Dr.-Adrian-Boeing- Control-and-Automa6on-Division .... Remotely... ·...

www.transmin.com.au-

Dr.-Adrian-Boeing-Control-and-Automa6on-Division,[email protected]

www.transmin.com.au-

Efficient,-Reliable-&-Innova6ve-Solu6ons-for-Global-Mining-Since-1987

Engineered(Products(&(Systems

Outline-

•  Mining--– Automa6on-&-On-Earth-(au)-– OffQEarth-

•  Rockbreaker-Automa6on-•  Transmin-Rocklogic-

– System-Architecture-– System-in-Opera6on-

•  Conclusions-

Challenges-for-the-Mining-industry-

•  Increased-demand-for-product-•  Reduced-ore-grade-&-accessibility-•  Hazardous-environment-•  Increasingly-complex-sites-and-opera6ons-

•  High-opera6onal-cost--•  Availability-of-skilled-employees--•  Societal-cost-of-FIFO-

Technology-Spectrum-Mechanised- Equipped-

with-machines- Au

toma6

c- Well-defined-rules-–-does-not-make-decisions- Au

toma6

on-

Replacing-workers-with-machines-

Automated

-System-

Requires-human-supervision-to-handle-ac6ons-not-defined-in-design-

Autono

mou

s- Independent-of-human-supervision-

We-are-here-1960- 1980- 2000-

Mining-Process-

Drill-&-Blast-

Load,-Haul,-Dump-

Crushing-&-Processing-

Transport-&-LoadQout-

Notable-Australian-Projects-

•  Drill-&-Blast-– ACFR,-Rio-Tinto-– Atlas-Copco-

•  Load-Haul-&-Dump-– CSIRO,-RCT-– Komatsu,-Sandvik-

•  Transport-&-LoadQout-– MRX,-Ansaldo-STS--

Rio Tinto’s Mine of the Future TM

Remote-Opera6ons-

•  Rio-Tinto-–-ROC1-– Opera6onal-– Very-large-data-stream-

•  BHP-–-IROC2-

•  Roy-Hill3,-FMG4-

1.http://www.riotinto.com/documents/ReportsPublications/corpPub_TechnologyInnovation.pdf 2.http://www.bhpbilliton.com/home/investors/reports/Documents/2011/110927%20Western%20Australia%20Iron%20Ore%20site%20tour%20presentation%20combined.pdf 3.http://www.itnews.com.au/News/293373,roy-hill-advances-design-of-automated-mine.aspx 4 http://www.itnews.com.au/News/294346,fortescue-deploys-container-data-centres-to-mines.aspx

BHP-Technology-and-Innova6on-

http://www.bhpbilliton.com/home/investors/reports/Documents/2011/110927%20Western%20Australia%20Iron%20Ore%20site%20tour%20presentation%20combined.pdf

•  Challenges:-– Business-Model-– Loca6on-(Luna,-Asteroids)-– Scale-– Mining-process-– Similar-challenges:-

•  Ore-accessibility-•  Hazardous-environment-•  Complex-opera6ons-•  Very-high-opera6onal-cost-•  Availability-of-labour-

OffQEarth-Mining-

Bloomberg, Wired

OffQEarth-Mining-System-•  Con6nuous-miners-

– OnQEarth:-Coal-mining-– Requires-gravity,-high-power-demands,-untargeted,-so#$rock$only$

•  FluidQbreaking-– OnQEarth:-Coal-mining-(historically)-– Requires-fluid,-vacuum,-soh-rock-only-

•  Tunnel-Boring-Machines-(TBM)-– OnQEarth:-Tunnels-– High-cost,-high-mass,-large-size,-straightQlineQonly-

Satish, et.al. A Review Of Mining Technologies For Space

OffQEarth-Mining-System-

•  Novel-methods-(Microwave,-Laser,-Nuclear)-– OnQEarth:-None!-– New/Conceptual-technology,-power-intensive,-expensive,-lack-of-scalability-

•  Hydraulic-Rock-Breaking-– OnQEarth:-Secondary/primary-breaking-in-mining-– OnQEarth:-Construc6on-✓ Simple,-versa6le,-no-gravity,-powerQefficient,-scalable-

✓ Produc6onQquality-automa6on-Satish, et.al. A Review Of Mining Technologies For Space

-Remotely-Operated--Robo6c-Rock-Breaker-

-

2013-

Hammer

Boom

Hydraulic Cylinders

Slew

Tool

Jib

Hydraulic Powerpack

Rockbreaking-clears-cri6cal-crushing-blockages-

Rockbreaker-

•  Versa6le-– Break-or-manipulate-rocks-– Chisel-or-blunt-(or-Grab)-(quickQhitch-akachment,-exchange-tool)-

– Mobile-or-sta6onary-

•  HeavyQduty,-Scalable,-Reliable-– Primary-or-secondary-breaking-

•  Transmin-creates-custom-designs-to-suit-client-requirements:-Fit-for-purpose-

•  Transmin-focuses-on-simplifying-manufacturing:--Possibility-of-offQearth-construc6on-

Rockbreaker-Automa6on:--A-brief-history-

•  Early-work-by-CISRO-(Peter-Corke-et.-al.)-in-1998--

•  Hydraulic-test-rig-–-lab-environment-

Corke, et.al. Robotics for the mining industry


•  Stereo-vision-–-lab-trial-•  Laser-scanner-–-field-trial-

Corke, et.al. Robotics for the mining industry


•  Corke,-et-al.-found:-•  Challenging-control-task-due-to-compliant-mechanics,-high-payload-to-mass-ra6os,-hydraulic-control-

•  Lack-of-commercially-appropriate-components,-sensors-&-computa6on-

•  No-appropriate-vision/model-algorithms-•  Concluded:-“many-decades-from-reality”-


•  Revisited-in-2009,-as-joint-research-by-Rio-Tinto,-Transmin,-and-CSIRO-to-inves6gate-remote-opera6on-

•  Developed-a-prototype-rockbreaker-control-system--

•  Tes6ng-at-Transmin’s--facili6es-and-at--Rio’s-West-Angelas-site-

Duff, et.al. The development of a telerobotic rock breaker


•  Duff-et.-al:-– TeleQopera6on-over-1000km-&-Closed-loop-control-– MixedQreality-interface-&-3D-sensing-–  Iden6fied-need-for-collision-avoidance-– Hardware-reliability-

Duff, et.al. The development of a telerobotic rock breaker

Transmin-Automa6on-

Grapples 2008

Underground 2010

Surface - 2012

Intelligent-Rockbreaking-

Sensors-Inside-Hydraulic-Cylinders-Con6nuously-Feed-Back-Informa6on-

Rocklogic-HMI-increases-the-operators-situa6onal-awareness-

Operate-mul6ple-rockbreakers-

Sensors-Allow-for-Smoother-Hydraulic-Movements--

Reduce-wear,-increase-machine-life-

One-Touch-Parking-

Faster-cycle-6mes,-Simplify-remote-opera6on-

Ac6ve-Collision-Avoidance-Overrides-Manual--and-Automated-Movements-

Eliminate-down6me-from-damage-

Rockbreaker-Automa6cally-Shuts-Down-when-Gate-Opens-

Australian-Standards-compliance-

Signal-from-Approaching-Vehicle-

Rockbreaker-Automa6cally--Retracts-to-Park-Posi6on-

•  Hardware-design-concerns:-– Mining-environment-(temperature,-vibra6on)-

– Maintenance-requirements-

–  Retrofit-–  Support-different-site-layouts-(underground-&-open-pit-mines,--industrial)--

Rocklogic-Hardware-

Radio

Network

MilSpec PC

Safety Controller

I/O Controller

Media Converter

Relays

I/O Blocks

Rocklogic-Sohware-

Filters-Drive- Radio-

Config-Hydraulic--Control-

CAN-I/O-

CAN--

Filters-Dynamics-Filters- Kinema6cs-

Controller-Drive-by-Wire-

Path-Planner-Collision-Avoidance-

Config-Collision-Detec6on- Telemetry-

Plant-

I/O-Network-

Case-Study-

Newcrest-Ridgeway-Deeps-Mine-Site-

Near-Orange,-NSW,-Australia-

Underground-Block-Cave-Mine-

Gold/Copper-mine-

-

--

New South Wales

Cadia Valley

DISCLAIMER: Any views or opinions presented in this presentation are solely those of the author and do not represent those of Newcrest Mining Limited.

Rockbreaking-Concerns-

Q -Underground-Hazards-

Q-Poor-Visibility-

Q -Confined-Area-

Q -Travel-Time-

Q -Vehicle-Interac6ons-

Automated-Loaders-

Grizzly-

Rockbreaker-

Operators-Cabin-

Operators-View-

Confined-Space-

System-in-Opera6on-

Rockbreaking-Summary-

•  OnQearth-mining-applicable-to-offQearth-mining-(asteroids-/-luna)-! Simple,-versa6le,-proven-technology,-scalable-

•  Automa6on-! Reliability-! Remote-opera6on,-Collision-Avoidance,-Path-planning,-Systems-Integra6on,-Rock-sensing-

! Autonomous-progressing-(1998-Q>-2013)-

Engine

ered

-Produ

cts-&

-Systems

Increase-Efficiency-&-Improve-Safety-

Intelligent-Rockbreaker-

Control-

Thank-you.---

Ques6ons?-

Dr.-Adrian-Boeing-Control-and-Automa6on-Division,[email protected]

Dr.-Adrian-Boeing- Control-and-Automa6on-Division .... Remotely... ·...

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