Springer Handbook of Robotics (2nd Edition) Chapter on “Mining Robotics” Joshua Marshall Queen’s University Mining Systems Laboratory Kingston, ON K7L 3N6, Canada e-mail:
[email protected] Adrian Bonchis CSIRO ICT Centre 1 Technology Court Pullenvale QLD 4069, Australia e-mail:
[email protected] Eduardo Nebot The University of Sydney Australian Centre for Field Robotics Sydney NSW 2006, Australia e-mail:
[email protected] Steve Scheding The University of Sydney Australian Centre for Field Robotics Sydney NSW 2006, Australia e-mail:
[email protected] Revised on May 9, 2014 Contents 1 Mining Robotics 3 1.1 Modern Mining Practice . .3 1.1.1 Stages of Mining . .4 1.1.2 Technology Drivers in Mining . .5 1.2 Surface Mining . .8 1.2.1 Automated Haulage . .8 1.2.2 Fleet Management . 11 1.2.3 Robotic Digging . 13 1.2.4 Robotic Dozing . 15 1.2.5 Autonomous Blasthole Drilling . 16 1.2.6 Telerobotic Rock Breaking . 17 1.2.7 Automated Loading Unit and Truck Interactions . 18 1.2.8 Dragline Automation . 22 1.2.9 Machine Positioning and Terrain Mapping . 23 1.2.10 Mine Safety . 25 1.3 Underground Mining . 29 1.3.1 Telerobotic Operations . 29 1.3.2 Autonomous Tramming . 29 1.3.3 Robotic Loading . 32 1.3.4 Longwall Automation . 35 1.3.5 Robotic Explosives Loading . 37 1.3.6 Underground Mapping, Surveying, and Positioning . 39 1.4 Challenges, Outlook, and Conclusion . 42 1.4.1 Technical Challenges . 42 1.4.2 Socio-Economic Challenges .