Search Results (5)

Mine disasters require urgent lifeline setup in confined tunnels, but manual rescue in unstable accident zones carries huge safety risks. Coal mine rescue robots (CMRRs) have become key equipment to replace manual rescue. However, traditional remote-controlled CMRRs suffer from low autonomy and weak environmental perception capability, which have become critical bottlenecks for field application. As an emerging technology in the mining field, digital twin enables high-precision virtual-real mapping and on-site operation guidance, providing a novel solution to the above problems. To realize autonomous navigation and digital twin visualization of the CMRR, this paper first carries out targeted hardware retrofits on the CMRR platform, upgrades environmental perception, communication transmission and motion control modules, and lays a solid hardware foundation for subsequent algorithm design and system implementation. Aiming at the complex post-disaster underground environment, a digital twin-integrated CMRR system is constructed. For intelligent autonomous navigation, this study investigates a 3D point cloud–based autonomous navigation framework and proposes a slope-fitting method as well as a maximum arrival probability obstacle avoidance method based on Bézier curve trajectories. For environmental visualization, a digital twin interactive interface is built to monitor gas and other environmental parameters in real time, and accurately reconstruct underground roadway structures based on point cloud data. This design not only ensures the robot’s autonomous obstacle avoidance but also helps rescuers grasp underground conditions in advance. Field tests in a simulated post-disaster mine with complex terrain show that the system can stably complete autonomous navigation tasks, maintain stable motion control under dynamic interference, and provide accurate and reliable environmental data for rescue decisions, verifying its feasibility and effectiveness in harsh mine rescue scenarios. Full article

In this article, the current state of the art in the area of autonomously working and mobile robots used for inspections in deep underground mining and exploration is described, and directions for future development are highlighted. The increasing demand for CRMs (critical raw materials) and deeper excavations pose a higher risk for people and require new solutions in the maintenance and inspection of both underground machines and excavations. Mitigation of risks and a reduction in accidents (fatal, serious and light) may be achieved by the implementation of mobile or partly autonomous solutions such as drones for exploration, robots for exploration or initial excavation, etc. This study examines various types of mobile unmanned robots such as ANYmal on legs, robots on a tracked chassis, or flying drones. The main scope of this review is the evaluation of the effectiveness and technological advancement in the aspect of improving safety and efficiency in deep underground and abandoned mines. Notable possibilities are multi-sensor systems or cooperative behaviors in systems which involve many robots. This study also highlights the challenges and difficulties of working and navigating (in an environment where we cannot use GNSS or GPS systems) in deep underground mines. Mobile inspection robots have a major role in transforming underground operations; nevertheless, there are still aspects that need to be developed. Further improvement might focus on increasing autonomy, improving sensor technology, and the integration of robots with existing mining infrastructure. This might lead to safer and more efficient extraction and the SmartMine of the future. Full article

Despite the pressure of carbon emissions and clean energy, coal remains the economic backbone of many developing countries due to its abundant resources and widespread distribution. The stable supply of coal is also vital for the global economy and remains irreplaceable in the future global energy structure. China has been a major contributor to annual coal output, accounting for nearly 50% worldwide since 2014. However, despite implementing intelligent coal mining technology, China’s coal mining industry still employs over 1.5 million underground miners, posing significant safety risks associated with underground mining operations. Therefore, the introduction of coal mining robots in underground mines is an urgently needed scientific and technological solution for upgrading China’s and even the world’s coal energy industry. The working face needs a shearer, hydraulic support, a scraper conveyor, and other equipment for coordination. The deep integration of intelligent technology with factors such as “humans, machines, the environment, and management” in the workplace is the core content of intelligent coal mines. This paper puts forward an advanced framework for robot technology systems in coal mining, including single robots, robotized equipment, robot crowds, and unmanned systems. The framework clarifies the common key technologies of coal mining robot research and development and the cross-integration with new technologies such as 5G, the industrial internet, big data, artificial intelligence, and digital twins to improve the autonomous and intelligent application of coal mining robots. By establishing a scientific and complete standard system for coal mining robots, we aim to achieve the customized research and development and standardized production of various types of robot. A specific analysis is conducted on the research progress of common key technologies such as the explosion-proof design, mechanical system innovation, power drive, intelligent sensing, positioning and navigation, and underground communication of coal mining robots. The current research and application status of various types of coal mining robots in China are summarized. A new direction for future coal mining robot research and development is proposed. Robotic mining systems should be promoted to enhance the overall intelligence level and efficiency of mining equipment. To develop human–machine environment-integrated robots to improve the autonomy and collaboration level of coal mining robots, the digital twinning of the entire mine robot system should be accelerated; the normalized operation level of coal mine robots should be improved; research on coal mining robots, shield support robots, and transportation robots should be performed; intelligence should be achieved in fully mechanized mining faces; and equipment shield support for fully mechanized mining faces should be provided. The practical process of implementing coal mining robotization is summarized in this paper, and the technical and engineering feasibility of the coal mining machine population is verified. Full article

This paper describes an autonomous loading system for load-haul-dump (LHD) machines used in underground mining. The loading of fragmented rocks from draw points is a complex task due to many factors including: bucket-rock interaction forces that are difficult to model, humidity that increases cohesion forces, and the possible presence of boulders. The proposed system is designed to integrate all the relevant tasks required for ore loading: rock pile identification, LHD positioning in front of the ore pile, charging and excavating into the ore pile, pull back and payload weighing. The system follows the shared autonomy paradigm: given that the loading process may not be completed autonomously in some cases, it takes into account that the machine/agent can detect this situation and ask a human operator for assistance. The most novel component of the proposed autonomous loading system is the excavation algorithm, and the disclosure of the results obtained from its application in a real underground production environment. The excavation method is based on the way that human operators excavate: while excavating, the bucket is tilted intermittently in order to penetrate the material, and the boom of the LHD is lifted on demand to prevent or correct wheel skidding. Wheel skidding is detected with a patented method that uses LIDAR-based odometry and internal measurements of the LHD. While a complete loading system was designed, the validation had to be divided in two stages. One stage included the rock pile identification and positioning, and the other included the charging, excavation, pull back, and weighting processes. The stage concerning the excavation algorithm was validated using full-scale experiments with a real-size LHD in an underground copper mine in the north of Chile, while the stage concerning the rock pile identification was later validated using real data. The tests showed that the excavation algorithm is able to load the material with an average of 90% bucket fill factor using between three and four attempts (professional human operators required between two and three loading attempts in this mine). Full article

The article focuses on specific challenges of the design of a reconnaissance mobile robotic system aimed for inspection in underground coal mine areas after a catastrophic event. Systems that are designated for these conditions must meet specific standards and regulations. In this paper is discussed primarily the main conception of meeting explosion safety regulations of European Union 2014/34/EU (also called ATEX—from French “Appareils destinés à être utilisés en ATmosphères Explosives”) for Group I (equipment intended for use in underground mines) and Category M1 (equipment designed for operation in the presence of an explosive atmosphere). An example of a practical solution is described on main subsystems of the mobile robot TeleRescuer—a teleoperated robot with autonomy functions, a sensory subsystem with multiple cameras, three-dimensional (3D) mapping and sensors for measurement of gas concentration, airflow, relative humidity, and temperatures. Explosion safety is ensured according to the Technical Report CLC/TR 60079-33 “s” by two main independent protections—mechanical protection (flameproof enclosure) and electrical protection (automatic methane detector that disconnects power when methane breaches the enclosure and gets inside the robot body). Full article