A Mobile Robot-Based System for Automatic Inspection of Belt Conveyors in Mining Industry

Abstract

Mechanical systems (as belt conveyors) used in the mining industry, especially in deep underground mines, must be supervised on a regular basis. Unfortunately, they require high power and are spatially distributed over a large area. Till now, some elements of the conveyor (drive units) have been monitored 24 h/day using SCADA systems. The rest of the conveyor is inspected by maintenance staff. To minimize the presence of humans in harsh environments, we propose a mobile inspection platform based on autonomous UGV. It is equipped with various sensors, and in practice it is capable of collecting almost the same information as maintenance inspectors (RGB image, sound, gas sensor, etc.). Till now such experiments have been performed in the lab or in the mine, but the robot was controlled by the operator. In such a scenario the robot is able to record data, process them and detect, for example, an overheated idler. In this paper we will introduce the general concept of an automatic robot-based inspection for underground mining applications. A framework of how to deploy the inspection robot for automatic inspection (3D model of the tunnel, path planing, etc.) are defined and some first results from automatic inspection tested in lab conditions are presented. Differences between the planned and actual path are evaluated. We also point out some challenges for further research.

Identification of Differential Drive Robot Dynamic Model Parameters

“…One of the solutions to this problem is the introduction of autonomous transport robots that will accurately, quickly, and safely carry out the tasks assigned to them. Automated guided vehicles are mainly used to support material handling operations—in the warehouse, in production and at the intersection of these areas [ 1 ]. This can involve a range of tasks, from the timely delivery of parts to the production line to round-the-clock transportation.…”

Materials for Batteries of Mobile Robot Power Systems: A Systematic Review and Comparison of Efficiency

“…Current trends in robot applications -state of the art and perspectives -can be described very shortly: it is difficult for mobile robots to reach human or animal performance due to the lack of motors and gears that effectively match power per unit of muscles. To match the agility of an animal new actuators and materials are required, including those that change dimensions in response to applied voltage (electroshapable materials), and new power technologies [7][8][9][10][11]. Such robots should outperform humans and animals in at least one task or provide a cheaper alternative to their work to become attractive alternative.…”

Prospects of in-belt IMU sensors application for fault detection in mining conveyors

“…Although some companies propose "smart idlers" with embedded sensors, their replacement or installation of numerous additional sensors is not sufficient even in the case of wireless data transmission. Therefore, to avoid dangerous impacts on maintenance personnel during inspections in real working conditions of underground mines and to make inspections economically efficient, the special purpose robotic mobile platforms are under development [14,15,16,17]. Moving sensors were also studied and modelled in general [18].…”