Toward an infrastructureless guidance system — A proposed guidance system for autonomous underground vehicles

"This paper describes a guidance system for autonomous underground mining vehicles, which does not require any infrastructure or inertial positioning systems to aid the guidance process.BackgroundINCO Limited mines approximately ten million tons per annum through 12 operating mines in the Sudbury, Ontario, area (Fig. 1). With challenges from operating in a cyclical marketplace as well as new technologies making alternative nickel ores more competitive to refine, the Mines Research department embarked on a strategy that pointed toward automation as a tool to help the company become even more economical in mining.The mining industry has been looking for ways and means to mine orebodies more and more inexpensively. Automation and the lessons learned from manufacturing had a great influence in the direction of research at INCO Limited over the past ten years. Guidance systems have evolved over the years but the majority of commercially available systems rely on some form of infrastructure. This, in part, has caused some resistance from operators to install and maintain automated or semi-automated systems for guidance of underground machinery.Internal industrial studies cited travel time to and from the workplace as one of the major time sinks in the shift of underground miners. Depending on the mine, it may be as much as two hours moving in and out of an area. Some work areas have accommodated this by having “hot changes” at the work place. However, at some point in time, there are two people tasked with the same job and on site at the same time to make this overlap occur.Tele-operation of underground hard rock equipment eliminated this overlap and also provided a comfortable environment in which to work. By taking advantage of the communications network installed, the miners proved that they could operate three machines with relative ease. This was accomplished by a vision-based, “painted line,” autonomous guidance system termed the light rope system.With a few years’ experience with the system, some issues have arisen, including the cost of the rope itself (Fig. 2).The vehicle’s route is limited to the paths defined by the light rope, and a system of switching power to the light rope to select different routes is required. The rope itself is subject to damage from nearby blasts. Also, the system offers no obstacle detection; the vehicle may be switched off as a means of shutting the machine down thus protecting personnel in the area."