GROUND SUPPORT_proof 19/07/2016 20:48 Page 6
GROUND SUPPORT
The left-hand
image shows the
overall Hang-up
Assessment and
Removal Robot
System, with the
right a close-up of
the robot itself
presented at the recent MassMin conference in
Sydney in May 2016. The idea combines the
latest in telerobotics technology with 3D
scanning and underground geospatial
positioning. The hang-up removal is performed
by scanning the inside of the hang-up to rapidly
develop a geospatially placed model for the
operator to use. The 3D model is detailed enough
that the operator can attempt to pick the
“keystone.” A blasting engineer can then
determine the exact position where the explosive
charge should be placed in the 3D model and
thus at the actual hang-up. The operator,
controlling the robotic arm, uses the 3D virtual
reality model of the robot system and the actual
drawpoint information; model to display the
location information, the arm can then reach into
the hang-up to position the charge using the
kinematic model of the robot system. The 3D
model is used to provide views inside the hangup so that the operator can move the arm safely
and precisely. This process allows the operator
the place the charge (using the 3D representation
of the drawpoint) from a long distance away. As
the process continues, the end of the arm drills
the rock and precisely loads the explosives. The
robot then returns the blasting cable to the
command station, which is located in a truck at a
safe distance from the blockage.
The Hang-up Assessment and Removal Robot
System was developed after an initial trial of
Penguin’s commercial geospatial mapping system
at Codelco Andina. Following the new system
development, mine testing was performed late
2015 at the Northern Centre for Advanced
Technology’s test mine in Onaping, Ontario. A
series of tests were successfully completed.
The system consists of a Normet RBO personnel
carrier housing a telecommand centre, hydraulicdrive generator, robot battery charger and
explosive transportation container. The
telecommand centre is wirelessly connected to the
robot using RF and optical technologies. It also
includes the geospatially operated robot with a
high-reach, two-stage arm that is capable of
reaching into the hang-up and building a 3D image
of it to assess the optimal means of removal.
Finally, there is an end effector for drilling and
loading explosives into the hang-up to blast the
rock blockages imaged in the 3D scans from the
assessment. The robot uses standard electric drill
technology by Hilti. A table with a screw feed
pushes the drill and explosives into the holes.
The robot control system is linked to the RBO
telecommand centre by wireless optical and RF
networking. The system on board the robot
consists of the following components: hardened
military grade industrial computer; military grade
positioning unit; robot control system; arm control
system; laser-scanning system; four PTZ cameras;
two infrared drive cameras; onboard computer for
local control; Controller Area Network bus (CAN
Bus) network; and safety system. IM