Practical Use of Measuring the Deflection of Roof Layers in the Assessment of the Stability of Mining Excavations in the Polish Copper Ore Mine “Polkowice-Sieroszowice”

The paper presents the results of long-term continuous measurements of the deflection of the roof layers in the underground copper mine Polkowice-Sieroszowice, Poland belonging to KGHM Polska Miedź S.A. The measurements were performed with the use of the inclinometric method consisting of continuous registration of changes in the angle of inclination of the roof strata. The measurements were carried out using an inclinometer sensor fixed to the end of a rockbolt in the roof. Measurements presented in the article were made in various regions of the underground mine. The monitoring covered: The exploitation front, machinery chamber and the region of the experimental longwall mining of copper ore. The obtained results proved the usefulness of the developed method in the process of the evaluation of the stability of mining excavations. The sensors were highly sensitive and performed the measurements in a simple way; highly accurate and reliable results were obtained.

Influence of Harmonics on the Working Efficiency of a 6/1.2 kV Transformer in a Pit Mine

Explosion-proof transformers 6/1.2 kV is important electrical equipment responsible forsupplying electricity in underground mine electrical networks. A failure of this transformer will cause aninterruption in the power supply and loss of safety in underground mining. Usually, explosion-prooftransformers in underground mine electrical networks are designed and manufactured to work with idealparameters such as sinusoidal currents, and the network structure is symmetrical. However, today inunderground mine electric networks, many power electronics are connected to the network, such asinverters and soft starters. As a result, a current flowing through the transformer is non-sinusoidal,overloading the transformer even by working with the design specifications. This paper studies theinfluence of harmonics on the working efficiency of a 6/1.2 kV transformer in a pit mine. Research resultssuggest reasonable solutions for transformer operation to ensure longevity and not cause damage to thetransformer.

Development of a Novel Underground Mine Reconnaissance Robot

<p>Despite advancements in safety technology, underground mining disasters kill hundreds of people each year. Typically after a disaster, a manned response team will enter the hazardous mine to ascertain its condition and rescue any survivors. A robotic entry platform could significantly reduce the risk to the response teams and the time taken to recover any survivors. However, existing mine search and rescue robots have had limited success in past disasters. Two primary aspects caused the failure of the existing platforms; poor rough terrain ability and lack of ingress protection for the harsh mine environment. HADES, a novel underground mine reconnaissance robot is developed to address these issues. A lightweight yet robust chassis is manufactured from fibreglass. To allow HADES to operate in the potentially explosive atmosphere, the chassis is protected with a positive pressure gas system, designed to meet the ANZ60079.29 standard. This chassis is sealed against the mine environment with a series of O-rings and lip seals. Whegs are used as the primary locomotion method and are driven with a planetary gearbox and a brushless DC motor. To further improve a rough terrain capability of the locomotion system the rear arm of the chassis is mounted on an actuated pivot, increasing the rough terrain capability of HADES. To ensure the operator can successfully assess and navigate the mine, HADES carries a comprehensive set of environmental and navigation sensors. The internal electronics and locomotion systems are powered with six Li-Po batteries that achieve an operating time of six hours and an expected range of 25 km. HADES is 780x800x400 mm and is mostly sealed to the IP68 standard. The locomotion system is robust and can traverse the majority of the terrain expected in an underground mine. Loss of traction is the only problem encountered with the Wheg design. However, this can be easily fixed by changing the tip shape of the Wheg.</p>

Development of a Novel Underground Mine Reconnaissance Robot

<p>Despite advancements in safety technology, underground mining disasters kill hundreds of people each year. Typically after a disaster, a manned response team will enter the hazardous mine to ascertain its condition and rescue any survivors. A robotic entry platform could significantly reduce the risk to the response teams and the time taken to recover any survivors. However, existing mine search and rescue robots have had limited success in past disasters. Two primary aspects caused the failure of the existing platforms; poor rough terrain ability and lack of ingress protection for the harsh mine environment. HADES, a novel underground mine reconnaissance robot is developed to address these issues. A lightweight yet robust chassis is manufactured from fibreglass. To allow HADES to operate in the potentially explosive atmosphere, the chassis is protected with a positive pressure gas system, designed to meet the ANZ60079.29 standard. This chassis is sealed against the mine environment with a series of O-rings and lip seals. Whegs are used as the primary locomotion method and are driven with a planetary gearbox and a brushless DC motor. To further improve a rough terrain capability of the locomotion system the rear arm of the chassis is mounted on an actuated pivot, increasing the rough terrain capability of HADES. To ensure the operator can successfully assess and navigate the mine, HADES carries a comprehensive set of environmental and navigation sensors. The internal electronics and locomotion systems are powered with six Li-Po batteries that achieve an operating time of six hours and an expected range of 25 km. HADES is 780x800x400 mm and is mostly sealed to the IP68 standard. The locomotion system is robust and can traverse the majority of the terrain expected in an underground mine. Loss of traction is the only problem encountered with the Wheg design. However, this can be easily fixed by changing the tip shape of the Wheg.</p>

Dispatch Optimization Model for Haulage Equipment between Stopes Based on Mine Short-Term Resource Planning

The working environment of underground mines is complicated, making it difficult to construct an underground mine production plan. In response to the requirements for the preparation of a short-term production plan for underground mines, an optimization model for short-term resource planning was constructed, with the goal of maximizing the total revenue during the planning period. The artificial bee colony optimization algorithm is used to solve the model using MATLAB. According to the basic requirements of underground mine ore haulage and ore hoisting, a haulage equipment inter-stopes dispatch plan model was constructed, with the primary goal of minimizing the haulage equipment wait time. A non-dominated sorting genetic algorithm is used to solve the optimization model. An underground mine is examined using the two models, and the optimization results are compared and verified with the scheme obtained by using traditional optimization algorithms. Results show that based on the improved optimization algorithm, the use of short-term production planning schemes to guide mine production operations can increase the haulage equipment utilization rate, thereby increasing mine production revenue.

Development of an Underground Mine Scout Robot

<p>Despite increased safety and improved technology in the mining industry, fatal disasters still occur. Robots have the potential to be an invaluable resource for search and rescue teams to scout dangerous or difficult situations. Existing underground mine search and rescue robots have demonstrated limited success. Identified through literature, the two primary concerns are unreliable locomotion systems and a lack of underground mine environment consideration. HADES, an underground mine disaster scout, addresses these issues with a unique chassis and novel locomotion. A system level design is carried out, addressing the difficulties of underground mine environments. To operate in an explosive atmosphere, a purge and pressurisation system is applied to a fibre glass chassis, with intrinsic safety incorporated into the sensor design. To prevent dust, dirt and water damaging the electronics, ingress protection is applied through sealing. The chassis is invertible, with a low centre of gravity and a roll-axis pivot. This chassis design, in combination with spoked-wheels allows traversal of the debris and rubble of a disaster site. Electrochemical gas sensors are incorporated, along with RGB-D cameras, two-way audio and various other environment sensors. A communication system combining a tether and mesh network is designed, with wireless nodes to increase wireless range and reliability. Electronic hardware and software control are implemented to produce an operational scout robot. HADES is 0.7 × 0.6 × 0.4 m, with a sealed IP65 chassis. The locomotion system is robust and effective, able to traverse most debris and rubble, as tested on the university grounds and at a clean landfill. Bottoming out is the only problem encountered, but can be avoided by approaching obstacles correctly. The motor drive system is able to drive HADES at walking speed (1.4 m/s) and it provides more torque than traction allows. Six Lithium-Polymer batteries enable 2 hours 28 minutes of continuous operation. At 20 kg and ~$7000, HADES is a portable, inexpensive scout robot for underground mine disasters.</p>

Development of an Underground Mine Scout Robot

<p>Despite increased safety and improved technology in the mining industry, fatal disasters still occur. Robots have the potential to be an invaluable resource for search and rescue teams to scout dangerous or difficult situations. Existing underground mine search and rescue robots have demonstrated limited success. Identified through literature, the two primary concerns are unreliable locomotion systems and a lack of underground mine environment consideration. HADES, an underground mine disaster scout, addresses these issues with a unique chassis and novel locomotion. A system level design is carried out, addressing the difficulties of underground mine environments. To operate in an explosive atmosphere, a purge and pressurisation system is applied to a fibre glass chassis, with intrinsic safety incorporated into the sensor design. To prevent dust, dirt and water damaging the electronics, ingress protection is applied through sealing. The chassis is invertible, with a low centre of gravity and a roll-axis pivot. This chassis design, in combination with spoked-wheels allows traversal of the debris and rubble of a disaster site. Electrochemical gas sensors are incorporated, along with RGB-D cameras, two-way audio and various other environment sensors. A communication system combining a tether and mesh network is designed, with wireless nodes to increase wireless range and reliability. Electronic hardware and software control are implemented to produce an operational scout robot. HADES is 0.7 × 0.6 × 0.4 m, with a sealed IP65 chassis. The locomotion system is robust and effective, able to traverse most debris and rubble, as tested on the university grounds and at a clean landfill. Bottoming out is the only problem encountered, but can be avoided by approaching obstacles correctly. The motor drive system is able to drive HADES at walking speed (1.4 m/s) and it provides more torque than traction allows. Six Lithium-Polymer batteries enable 2 hours 28 minutes of continuous operation. At 20 kg and ~$7000, HADES is a portable, inexpensive scout robot for underground mine disasters.</p>