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By S. P. Jekielek

"This paper describes the automation of a mine hoist ore loading pocket using a programmable controller. It provides an introduction to programmable control, and outlines the various modes and operating sequences of the loading pocket. A comparison is made with previous equipment to illustrate the increased flexibility, reliability and diagnostic functions that are gained.IntroductionLoading pockets have evolved from a couple of manually operated air cylinders to entirely automated systems. Early pockets were usually formed in rock, with loading and discharging regulated by air-operated gate s. Interlocks, added to this arrangement, prevented simultaneous operation of the gates and ensured proper hoist position . As the loading pocket advanced, it was recognized that gravity feed posed problems, often becoming plugged or letting water run through into the shaft. A belt conveyor was employed, eliminating the se problems and resulting in greater loading control. Weighing the combination of transistorized logic modules, replaced many relay systems. This elimination of moving parts and contacts increased reliability and reduced maintenance costs.As semiconductor technology progressed, there were major breakthroughs in miniaturization and reliability, and as a result the programmable controller was introduced. Programmable controllers first appeared in the automotive industry in the late 1960's. A system controller was required to replace the large relay panels in operation at that time. The use of digital integrated circuitry enabled these programmable controllers to automate processes with hundreds of inputs and outputs. Advances in electronics reduced production costs , making controllers for smaller application s viable . This development is on-going, each generation introducing controllers with greater capabilities for a wider variety of systems. equipment was the next step in loading pocket development, and dependance on much of the manual control was reduced . The complete system was first automated using relay panels. Solid- state devices were later introduced, and static control,"

Jan 1, 1980

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 J Knoblauch, D, P J. J Strobos, C Foggo

The Sally Malay Project is located 120 km north of Halls Creek in the eastern Kimberley region. Since commissioning, ongoing improvements on the plant have resulted in recoveries now greatly exceeding the initial design targets. The continual optimisation endeavours of the Sally Malay metallurgy department included an automation project that was done in close collaboration with Mintek. In this team effort, several problem areas were addressed and the FloatStar advance control system was successfully commissioned to stabilise and optimise the flotation circuit. The remote location of the Kimberley Nickel Mines operation, fly-in, fly-out roster and the current mining boom makes the acquisition of experienced flotation staff difficult. The implementation of an automated flotation control system reduces this burden and contributes to the training of inexperienced staff. This paper illustrates not only the process control improvements achieved as a result of the installation of the FloatStarÖ advanced control system, but also how it has assisted operational personnel with their understanding of the process.

Jan 1, 2006

By J. E. Moyle

The costs of labour and electric power are of prime concern to almost all industrial enterprises, and various methods of reducing their impact on production costs are constantly being developed. Automation is one of these schemes, and has received a good deal of attention in the past few years. In the mining industry, compressed air is almost universally used, and its cost is significant. Although the compressor machinery now in use has achieved a high degree of development, the hazard of explosion and fire still exists in these systems. There is thus considerable resistance in some quarters to suggestions that such installations can be safely and successfully automated. The Milliken power plant consists of two 30,000 lb. /hr. fully equipped high-pressure boilers, four H.P. air compressors, a steam turbine for stand-by power, and several L.P. compressors and vacuum pumps. With the installation of automatic and protective equipment in the machinery section, the shift force has been reduced from three to two men.

Jan 1, 1963

By Aloizio Cesar Gonzaga, Leandro de Paula, Ismael de Souza Dias, Gladston Santos

Looking for greater competitiveness, Gerdau started in 2013 the operation of its hot strip mill in Ouro Branco, being a milestone in Gerdau's history, where it definitely entered the flat products business. This mill consists of the reheating furnace, primary scaler, a Duo-reversible Quadrupole Steckel mill, accelerated cooling and final coiling. The Steckel mill works with two backup rolls and two working rolls, the backup rolls being responsible for supporting the rolling forces and the working rolls for shaping and surface quality to the strips, having as main requirement quality of surface finish. These rolls suffer high wear due to the lamination process and are exchanged with high frequency to ensure the quality of the laminated strips, after the exchange are sent to the Work Roll Shop for grinding and are positioned Grinded work rolls for the next planned change. This movement is accomplished through the crane and an exchange device that attaches to the cylinders to be transported from the Rolling Mill to the Work Roll Shop. The target in this article is focused on an improvement in this Device to increase operational safety and reduce stoppage losses downtime at the mill, improving the cost / benefit ratio and increase production.

Oct 1, 2019

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 J. A. Scott, K. Moreau, H. Shang

"Trials of automated technology at underground mine sites around the world have reported increased production and the potential for lower energy consumption. Autonomous mining eliminates a range of delays related to operator downtime and travel to the workface and facilitates continuous operation in conditions that are unsafe for workers. Automation also introduces complexities and safety hazards arising from equipment–personnel interactions; automated processes must be isolated from other stope-cycle–related activities such as production drilling, development, loading, and backfilling, poten¬tially requiring changes to the mine design to maintain an efficient and safe operation. This paper reviews and discusses the implementation of automated equipment in deep underground mining operations and the challenges and advantages associated with the technology. ¦ KEYWORDS Automated equipment, Emissions reduction, Energy, Productivity, Sustainability, Technology, Underground mines RÉSUMÉ Des essais de technologies automatisées dans des sites miniers souterrains aux quatre coins du monde ont indiqué une production accrue et la possibilité de réduire la consommation d’énergie. L’exploitation minière autonome élimine tout un éventail de retards liés aux temps d’immobilisation des opérateurs et aux déplacements vers le front de taille, et facilite l’exploitation continue dans des conditions qui s’avèrent peu sécurisées pour les travailleurs. L’automatisation introduit également des complexités et des risques pour la sécurité, qui surviennent en raison des interactions entre l’équipement et le personnel. On recommande d’isoler les procédés automatisés des autres activités liées au cycle des chantiers telles que le forage de production, le développement, le chargement et le remblai, ce qui pourrait entraîner des changements au niveau de la conception de la mine afin de préserver rendement et sécurité dans l’exploitation. Cet article examine et aborde la mise en oeuvre de l’équipement automatisé dans des exploitations minières souterraines profondes, ainsi que les enjeux et les avantages associés à cette technologie. ¦ MOTS CLÉS durabilité, énergie, équipement automatisé, mines souterraines, productivité, réduction des émissions, technologieINTRODUCTION As the mining industry continues to exhaust easily accessible orebodies, the need for efficient, deep (typically below 2,500 m) mine operations increases (Atlas Copco, 2013a); however, the mining process can become economically infeasible at great depths because operation costs drastically increase. This has resulted in investigations into automating mining operations as the industry strives for improved productivity (Schunnesson, Gustafson, & Kumar, 2009) and ways to remove personnel from hazardous work areas."

Jan 1, 2019

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 Joselito Gonsalves dos Santos, Ivani Batista dos Santos Junior, Valeria da Silva Guandelinir, Daniel Rocha de Castro, Alexandre Jose Ramos Valentim

Este artigo tem como objetivo demonstrar os ganhos obtidos com automatizações de atividades de suprimentos de média complexidade e alto tempo de execução. Para atingir o resultado sem investimento, foram desenvolvidas automatizações através de programação em Visual Basic (VBA) e Scripts SAP, utilizando como plataforma o Microsoft Excel. A integração do Excel com o SAP se mostrou eficaz, possibilitando a execução de tarefas de forma automatizada em massa, aumentando a confiabilidade das informações e reduzindo o tempo total de execução das atividades em 67%.

Oct 1, 2019

By Raul Victor Medeiros da Nóbrega

Os tratamentos térmicos são operações de aquecimento e resfriamento controlados, que visam afetar as características dos materiais, agrupando diversos tipos de processos, diferentes patamares de temperatura, velocidades de resfriamento e adição de elementos químicos, com o intuito de aperfeiçoar as propriedades mecânicas (ductilidade, tenacidade), tribológicas (desgaste, fadiga) ou de resistência à corrosão, dependendo da necessidade de aplicação. O controle do processamento térmico por programas computacionais tornou-se uma prática cada vez mais frequente no meio industrial. Utilizando ferramentas como o controlador PID (Proporcional-Intergral-Derivativo), o sistema SCADA (Supervisor Control and Data Acquisition) e um protocolo de comunicação industrial, é possível configurar os parâmetros de entrada, acompanhar o desenvolvimento do processo, visualizar seus valores em cada instante do ciclo e valores finais (de saída), obter gráficos do processo em tempo real, comparando valores, aumentando a confiabilidade do processo, e por tanto, do produto final. Foi desenvolvido um sistema livre que, além de auxiliar na configuração dos parâmetros, exerce funções de monitoramento, de controle e de registro dos dados nos processos de tratamento térmico. Esse sistema poderá ser empregado em fornos na indústria e nos laboratórios de pesquisa.

Aug 7, 2018

By Marcelo Ferreira Martins, Sandro Luís Zahner, Daniel de Paula Ferreira, Celso Dias Barão, Leandro Martins Pereira

O EOF é um forno básico a oxigênio caracterizado pelo conceito de pré-aquecimento da carga sólida baseado na energia da corrida anterior. Mesmo com um sistema supervisório, a operação era totalmente manual. O trabalho consistiu no desenvolvimento e implantação de modelos matemáticos, objetivando atingir a temperatura e composição química programada para vazamento. O sistema de equações consideram todas as entradas metálicas com as respectivas composições químicas e define a quantidade necessária de energético ou refrigerante, além da adição de cales conforme a basicidade e teor de MgO objetivados na escória. O desenvolvimento passou inicialmente por um conhecimento profundo do processo, dada a excelência e originalidade do forno EOF, que é diferente dos demais convertedores a oxigênio. A seguir, foram definidos padrões e práticas operacionais que garantissem a reprodutibilidade do processo, para, finalmente, permitir o cálculo através de modelos matemáticos. Com a automação do processo foram conseguidos expressivos ganhos de produtividade, redução no consumo de materiais, aumento do rendimento metálico e menor consumo de refratários.

Oct 1, 2019

By DIEGO RAFAEL MONTEIRO DINIZ

Os processos de recebimento, armazenamento e distribuição de combustíveis em grandes empresas mineradoras necessitam de um controle robusto e eficaz de todas as operações, uma vez que representam elevado custo por tonelada de minério produzida e expedida. Para tanto, a automatização dos processos que envolvem combustíveis é necessária, capaz de promover redução de custos, aumento de produtividade, confiabilidade e precisão nos dados e melhorias nas condições de trabalho na gestão e operação em combustíveis. Foi aplicada uma análise descritiva de um estudo de caso de um projeto de automação para esta finalidade implantado na empresa VALE S/A. Foi feita uma avaliação sistemática dos recursos, equipamentos e tecnologias necessárias a completa automação e integração dos processos que envolvem combustíveis e os ganhos alcançados após a implantação.

Oct 30, 2017

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 R Price

"Technology has the potential to revolutionise industries, work functions or businesses. One such technology in the mining industry is the deployment of automation in a modern autonomous haulage system (AHS). This paper examines a theoretical application of an AHS in a medium scale mine site. The cost-benefit commercial argument is particularly compelling, and the paper outlines metrics and future issues for consideration.Citation:Price, R, 2016. Autonomous Haulage Systems - the Business Case, in Proceedings Ninth AusIMM Open Pit Operators' Conference 2016, pp 11–17 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Nov 15, 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

By V. Polotski

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a ?traversability grid? (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map ? at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Aug 1, 2013