Robotics in Mining

Abstract

This chapter presents an overview of the state-of-the-art in mining robotics, from surface to underground applications, and beyond. Mining is the practice of extracting resources for utilitarian purposes. Today, the international business of mining is a heavily mechanized industry that exploits the use of large diesel and electric equipment. These machines must operate in harsh, dynamic, and uncertain environments such as, for example, in the high arctic, in extreme desert climates, and in deep underground tunnel networks where it can be very hot and humid. Applications of robotics in mining are broad and include robotic dozing, excavation, and haulage, robotic mapping and surveying, as well as robotic drilling and explosives handling. This chapter describes how many of these applications involve unique technical challenges for field roboticists. However, there are compelling reasons to advance the discipline of mining robotics, which include not only a desire on the part of miners to improve productivity, safety, and lower costs, but also out of a need to meet product demands by accessing orebodies situated in increasingly challenging conditions.

Robust LIDAR-Based Localization in Underground Mines

“…The tunnel network in underground mines is typically very large compared to the number of vehicles operating in it, and maintenance of an external infrastructure dedicated for positioning would be expensive. The harsh, unstructured, and highly dynamic environment also favors as little infrastructure as possible and an onboard localization system is therefore preferred [70]. Today, autonomous operation in underground mines is possible for specific tasks and preconditions, e.g., loaders navigating along prerecorded paths are commercially available from Sandvik, Caterpillar, and Epiroc [81].…”

Emerging Ergonomics Issues and Opportunities in Mining

“…Most recent efforts have focused on the use of robotics and automation to assist with the extraction and transport of the minerals and ore. Automation is being utilized in nearly all phases of mining including extraction using automated longwalls in underground coal [ 41 , 42 , 43 ], the loading of materials using automated draglines and shovels [ 43 ], and the transport of materials in mines using autonomous haul and dump trucks [ 43 , 44 , 45 , 46 , 47 ].…”

A method for real-time dynamic fleet mission planning for autonomous mining

“…Industry is currently fostering investments in robotics and artificial intelligence in order to solve safety problems in mining operations, and to increase efficiency, with a potential of generating billion-dollar savings. Indeed robotic machines are becoming more and more common in modern mines [1,2] and the trend is going toward virtualization [3], underground vision [4], and remote control [5]. Among the many challenges involved in mining operations, planning the coordinated motion of an entire fleet of vehicles is one of the most important [6], involving issues such as decision-making, path planning, and scheduling.…”