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By Thomas L. Mell

Continuous processing plants handling liquids have achieved a high degree of centralized automatic control. Many chemical plants are operated from one room, with automatic control of the various process flow rates. These plants know from experience that automatic control can produce higher through-put, better uniformity of product, decreased operating costs and reduction of storage capacity, Plants which process materials in the form of bulk solids have not been able to use control to as great an extent, primarily due to the lack of measuring equipment capable of providing the same types of continuous automatic control available with liquid flow meters. This paper will describe a scale for measuring flows of bulk materials on conveyor belts which is particularly adaptable to remote centralized instrumentation and automatic control, and will also describe some typical control applications. Fig. 1 illustrates the basic method of measurement of this scale. A conveyor belt idler is supported on a rigid carriage which in turn is mounted in two anti- friction bearings on the conveyor stringers. The pivoted carriage is prevented from rotating about the pivot shaft by an electric strain gauge load cell connected between the carriage and a cross support. Increasing load on the conveyor belt increases the moment of the carriage frame about the pivot shaft, and proportionally increases the tension in the load cell. The belt speed is measured by a conventional d. c. tachometer generator driven from a pulley, usually on the return belt. The speed signal from the tachometer generator and the load signal from the load cell are combined to produce a signal proportional to the flow rate of material in tons per hour, or lbs. per foot, or equivalent units, It will be important to remember, in considering various control applications, that the flow rate of material on the belt is composed of these two component signals, namely the weight of material and the speed at which it is moving. The feed rate is then indicated and recorded by a self-balancing potentiometer of the type used for measuring temperature by means of thermocouples. These instruments may also be equipped with integrating mechanisms reading the totalized tonnage over a period of time.

Jan 1, 1958

By Agne Rustan

INTRODUCTION This work is a continuation of the preparatory study by Rustan and Stöckel 1979 (3) and (4) of the possibilities to introduce automatic mine ventilation in Swedish mines and construction works. The preparatory study has been financed by the Swedish Board of Technical Development. In the study it was recommended that an automatic step by step control of the fans near the working place due to diesel exhaust emission would be the best solution. A more advanced alternative would be to regulate the fresh air continuously in proportion to the contamination. The latter alternative has been studied by Boliden Mineral Co in the Udden mine. In this study it was found that the air supply could be regulated continuously but it was very important where the sensors feeling the contamination were placed. An intense study of the environment underground is now being planned by our division together with specialists from the National Board of Health and Safety, The Swedish Work Environment Fund, LKAB and the local Governmental Inspection of the Workers Safety. Different gases, radon, dust, airspeed, moisture temperature and pressure is planned to be measured continuously and correlation between the parameters is going to be established to decide the best measurement parameters for regulating the system. The best situation of sensors is also going to be studied. Despite this work hasn't been done yet this paper covers some of the problems which could be encounted with continuous regulation. In this report the environment has been studied during the test with step by step regulation of fans by radio. Diesel vehicles are the largest polluters under ground in Swedish mines and we have therefore suggested that the large diesel vehicles should regulate the fans. The goal of this study has therefore been to find how active diesel vehicles should be able to start and stop gallery fans at both intake and return air. In this paper different methods for activating fans are discussed. Then the best methods are chosen and tested in the mine. In this study we have found that changes of temperature is a cheap and effective method to start and stop cross cut fans in sublevel caving and radio signals seem to be an attractive system for start and stop of gallery fans. This work has been done in close collaboration between LKAB in Kiruna and the University of Luleå - Division of Electronics and Division of Mining and Rock Excavation. A reference group for the project has been established with ventilation experts from the mines, representatives for the local mine worker's unions and authorities from the local Governmental Inspection of the Workers Safety. VENTILATION SYSTEM STUDIED In the project the ventilation system at LKAB in Kiruna has been studied. The mining method used is sublevel caving with 9-13 m slice height. The air is heated winter time over ground by hot water heat exchanger. The main fans are pushing air down to a main distribution level along the 4000 m long and about 100 m wide orebody. From the distribution level, air is taken through shafts down to the sublevels, where it is pushed through the levels by local gallery fans on both intake and return side, see fig 1. The air ( ~ 8 m3/s) is moving freely through the gallery head. The cross cuts are ventilated with smaller fans, diameter 500 mm, and flexible duct, see fig 2. The aim of this study has been to study how to start and stop gallery- and cross fans and examine the environment when the fans are stopped . In Sweden there are no regulations telling that a minimum of air amount must be supplied. Instead the hygienic limits must be fullfilled.

Jan 1, 1981

A computer simulation of the automatic control of continuous mining machines has been prepared, similar to previous simulations of longwall mining systems and coal thickness sensors. The simulation allows for programmed variation of the horizon detection method, the azimuthal guidance system, the type and configuration of the miner, varying hardness in the unmined face material (leading to varying error in the machine heading), and the miner's cutting cycle. It simulates control of the miner in three axes. Use of the simulator makes it possible to anticipate problems arising from the complex character of underground mining, which include unpredictable multi-pass coupling and unpredictable variation in geological conditions.

Jan 1, 1993

By S Mundell, J Armstrong, M Evans

"Automation is a common goal within the coal industry for reasons such as efficiency, reliability and sustainability. However, it requires standards and frameworks so business systems can communicate effectively. Automation of sample analysis processes has been difficult to establish due to a lack of direct business system communication between commercial laboratories and mining companies. This has resulted in manual procedures that have contributed to problems relating to analysis instructions, sample identification, results formats and visibility of status.These problems result in loss of data and confidence in data validity, loss of process efficiency and inability to react to issues. An Australian Coal Association Research Program project (Evans, Armstrong and Arboleda, 2014) has addressed these issues through the Coal Quality Data Exchange methodology for direct business system communication between coalminers and commercial laboratories to optimise the transfer of coal quality data.The benefits to the coalminer of the framework are:increased clarity and auditability of what is being sent to the laboratory and what was requestedreduced potential for error introduced through manual transcription tasksincreased speed of loading of analytical results to the customer Geoscientific Information Management Systemimproved turnaround time for analytical resultsincreased knowledge about what took place in the laboratory with respect to the determination of the analytical resultsincreased visibility of the status of a ‘work order’. The benefits to the technology companies and commercial laboratories is a common framework on which to build a sustainable solution that gets away from the multitude of formats catered for today and time consuming manual processes. The common framework significantly advances the future possibilities for the automation of sampling and analysis processes in a production environment.CITATION:Armstrong, J, Mundell, S and Evans, M, 2014. Automating communications between laboratories and mines – a case from the coal industry, in Proceedings Ninth International Mining Geology Conference 2014 , pp 351–360 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Aug 18, 2014

By Egonk Arriagada, Brindel Barzola, Peter Leckie, Greg Zwolak, Gilmar Guzmán, Germán Chen

Newmont’s Yanacocha operation in Peru presented an especially challenging environment for reliable cyanide measurement and control, processing 3 semi-distinct complex ore types with feed Cu ranging from below 250ppm (as CuCN) to more than 5000ppm, and feed S ranging from low to 5%, resulting in cyanide consumption from as low as 1.5 kg/t to as high as 3.1 kg/t, and gold recovery ranging from approximately 57% to about 78 % (average plant performance based on the type of ore). A literature search by the authors to identify a method for accurate cyanide determination that was also suitable for automation settled on the work of Breuer et al (2011) as a basis. Early challenges in adapting the laboratory technique for the ‘real solutions’ and the range of variability experienced in the plant are discussed, as are other operational challenges due to the complex and changing solution chemistry.

Sep 30, 2022

By Kritika Baxla, M. Mustafa Kahraman, Frank A. Drews, Yaxue Wang, Joel M. Haight, Kody Powell, Mohit Sobalkar, W. Pratt Rogers

In the opinion of these authors, technology alone can never give an organization an edge over competitors or provide an industry step change. However, history has shown that technology applied with correct logistics and strategy makes a significant difference. Never has the minerals industry faced such daunting challenges and been in such need of a step change. Application of autonomous systems has been steadily increasing in the minerals industry. Automation technology has changed the mining value chain from exploration to mineral processing and refining. The future state will only see additional in-roads of automation into more processes and the whole system design. To better understand the near-future potential of automation, it is useful to explore and review the current state of automation in minerals development. A review of the state of automation research is given. The review will consider three critical areas: automation technology, system’s engineering and management processes around automation, and the role of human factors engineering in automated and semi-automated systems. The review ends with a discussion on the social and political risks of automation in terms of shared value and sustainable development.

By W. B. Weston

To mining people who have experienced the tremendous expansion of existing operations and the development of new properties over the last several years we do not have to point out the difficulties in hiring skilled equipment operators. To those of you who have opened operations in some of the more remote places in the world this is not just a difficulty. It is an impossibility. Your only recourse has been to try and train whatever manpower has been available. Depending upon your success in training, the next problem has been to keep them. On todays modern equipment, the skill of the operator remains as the greatest single variable affecting the performance of the machine. On a blast hole drill, for example, a skilled operator will get good production footage, acceptable bit life and minimal machine downtime The unskilled operator will not only fail to get the acceptable production footage but all too frequently this failure is coupled with low bit life, high repair costs and excessive machine downtime. Even between experienced operators, on identical machines, in the same kind of material we find significant variations in performance. It is, therefore, the skill of the operator, not just his experience, which makes the difference. The problem, as presented to us by our customers, has been to find a way for the unskilled man, with minimal training, to match the performance of the most skilled and experienced operator. The obvious answer is automation.

Jan 1, 1970

By Alan English

This paper reviews the process control systems used in early commercial pelletizing plants, traces the development of these systems into present day practice, and briefly outlines advanced automation concepts being considered for future installations. It deals specifically with controls for the balling circuit, pelletizing machines, and related material handling and combustion equipment. The importance of instruments for visual observation and data logging is discussed, and the potential use of computer control is evaluated.

Jan 1, 1965

By L. F. Engle

There continues to be a certain magic attached to the word "Automation". When properly planned for, engineered, installed, and operated, the magic truly does take place - witness certain publicized mineral processing, metallurgical, and chemical plants. They operate successfully with few people, instead of previous dozens as in similar facilities not automated. Production quality has improved. Maintenance costs have been lowered. When such welcome results are achieved, it's proved to be a function of method and procedure in establishing criteria for choosing the intelligence and control systems followed by skilled choice of the specific elements used. The criteria, the bases for decision, are associated with design, construction, startup, operations, and maintenance. How to go about automating any process system to achieve the optimum profit depends on attention to all those aspects of a project. None of them can be forgotten if maximum satisfaction is to be gained. Control loops that look wonderful on an equipment. Piping, and Instrumentation diagram can suddenly turn into costly and. annoying problems in the field if there has been too little coordination of design. Panel boards that are literally works of art just before startup can become the largest of white elephants if an air header is inadequately sized and the pneumatic control circuits are sluggish. Conveyor belt replacement costs can skyrocket if a critical discharge chute far away from immediate operator attention lacks a simple yet effective clog-chute switch. Planning, execution, and followup of the work, the skills, and function of-the automating material can make any new project a success. An integrated owner contractor, producer-engineer approach is the key.

Jan 1, 1963

By G. C. Kachel

Significant effort has been expended and considerable success has been realized m the application of instrumentation and automatic control equipment in the mining and ore processing industries. This effort has been applied principally to process equipment with the objective of increasing throughput, minimizing labor requirements and/or improving grade or product quality. Less spectacular, but quite rewarding has been the successful application of instrumentation and automatic control equipment to a wide variety of material handling equipments. This paper describes some of this work including: (1) automatic weighment of load-haul-dump units and trams underground; (2) automation of skip loading; (3) instrumentation applied in feeders and conveyors; (4) level measurement in bins, silos, vessels and sumps; (5) automatic blending of sized materials; (6) automatic loading of ships, trains and trucks; (7) automatic control of tailings disposal facilities

Jan 1, 1973

By Hairong Zeng, Matthew Baumann, Shahram Tafazoli, Edmond Chow

Measurement of rock fragmentation has evolved from a completely subjective and manual process to a statistically objective and semi-automated process. However, ultimately, the vision is to achieve a statistically representative and fully-automated process. From the blast optimization perspective, it is critical to receive reliable rock fragmentation results quickly to incorporate into the planning of subsequent blasts. Since manual rock fragmentation measurement methods tend to be time consuming, a fully-automated method is the practical way to meet these requirements.

Jan 1, 2012

By Kevin Saeler, Patrick Willaman

Utilizing automation is one way to improve competitiveness. Roof and rib bolting in underground coal mines has not changed significantly for more than 40 years. Most roof bolting is still a largely manual process involving high levels of staff carrying out repetitive work. Roof bolting statistically has one of the highest levels of underground accidents, including finger, hand, and arm injuries. Operators are exposed to falling objects and becoming entangled in roof bolting apparatus while roughly moving awkward 6-ft drill steels and roof bolts. It is estimated that over 25 million roof bolts are installed annually in the U.S. underground coal market with well over 1,500 operators involved in roof bolting on a day-to-day basis. Recently electrohydraulic roof bolting rigs have been installed to offer partial automation of the drilling cycle and the bolting cycle. The next stage is to provide a storage and loading system to allow full automation of fullcolumn resin roof bolts. This paper reviews the latest electrohydraulic roof bolting equipment and discusses the testing of a fully automated drill rig. Full electronic control allows each step of the roof bolting process to be recorded, providing a digital record of each installation, including hole depth, spin time, gel time, torque, and cycle time. Other benefits include monitoring of water pressure and flow, used to prevent blocked drill steels as well as digital fault finding. A fully automated roof bolting machine greatly improves operator safety and gives high-quality repeatable roof bolting with reduced cycle times.

Jul 1, 2023

By M. Andersson, R. Elsrud

The quality and the production rate for the mining operations in the Garpenberg mine has been much improved due to a new system, that presents the latest exploratory and planning data for the driller at the moment he deploys the drill rig at the face. Other components in this improvement work are better planning procedure, large-scale production system with longer rounds and introduction of new drill rigs in the mine. The new Rig Control System (RCS) for the new series Atlas Copco Boomers L2C has made it possible to develop this system for production drilling in the Garpenberg mine. The ABC Regular has been extended with map navigation and drill plan generator. The driller will have the best estimate of the orebody in front of him and the best drill plan for that orebody. The customer’s specific system will also become a standard Atlas Copco product for the Boomer ABC drill rig family.

Sep 1, 2001

By A. B. Cecala

Two recent Bureau studies evaluated workers' dust exposures in automated pallet loading processes. The first study involved a Bureau designed dust control system using a push-pull ventilation technique. The unit was shown to reduce workers' dust exposures by 76% during pallet loading at a ground silica operation. A hydraulic lift table was used to automate the bag stacking process; this kept the loading height constant throughout the entire pallet loading cycle. The second study evaluated different commercial automated pallet loading systems. These systems automatically stack the bags onto pallets, shrink wrap the pallets, and deliver the pallets to a fork lift pickup location. Results from a ground silica evaluation site indicated respirable dust samples taken were below the Threshold Limit Value (TLV) as established by the Mine Safety and Health Administration (MSHA).

Jan 1, 1990

By Milca Ventura dos Santos, Ricardo Rodrigues Grizotti, Luciano Henrique Andrade de Resende, Francisco Ricardo Casa Neto, Paulo Roberto de Oliveira Junior, Bruno Rodrigues Ferreira

O trabalho tem por objetivo demonstrar o processo de desenvolvimento e implantação da automatização nas operações, atividades de almoxarifados (recebimento, armazenagem, movimentação, inventário, picking e entrega de materiais), com o uso da tecnologia SAP FIORI com interface nos sistemas operacionais Android e IOS para utilização do Mobile (smartphones e tablet’s), já alinhado ao momento da indústria 4.0, visando inovações tecnológicas nos campos de automação, controle e tecnologia da informação. O desenvolvimento nesta nova plataforma visa tornar as operações de almoxarifados mais ágeis e eficientes, buscando otimizar o processamento das informações com mais rapidez, redução do tempo de permanência das mercadorias nas áreas de transferência e gerar maior rastreabilidade dos processamentos com interface direta e on-line com o ERP-SAP da organização. A metodologia do trabalho foi identificar as oportunidades de explorar as melhores potencialidades das soluções do SAP Fiori, alinhadas aos sistemas operacionais Android e IOS para uso de celulares, tablet’s, com comunicação através da rede interna e/ou 3G/4G sempre visando otimizar todas as atividades operacionais (fluxo de materiais) e administrativas (fluxo de informações) dentro dos processos dos almoxarifados e suas áreas de interface. O projeto iniciou-se e sendo implementado nas unidades de Planos (ArcelorMittal Tubarão e Vega), e com plano de expansão para as unidades de Longos da ArcelorMital Brasil durante o ano de 2019. Nesta primeira etapa o resultado alcançado foi de plena adequação, tendo sido encontrado benefícios em redução de erros; aumento de segurança; redução de custos; otimização de processos; transparência em dados; customização de produtos, o qual espera-se que a curva de aprendizado naturalmente nos levará a adoção de novas soluções incrementais resultando nos melhores níveis de gestão do processo de armazenagem e movimentação de materiais.

Oct 1, 2019

By R Price, B H. Miller

"The rise of autonomous haul truck fleets may have been initially driven by the rapid escalation of the cost of equipment operators, but the actual improvements reported by the major iron ore miners far exceeds the simple reduction in workforce. Utilising cost models developed for feasibility studies and mining contract modelling, the limits of cost improvements due to simple labour reductions are compared to those achieved by the early autonomous fleet adopters and through traditional process improvement techniques such as fleet class upgrades or hot-seating of equipment. As autonomous fleet implementation matures, it is likely that the gains seen by current adopters will seem minor compared to the limits generally governed by the limit of equipment utilisation. This ultimate limit is explored through time utilisation models, which were also developed for use in feasibility studies and mining contract modelling.Citation:Miller, B H and Price, R, 2016. Autonomous Haul System Savings - It's Not about Less Truckies but Better Truckies!, in Proceedings Ninth AusIMM Open Pit Operators' Conference 2016, pp 2–10 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Nov 15, 2016

By William Gleason

"Komatsu has been on the cutting edge of autonomous mining for the past 30 years and the company remains at the forefront of the technology that is changing from concept to a full-fledged reality.In 1996, Komatsu America Corp. (KAC) purchased a controlling interest in Modular Mining Systems; a move that enabled both companies to expand their product lines. It was through this effort that Modular helped to deploy the first autonomous haulage system (AHS) — the Komatsu FrontRunner system. In January 2008, the first commercial implementation of the FrontRunner system occurred at Codelco’s copper mine in Chile. Since then, Komatsu has put more than 130 haul trucks into seven sites on three continents to haul copper, iron ore and oil sands and its equipment has moved 1.8 Gt (2 billion st) of material with zero lost time incidents attributed to Komatsu’s autonomous trucks. The 1.8 Gt (2 billion st) is the most of any commercial mining autonomous haulage system and there is more to come. In November, Komatsu announced that an additional 150 autonomous haul trucks will be deployed to the Canadian oil sands over the next seven years.Komatsu has continued to pioneer autonomous haulage development, creating a range of autonomous options that includes semiautonomous and teleremote options all the way up to a haulage vehicle that stole the show at the world’s largest mining equipment trade show.In 2016, Komatsu advanced the concept of driverless haul truck to a new level when it displayed its Innovative Autonomous Haulage Vehicle (IAHV) at MINExpo in Las Vegas, NV. The concept vehicle is the first mega class haul truck designed to be fully autonomous, without an operators’ cab included on the vehicle.Unlike other haul trucks, the vehicle was developed exclusively as an unmanned vehicle designed to maximize the advantages of unmanned operation. Among other advancements, it was designed to distribute equal load to the four wheels, both when the vehicle is loaded and unloaded, and adopt four-wheel drive, retarder and steering. Komatsu said it is aiming for high-performance shuttling of this vehicle in both forward and reverse travel directions, thereby eliminating the need for K-turns at loading and unloading sites."

Dec 1, 2018

By A G. L Pratt

The record for autonomous haulage systems in underground mining over the past 15 years is patchy, marked by many trials and attempts, with few examples of sustained operation until relatively recently. The drivers for the introduction of this technology are variously listed as the occupational health and safety of people working in underground mines, reductions in direct operating costs and increases in productivity.This paper reviews the trends for operation of semi-autonomous and autonomous haulage achieved by underground mines and the defining features of the technology currently available. The inclusion of autonomous haulage as part of mining studies and the fundamental conditions for its successful application is discussed in the paper. The components required for an autonomous underground haulage system are outlined and the key aspects that need to support its effective implementation are examined together with their associated opportunities and risks. Special note is made of the critical role people, including executive leadership, have in ensuring the successful introduction of this technology.The paper draws on published case study material, equipment supplier information and research findings. The aim is to offer a high-level insight into what is required for the application of autonomous haulage technology and its successful implementation in underground mines.CITATION:Pratt, A G L, 2016. Autonomous haulage systems in underground mining – what is required for success? In Proceedings International Mine Management Conferenc, pp 35-52 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jun 22, 2016

By E Nettleton, A Melkumyan

Identification of geology and mineralogy in situ on the mine face is essential if mining processes are to be automated for tasks such as exploration, grading and reconciliation. Hyperspectral data acquired from field based platforms are ideally suited to these tasks, and are set to revolutionise the automated mining industry. Changing conditions of solar illumination introduces variation into the hyperspectral signal, which is unrelated to geology, complicating analysis of data. Thus, algorithms must be able to deal with changing illumination conditions and operate in a consistent and probabilistic framework, which is a prerequisite for data fusion with other sensors. To produce accurate classification maps of geology, algorithms must be developed that are effective under different conditions of illumination.The efficacy of three algorithms to classify hyperspectral data for geology mapping on vertical mine faces was assessed. These algorithms are the spectral angle mapper (SAM), and two machine learning methods operating within a fully probabilistic Gaussian process (GP) framework û the squared exponential (SE) and the observation angle dependent (OAD) covariance functions (kernel). Two experiments were done to assess the classification performances. The first determined the performance of the algorithms by classifying hyperspectral data of known rock samples acquired using a field spectrometer. The GP-based methods had a similar performance, with average accuracies and F-scores of 97 and 88 per cent (GP-OAD) and 95 and 81 per cent (GP-SE), respectively. Average accuracies and F-scores for SAM were significantly smaller (80 and 40 per cent respectively). The algorithms were then applied to hyperspectral imagery acquired from a vertical mine face at different times of the day, under very different conditions of illumination. In contrast with experiment 1, SAM and GP-OAD gave results which were superior to GP-SE and were entirely consistent with geology mapped in the field. Compared with SAM, GP-OAD was less sensitive to the effects of shadow and produced classified images that were less noisy. The GP-SE method failed to delineate even gross changes in geology on the mine face. These results show conclusively that in order to use independent training data (spectral library) to classify imagery acquired under a different set of conditions, algorithms must take into account variability in incident illumination. Measures based on spectral distance are inferior to those based on spectral angle.The OAD kernel within the GP framework (GP-OAD) is superior to the other two methods because:it provides a probabilistic framework;it is insensitive to variability in illumination within and between imagery acquired under different conditions; andit can identify and map geological zones on a vertical mine face using an independent spectral library, without a priori knowledge.

Sep 26, 2011

By Mahmoud Ahmed

Three-dimensional models are in increasing demand for design, maintenance, operations and construction project management. Point-clouds are the main output of automatic data collection using laser-scanners and photogrammetric technologies. Pipe-works may comprise 50% of the value of important construction projects such as industrial and research facilities. We have developed a practical and cost-effective approach, based on the Hough-transform and judicious use of domain constraints, to find, recognize and reconstruct/model 3D pipes within point-clouds fully automatically. The developed approach allows pipe growing within a 3D point-cloud. It samples the point-cloud to sequential orthogonal slices, detects pipe?s cross-sections within sampled slices and grows the pipe along the cross sections centerlines. It is validated using laser-scanner data from construction of the Engineering-VI building on the University of Waterloo (UW) campus. The system works on a typical laptop. Recognition and localization results are within a few millimeters. The presented approach opens the gate to broad applications of pipe-network modeling.

Aug 1, 2013