Accurate Real-Time Localization Estimation in Underground Mine Environments Based on a Distance-Weight Map (DWM)

Robust Localization for Underground Mining Vehicles: An Application in a Room and Pillar Mine

Most autonomous navigation systems used in underground mining vehicles such as load-haul-dump (LHD) vehicles and trucks use 2D light detection and ranging (LIDAR) sensors and 2D representations/maps of the environment. In this article, we propose the use of 3D LIDARs and existing 3D simultaneous localization and mapping (SLAM) jointly with 2D mapping methods to produce or update 2D grid maps of underground tunnels that may have significant elevation changes. Existing mapping methods that only use 2D LIDARs are shown to fail to produce accurate 2D grid maps of the environment. These maps can be used for robust localization and navigation in different mine types (e.g., sublevel stoping, block/panel caving, room and pillar), using only 2D LIDAR sensors. The proposed methodology was tested in the Werra Potash Mine located at Philippsthal, Germany, under real operational conditions. The obtained results show that the enhanced 2D map-building method produces a superior mapping performance compared with a 2D map generated without the use of the 3D LIDAR-based mapping solution. The 2D map generated enables robust 2D localization, which was tested during the operation of an autonomous LHD, performing autonomous navigation and autonomous loading over extended periods of time.

Low-Cost Sensors Technologies for Monitoring Sustainability and Safety Issues in Mining Activities: Advances, Gaps, and Future Directions in the Digitalization for Smart Mining

Nowadays, monitoring aspects related to sustainability and safety in mining activities worldwide are a priority, to mitigate socio-environmental impacts, promote efficient use of water, reduce carbon footprint, use renewable energies, reduce mine waste, and minimize the risks of accidents and fatalities. In this context, the implementation of sensor technologies is an attractive alternative for the mining industry in the current digitalization context. To have a digital mine, sensors are essential and form the basis of Industry 4.0, and to allow a more accelerated, reliable, and massive digital transformation, low-cost sensor technology solutions may help to achieve these goals. This article focuses on studying the state of the art of implementing low-cost sensor technologies to monitor sustainability and safety aspects in mining activities, through the review of scientific literature. The methodology applied in this article was carried out by means of the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines and generating science mapping. For this, a methodological procedure of three steps was implemented: (i) Bibliometric analysis as a quantitative method, (ii) Systematic review of literature as a qualitative method, and (iii) Mixed review as a method to integrate the findings found in (i) and (ii). Finally, according to the results obtained, the main advances, gaps, and future directions in the implementation of low-cost sensor technologies for use in smart mining are exposed. Digital transformation aspects for data measurement with low-cost sensors by real-time monitoring, use of wireless network systems, artificial intelligence, machine learning, digital twins, and the Internet of Things, among other technologies of the Industry 4.0 era are discussed.

A new method for estimating ore grade based on sample length weighting

Estimation of ore grade is very important for the value evaluation of ore deposits, and it directly affects the development of mineral resources. To improve the accuracy of the inverse distance weighting (IDW) method in ore grade estimation and reduce the smoothing effect of the IDW method in grade estimation, the weight calculation method involved in the IDW method was improved. The length parameter of the ore sample was used to calculate the weight of the IDW method. The length of the ore samples was used as a new factor of the weighting calculation. A new method of IDW integrated with sample length weighting (IDWW) was proposed. The grade estimation of Li, Al, and Fe in porcelain clay ore was used as a case study. A comparative protocol for grade estimation via the IDWW method was designed and implemented. The number of samples involved in the estimation, sample combination, sample grade distribution, and other factors affecting the grade estimation were considered in the experimental scheme. The grade estimation results of the IDWW and the IDW methods were used for comparative analysis of grades of the original and combined samples. The estimated results of the IDWW method were also compared with those of the IDW method. The deviation analysis of the estimated grade mainly included the minimum, maximum, mean, and coefficient of variation of the ore grade. The estimation effect of IDWW method was verified. The minimum deviations of the estimated grade of Li, Al, and Fe were between 9.129% and 59.554%. The maximum deviations were between 4.210 and 22.375%. The mean deviations were between - 1.068 and 7.187%. The deviations in the coefficient of variation were between 3.076 and 36.186%. The deviations in the maximum, minimum, mean, and coefficients of variation of the IDWW were consistent with those of the IDW, demonstrating the accuracy and stability of the IDWW method. The more the samples involved in the estimation, the greater the estimation deviations of IDW and IDWW methods. The estimated deviations of Li, Al, and Fe were affected by the shape of the grade distribution, when the same estimation parameters were used. The grade distribution pattern of the samples significantly influenced the grade estimation results. The IDWW method offers significant theoretical advantages and addresses the adverse effects of uneven sample lengths on the estimates. The IDWW method can effectively reduce the smoothing effect and improves the utilization efficiency of the original samples.

3D Global Localization in the Underground Mine Environment Using Mobile LiDAR Mapping and Point Cloud Registration

This study proposes a 3D global localization method that implements mobile LiDAR mapping and point cloud registration to recognize the locations of objects in an underground mine. An initial global point cloud map was built for an entire underground mine area using mobile LiDAR; a local LiDAR scan (local point cloud) was generated at the point where underground positioning was required. We calculated fast point feature histogram (FPFH) descriptors for the global and local point clouds to extract point features. The match areas between the global and the local point clouds were searched and aligned using random sample consensus (RANSAC) and iterative closest point (ICP) registration. The object’s location on the global coordinate system was measured using the LiDAR sensor trajectory. Field experiments were performed at the Gwan-in underground mine using three mobile LiDAR systems. The local point cloud dataset formed for the six areas of the underground mine precisely matched the global point cloud, with a low average error of approximately 0.13 m, regardless of the type of mobile LiDAR system used. In addition, the LiDAR senor trajectory was aligned on the global coordinate system to confirm the change in the dynamic object’s position over time.