A review of laser scanning for geological and geotechnical applications in underground mining

Laser scanning can provide timely assessments of mine sites despite adverse challenges in the operational environment. Although there are several published articles on laser scanning, there is a need to review them in the context of underground mining applications. To this end, a holistic review of laser scanning is presented including progress in 3D scanning systems, data capture/processing techniques and primary applications in underground mines. Laser scanning technology has advanced significantly in terms of mobility and mapping, but there are constraints in coherent and consistent data collection at certain mines due to feature deficiency, dynamics, and environmental influences such as dust and water. Studies suggest that laser scanning has matured over the years for change detection, clearance measurements and structure mapping applications. However, there is scope for improvements in lithology identification, surface parameter measurements, logistic tracking and autonomous navigation. Laser scanning has the potential to provide real-time solutions but the lack of infrastructure in underground mines for data transfer, geodetic networking and processing capacity remain limiting factors. Nevertheless, laser scanners are becoming an integral part of mine automation thanks to their affordability, accuracy and mobility, which should support their widespread usage in years to come

Sensors Utilisation and Data Collection of Underground Mining

This study reviews IMU significance and performance for underground mine drone localisation. This research has designed a Kalman filter which extracts reliable information from raw data. Kalman filter for INS combines different measurements considering estimated errors to produce a trajectory including time, position and attitude. To evaluate the feasibility of the proposed method, a prototype has been designed and evaluated. Experimental results indicate that the designed Kalman filter estimates the internal states of a system

DEVELOPMENT OF AN AUTONOMOUS NAVIGATION SYSTEM FOR THE SHUTTLE CAR IN UNDERGROUND ROOM & PILLAR COAL MINES

In recent years, autonomous solutions in the multi-disciplinary field of the mining engineering have been an extremely popular applied research topic. The growing demand for mineral supplies combined with the steady decline in the available surface reserves has driven the mining industry to mine deeper underground deposits. These deposits are difficult to access, and the environment may be hazardous to mine personnel (e.g., increased heat, difficult ventilation conditions, etc.). Moreover, current mining methods expose the miners to numerous occupational hazards such as working in the proximity of heavy mining equipment, possible roof falls, as well as noise and dust. As a result, the mining industry, in its efforts to modernize and advance its methods and techniques, is one of the many industries that has turned to autonomous systems. Vehicle automation in such complex working environments can play a critical role in improving worker safety and mine productivity. One of the most time-consuming tasks of the mining cycle is the transportation of the extracted ore from the face to the main haulage facility or to surface processing facilities. Although conveyor belts have long been the autonomous transportation means of choice, there are still many cases where a discrete transportation system is needed to transport materials from the face to the main haulage system. The current dissertation presents the development of a navigation system for an autonomous shuttle car (ASC) in underground room and pillar coal mines. By introducing autonomous shuttle cars, the operator can be relocated from the dusty, noisy, and potentially dangerous environment of the underground mine to the safer location of a control room. This dissertation focuses on the development and testing of an autonomous navigation system for an underground room and pillar coal mine. A simplified relative localization system which determines the location of the vehicle relatively to salient features derived from on-board 2D LiDAR scans was developed for a semi-autonomous laboratory-scale shuttle car prototype. This simplified relative localization system is heavily dependent on and at the same time leverages the room and pillar geometry. Instead of keeping track of a global position of the vehicle relatively to a fixed coordinates frame, the proposed custom localization technique requires information regarding only the immediate surroundings. The followed approach enables the prototype to navigate around the pillars in real-time using a deterministic Finite-State Machine which models the behavior of the vehicle in the room and pillar mine with only a few states. Also, a user centered GUI has been developed that allows for a human user to control and monitor the autonomous vehicle by implementing the proposed navigation system. Experimental tests have been conducted in a mock mine in order to evaluate the performance of the developed system. A number of different scenarios simulating common missions that a shuttle car needs to undertake in a room and pillar mine. The results show a minimum success ratio of 70%

Application of Integer Programming for Mine Evacuation Modeling with Multiple Transportation Modes

The safe evacuation of miners during an emergency within the shortest possible time is very important for the success of a mine evacuation program. Despite developments in the field of mine evacuation, little research has been done on the use of mine vehicles during evacuation. Current research into mine evacuation has emphasized on miner evacuation by foot. Mathematical formulations such as Minimum Cost Network Flow (MCNF) models, Ant Colony algorithms, and shortest path algorithms including Dijkstra's algorithm and Floyd-Warshall algorithm have been used to achieve this. These models, which concentrate on determining the shortest escape routes during evacuation, have been found to be computationally expensive with expanding problem sizes and parameter ranges or they may not offer the best possible solutions.An ideal evacuation route for each miner must be determined considering the available mine vehicles, locations of miners, safe havens such as refuge chambers, and fresh-air bases. This research sought to minimize the total evacuation cost as a function of the evacuation time required during an emergency while simultaneously helping to reduce the risk of exposure of the miners to harmful conditions during the evacuation by leveraging the use of available mine vehicles. A case study on the Turquoise Ridge Underground Mine (Nevada Gold Mines) was conducted to validate the Integer Programming (IP) model. Statistical analysis of the IP model in comparison with a benchmark MCNF model proved that leveraging the use of mine vehicles during an emergency can further reduce the total evacuation time. A cost-savings analysis was made for the IP model, and it was found that the time saved during evacuation, by utilizing the IP model, increased linearly, with an increase in the number of miners present at the time of evacuation

A LiDAR-Inertial SLAM Tightly-Coupled with Dropout-Tolerant GNSS Fusion for Autonomous Mine Service Vehicles

Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks in mine scenes due to satellite signal dropouts, degraded perception, and observation degeneracy. To solve this problem, we propose a LiDAR-inertial odometry method in this paper, utilizing both Kalman filter and graph optimization. The front-end consists of multiple parallel running LiDAR-inertial odometries, where the laser points, IMU, and wheel odometer information are tightly fused in an error-state Kalman filter. Instead of the commonly used feature points, we employ surface elements for registration. The back-end construct a pose graph and jointly optimize the pose estimation results from inertial, LiDAR odometry, and global navigation satellite system (GNSS). Since the vehicle has a long operation time inside the tunnel, the largely accumulated drift may be not fully by the GNSS measurements. We hereby leverage a loop closure based re-initialization process to achieve full alignment. In addition, the system robustness is improved through handling data loss, stream consistency, and estimation error. The experimental results show that our system has a good tolerance to the long-period degeneracy with the cooperation different LiDARs and surfel registration, achieving meter-level accuracy even for tens of minutes running during GNSS dropouts

Optimising mobile laser scanning for underground mines

Despite several technological advancements, underground mines are still largely relied on visual inspections or discretely placed direct-contact measurement sensors for routine monitoring. Such approaches are manual and often yield inconclusive, unreliable and unscalable results besides exposing mine personnel to field hazards. Mobile laser scanning (MLS) promises an automated approach that can generate comprehensive information by accurately capturing large-scale 3D data. Currently, the application of MLS has relatively remained limited in mining due to challenges in the post-registration of scans and the unavailability of suitable processing algorithms to provide a fully automated mapping solution. Additionally, constraints such as the absence of a spatial positioning network and the deficiency of distinguishable features in underground mining spaces pose challenges in mobile mapping. This thesis aims to address these challenges in mine inspections by optimising different aspects of MLS: (1) collection of large-scale registered point cloud scans of underground environments, (2) geological mapping of structural discontinuities, and (3) inspection of structural support features. Firstly, a spatial positioning network was designed using novel three-dimensional unique identifiers (3DUID) tags and a 3D registration workflow (3DReG), to accurately obtain georeferenced and coregistered point cloud scans, enabling multi-temporal mapping. Secondly, two fully automated methods were developed for mapping structural discontinuities from point cloud scans – clustering on local point descriptors (CLPD) and amplitude and phase decomposition (APD). These methods were tested on both surface and underground rock mass for discontinuity characterisation and kinematic analysis of the failure types. The developed algorithms significantly outperformed existing approaches, including the conventional method of compass and tape measurements. Finally, different machine learning approaches were used to automate the recognition of structural support features, i.e. roof bolts from point clouds, in a computationally efficient manner. Roof bolts being mapped from a scanned point cloud provided an insight into their installation pattern, which underpinned the applicability of laser scanning to inspect roof supports rapidly. Overall, the outcomes of this study lead to reduced human involvement in field assessments of underground mines using MLS, demonstrating its potential for routine multi-temporal monitoring

Quantification of deformation trends in a sublevel caving mine using mobile 3D laser scanning

The Malmberget mine shows, in its great geological variety some weak rock zones consisting mainly of granites with biotite schist inclusions in the footwall as well as in the crosscuts, which forced the mine to stop mining in some drifts and invest in supplementary support and blasting of the floor to keep the tunnels open. Therefore, the mine is seeking to better understand the linkage between underground production, mining-induced stresses and deformation in different geologic structures encountered. The conducted research assesses trends in deformation based on geotechnical parameters in three orebodies with a mobile LiDAR system, namely the uGPS Rapid Mapper™, to gain a higher understanding of current deformations. By doing that also the real-life capabilities of the scanning system were observed. The study started with a comprehensive literature review about rock mass classification systems, deformation in underground excavations and mobile laser scanning in an underground environment to be at the current state of research. The further scope includes several hundred scans in areas that are prone to deformation for testing the repeatability and accuracy of the mobile scanner as well as detecting trends in deformation. Additionally, field observations regarding deformation changes, damages, water inflows and occurrence of additional reinforcement measures were collected. The designed tests and conducted scans showed that the uGPS Rapid Mapper™ works within the known parameters. The intention to detect and track deformation on a regular basis with little work power is given. Also, the immediate 3D visualization proved to be valuable for interpreting data. Deformation commonly occurs in grey leptite with an elevated content of biotite schist intrusions when the GSI is 10-35 and especially when adjacent a competent rock mass is present. This condition is often present at the ore contact zone. The research was able to further support suspected deformations and provide more accurate numbers of deformation. The work supports the hypothesis that convergence occurs mainly in areas of geotechnically weak zones due to squeezing mechanisms

Seamless Positioning and Navigation in Urban Environment

L'abstract è presente nell'allegato / the abstract is in the attachmen

Англійська мова для навчання і роботи. Т. 3. Дискусії та презентації

Розглянуто всі види діяльності студентів з вивчення англійської мови, спрямовані на розвиток мовної поведінки, необхідної для ефективного спілкування в академічному та професійному середовищах. Містить завдання і вправи, типові для різноманітних академічних та професійних сфер і ситуацій. Структура організації змісту – модульна, охоплює певні мовленнєві вміння залежно від мовної поведінки. Даний модуль має на меті розвиток у студентів умінь і навичок академічного і професійно-орієнтованого мовлення, необхідних для участі в дискусіях, семінарах, конференціях та при підготовці й проведенні презентацій (виступів-доповідей). Зразки текстів – автентичні, містять цікаву та актуальну інформацію із загальнонаукової та професійної тематики. Ресурси для самостійної роботи (частина ІІ) включають завдання та вправи для розвитку словникового запасу та розширення діапазону функціональних зразків, необхідних для виконання певних функцій, та завдання, які спрямовані на організацію самостійної роботи студентів. За допомогою засобів діагностики (частина ІІІ) студенти можуть самостійно перевірити засвоєння навчального матеріалу та оцінити свої досягнення. Граматичні явища і вправи для їх засвоєння наводяться в томі 5. Призначений для студентів технічних університетів гірничого профілю. Може використовуватися для викладання вибіркових курсів англійської мови, а також у самостійному вивченні англійської мови викладачами, фахівцями і науковцями різних інженерних галузей