground mine, Asian Conference on Intelligent Information and Database Systems, March 2020, Springer, Singapore, pp. 168–178].
The main task of mineral processing plants is to further process the raw material extracted in the mining faces into a concentrate with the highest possible concentration of the final product. In practice, it is a complex process in which several stages can be distinguished. After the ore has been transported to the surface by the skip shaft, one of the first steps is sieving the ore, which is typically performed using vibrating mining screens. In a typical Ore Enrichment Plant, the screening process is carried out by several such machines. This is a typical bottleneck in the technological chain. For this reason, the main challenge for users is to achieve the highest reliability and efficiency of these technical facilities. The solution is to focus on predictive maintenance strategies based on the development of monitoring and advanced diagnostic procedures capable of estimating the time of safe operation. This work was developed as part of an advanced diagnostic system ensuring comprehensive technical conditioning and early fault detection of components such as the engine, transmission, bearings, springs, and screen. This article focuses on vibration data. The problem of damage detection in the presence of periodically impulsive components resulting from falling feed material on the screen and its further screening process has been considered. These disturbances are of a non-Gaussian noise nature, the elimination of which is essential to extract the fault-related signal of interest. One solution may be to properly smooth and filter the raw signal. In this article, a wavelet filtering technique is applied. First, the wavelet filtering procedure is described. In the next step, the performance of a wavelet filter is investigated depending on its parameters. Then, the results of wavelet filtering are compared with such methods as low-pass filtering and smoothing using a moving average. Finally, the impact of wavelet filtering on the calculation of screen trajectories is investigated.
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