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INTRODUCTION Automatic controls are devices that assist operators by performing routine tasks faster and better than they could alone. Great strides have keen taken in the development of new processes and bigger machines to improve productivity, but these developments created the need for increased protection of machinery and labor. The new production-line techniques, or continuous processes developed, resulted in routine and, frequently, demoralizing jobs. The human race is not constituted mentally to perform routine operations. Devices were needed also to gather information automatically and perform routine functions. High-capacity plants incorporating large equipment

Jan 1, 1985

By F. E. du Plessis, P. De Waal

Through the development of innovative in-line mineral quantification sensors, the possibility has arisen to apply modern control theory to implement automatic process control for electrostatic high tension (“HT”) roll separators. A pilot-scale set-up was constructed to enable continuous tests to be carried out. A typical dry mill feed was continuously pre-heated and separated with a modern lab scale HT roll machine. The mineralogy as well as mass-flow of the non-conductor stream was quantified in-line, and the combined streams were re-circulated in an endless loop by a combination of vibration feeders and a bucket elevator. A fractional factorial experiment was executed to determine the most significant control parameters of the HT roll separator. Then a multi-input, multi-output dynamic model of the HT electrostatic separator was extracted by the application of standard system identification techniques for automatic control. The most important control variable to ensure a stable product grade could be identified. This allowed a robust single-input, single-output controller to be implemented. The process variable and set-point was mineral grade and the control variable was electrode voltage. Roll speed was manually adjusted while the mineral grade was kept on set-point by the control system. The roll speed, where maximum mass flow and therefore maximum yield was produced on-grade, could therefore be rapidly determined. Atmosphere humidity and ore temperature served as disturbances. Some other adjustable parameters were kept constant during the experiments, namely feed mineralogy, splitter settings and feed rate. Delivery of maximum yield, with a controlled grade, can improve production while reducing the burden of complex manual tuning. Manual tuning previously involved coping with multiple parameters with uncertain cross coupling influences on the end result. Even the end result was typically only known after completion of mineral assays. Automatic grade stabilisation and yield optimisation for a HT roll separator bank requires in-line measurement of mineralogy and mass flow, as well as the implementation of a robust process control system.

Jan 1, 2005

By Leonid Pevzner, Valerie Dmitriev, Yuri Babitchev

Performance of belt conveyors, service life of belts and mechanical elements can be radically improved if the automatic adjustment of the belt speed movement is made in such a way, that the unit load over the conveyor length be constant and close to the rated one under random input freight traffic. Such an adjustment is possible when the system of a controllable thyristor electric drive on the basis of induction squirrel cage motor is used. Computer-aided adjustment of the belt conveyor movement is effected via bicontour digital control of the main drive in order to redistribute loads when the loading of conveyor and contour of the control of tension drive are changed. The system envisages control and condition monitoring of the conveyor electromechanical system, as well as metering of electrical power and the amount of conveyor freight. The results of the simulation of speed control of the conveyor belt are given in the report. Mathematical model of the conveyor electromechanical system describes the movement of the belt with cargo and the tension drive. The input cargo traffic is assumed as stationary ergidic random process with the assigned characteristics. The solution of the problem of the synthesis of a closed-loop control system, the structure and parameters of adjustment, the conditions of asymptotic stability of the control back-up system and the condition of minimization of mean square error of shadowing are also given in the report. Microprocessor controller is used to realize the function of the adjustment unit. Under this control system standard mode of conveyor operation, different modes of start-up, operating mode with decreased speed when transporting people, service and emergency braking of a conveyor and some other modes are realized. The digital model of a conveyor as an instrument for decision making in case of emergency is used in those modes. MASTER TEXT Long-standing practice of belt conveyor operation in mines of Russia has proved their inefficient use with 40-70% capacity and 20-25% availability factor. It is associated with unreasonable power intensity and reduction of service life of mechanical components, and as a result, with the growth of total transportation costs. Low efficiency of conveyor application can be explained by the extremely irregular distribution of conveyor freight traffic. Usually, the width of a conveyor belt is identified in accordance with the possible maximum traffic value, engine power capacity for long-term operation under rated loads. However, actually a conveyor often runs without any load and its average load in most cases is lower than the rated one. The problem can be eliminated by way of the adjustment of the operational mode of a conveyor according to an actual input freight traffic via belt speed control providing for the conveyor regular linear load which is nearly equivalent to the rated one. Experimental research into freight traffic under working conditions of the operating underground and open-cast mines proves the fact that the actual freight traffic can be adequately presented through the model of stationary random function of time, for ex- ample, as a J (t) continuous random Gaussian process that is modulated with a G(t) elementary pulse flow:

Jan 1, 1996

By Chen Bing Ching

Hsikwangshan mine is located at Lengshuijiang city of Hunan Province. It is a stibnite deposit. The orebody is gently inclined; its ore run is about 3 km in length and extends about 1.2 km along the direction of dip. The thickness of the ore body is non-uniform and varies from 1.5 to 20 m. The orebody is mined by room and pillar and cementation filling. The nine levels at the ore top have been mined out. At present, the mining operations are at the eleventh level. The mine ventilation system consist of three main fans which are installed in different shafts and are ventilated in parallel. The main fans can be connected to each other through comprehensive return air drifts. Two of the fans are located underground and the other on the surface. The general configuration of the ventilation system is shown in Figure 1. Because the operating areas are scattered and vary frequently as well, it is difficult to bring about air flow control. If the air flow cannot be varied with the variation of production in time, the air quantities are not sufficient in some areas and are excessive in others. However, it is also a problem to coordinate the three main fans with one another to obtain the optimum economic cost of operation. In order to make the air delivery fit the variation of production continuously to satisfy the ventilation requirement of the working faces and to reduce power consumption, we have made a great effort over five years to install an automatic control system for mine ventilation at the Hsikawangshan mine. The key part of this system is a microcomputer. The whole system consists of a console, which is located at the surface; the circuit network that is provided for signal transmission; air doors and ventilators at the working face; the scale air doors which are installed at the main branch airways; main fans and their speed regulating devices, as well as the sensors used for observing pressure, air quantities, temperature and the concentration of carbon monoxide, etc. This system can continuously telemeter the air quantities and carbon monoxide concentration in the main branch airways, air pressure, air quantities, electric current, the temperature of the bearings of the main fans, etc. According to the production air requirements, the system controls the ventilators or air doors which are located at the working faces and regulates the air quantity in the main branch airways. It can also choose the optimum mode of operation automatically, and regulate the rotating speed of the main fans to guarantee the least total power consumption while satisfying the total air quantity requirements. If abnormality of the observed results is discovered, the audible and flashing light alarm signal starts up automatically. The operating mode of ventilation equipment also feeds back to the control room and displays on the console. The configuration of control the system is shown in Figure 2.

Jan 1, 1987

There are multiple stages in a mining operation that a mining engineer has to draw polygons to be used as operation guidelines. These polygons are drawn by hand and based on engineer?s experience. However, having automatic procedures for forming the shapes can increase the quality and decrease the efforts required. These shapes need to be homogenous in grades and rock types so that the quality and dilution of material sent to the plant can be estimated with the good approximation. In this paper, a clustering algorithm with shape control is introduced which can provide reasonable guidelines for all the aforementioned shapes by manipulating its parameters. At the end, implementations of the algorithm on a small part of a gold deposit with different mining strategies is presented and evaluated based on homogeneity of grade, rock types and determined destinations as well as the shape.

Feb 27, 2013

By K. Norrena

Grade control in open pit mining requires the specification of dig limits that account for mineral grades, economic costs, and selectivity of mining equipment. Visual identification of ore rock types is ideal, but this is not always possible in lower grade disseminated deposits where ore/waste contacts are not visually discernible. In this case, conventional grade control practice consists of a two-step procedure (1) create a map of mineral grades at some selective mining unit scale, and (2) determine practical ore-waste boundaries or dig limits on the basis of the gridded block grades or assay information. This procedure is laborious, depends on a subjective assessment of where the boundary should be, and may be economically sub-optimal. We pose the determination of dig limits as an optimization problem and solve that problem with the technique of simulated annealing. Simulated annealing has the unique advantage of being able to combine multiple non-linear constraints into a single objective function. We use maximum profitability and the ability of the equipment to mine the proposed dig limits as constraints in the determination of optimal dig limits. We require a map of expected profit for eah block. Geostatistical techniques are recommended, for mapping expected profit but not necessary. Geostatistics will provide a quantification of the uncertainty in the grades within rock types using all available blasthole samples and exploration drilling. Some variant of L-optimal estimation or kriging can be used to determine the block-by-block classification that is economically optimum. We also need the expected profit for each block. It is unrealistic to assume free selection, that is, each block cannot be extracted independently of its neighbors. The optimal balance of ''accepting dilution'' and ''wasting ore'' is achieved to maximize profit subject to equipment constraints.

Jan 1, 2001

MULSIM/NL and La Model are displacement-discontinuity programs which have been used quite successfully in the past to provide detailed structural models of various single and multiple-seam mining situations. However, both of these programs required fairly complex details of the mine plan and topography to be manually input into the program, often taking several days of work. Recently, automatic mine and topographic grid generation capabilities have been added to the MULSIM/NL and La Model programs, reducing the input time requirements from days to hours. This paper discusses the algorithms used for the automatic grid generation and demonstrates the utility of the new capabilities with a case study.

Jan 1, 2003

There are presently in use many grinding mill control schemes and concepts. This paper presents one operating method of controlling the particle size of the cyclone overflows for proper metallurgical results and controlling the level of the cyclone feed sump and new feed rate to obtain lowest unit cost of finished (ground) material which is usually at the maximum grinding mill throughput. This system stresses simplicity of field instrumentation and control strategy. Both of these factors lead to better operator understanding and acceptance. The low capital investment of this system also makes it more attractive at the Buick Concentrator when compared to other more complicated systems utilizing mass flow measurement and a computer to calculate circulating load and infer particle size. Furthermore, it has the advantage of utilizing an actual measurement for control, rather than a difficult-to-maintain inferred value. There are several reasons for maximizing mill throughput at Buick. The milling rate before automatic control was too low when compared to mill throughput increases planned for the future. Through this new operating system, it appears Buick will not have to make major changes of mill motors and speeds to meet the increased? production rate. Also, since power costs continue to escalate, it is desirable to maximize the throughput to the grinding circuit and reduce overgrinding to achieve a reduction in power cost per ton of ore milled. Presently, 45% of the concentrators' total power is consumed in this grinding circuit.

Jan 1, 1977

By Donald D. Murphy

My first contact with underground, bolt conveyors came when I was hired as a draftsman by the La-Del Conveyor & Manufacturing Company in 1935. At that tine relatively few nines were using haulage belt conveyors. Wore they were in use, they were usually loaded by chain or shaker type room conveyors which in turn were hand loaded at the working face. Duo to the low room tonnage, a gathering belt might receive who output of from six to eight rooms. For several years belts 26 and 30" in width were the favorites for coal mine use. Belt speeds very seldom exceeded 200 ft. per mm. at that time. Conveyor lengths for the majority of units lay between 1.000 and 2000 ft. For a number of years 25 H.P. drives were adequate for those conveyors. From 1940 until about 1950 loads and speeds went up slightly and 40 H.P. drives became the standard. Since the majority of mines were then using direct current power systems, we were able to use controllers with 3 or more steps of starting resistance. The slow belt speeds coupled with relatively long starting cycles kept the rate of acceleration low and gave us smooth, easy starts.

Jan 1, 1963

By C. Patrick, D. Puckett

The feasibility of monitoring the locations and vital statistics of equipment and personnel in surface and underground mining operations has increased with advancements in radio frequency identification (RFID) technology. This paper addresses the use of RFID technology, which is relatively new to the mining industry, to track surface equipment in mine pits, loading points and processing facilities. Specific applications are discussed, including both simplified and complex truck tracking systems and an automatic pit ticket system. This paper concludes with a discussion of the future possibilities of using RFID technology in mining, including monitoring heart and respiration rates, body temperatures and exertion levels; monitoring repetitious movements for the study of work habits; and logging air quality via personnel sensors.

Jan 1, 1999

By M. Leslar

Slope monitoring has been an important issue in static terrestrial lidar for some time. Several solutions for monitoring the progress of a slide have been devised over the years. All of these solutions have required users to be in the field operating the lidar equipment. This paper presents a new system developed using the Optech ILRIS-HD or ILRIS-LR lidar and the scripting language of PolyWorks to produce an autonomous slope monitoring system. This system has proven invaluable in detecting and alerting mine workers to potential danger within their mine sites. It has already been deployed in two mine sites and is scheduled to be installed at a third.

Feb 27, 2013

By K. Bommer

"In today’s fast paced, globally competitive world, reliability and machine uptime are of the utmost importance to a successful operation. Along with these targets more emphasis is being put on cost reduction and decreasing the environmental impact of the overall system. To achieve these goals, automatic lubricators and lubrication systems have been used in many industries for years and are now becoming a common tool in the mining industry as well. These systems are able to provide proper lubrication amounts at the proper times autonomously, helping to keep the machines running smoothly while minimizing the physical support required. Copper mines in the southwest have begun utilizing auto lubrication to avoid mistakes and unplanned shut downs on critical equipment. This paper will describe the engineering behind these products and review case histories where these tools have been successfully utilized in the mining industry. INTRODUCTION In a dirty, dusty, wet environment, where machine uptime is imperative, proper lubrication of bearings is the only way to survive. With the push for cost reduction and mines striving to lower their environmental impact and increase worker safety according to MSHA guidelines, the old lubrication practices have come under scrutiny. It is no longer encouraged or cost effective to have maintenance personal walk from point to point throughout the entire mine pumping a shot of grease into each bearing once per shift. Automatic lubricators and lubrication systems have been on the market for years but recently, as the market focus has changed and technology has developed, the use of these systems has begun to rise in the mining industry. Automatic lubrication systems can be as simple as a single point lubricator lubricating one (1) bearing or a more complex system lubricating numerous bearings. With system design, the automatic lubricator provides a preset amount of grease to a bearing at regular, predetermined intervals. The systems designed to lubricate more than one bearing contain grease pumps of some design and possibly PLC controllers which can be used to remotely adjust and monitor the system. As can be seen in Figure 1, the right amount of lubrication can be achieved much more reliably with automatic lubricators. Depending on application needs, the market now has products to fit almost every wish list. This paper is going to focus on the single point systems that are lower in cost but are still being effective."

Jan 1, 2015

By L. A. Puchkov

The creation of automatic methane concentration control systems presupposes the use, as a control factor, of the air rates in workings and in mine as a whole. These systems present a complicated set of computers and software, including as major components the following - systems for detecting methane concentration and air rate; - telemechanics systems; - programs and means of data processing; - programs and means of air rate control in workings and main fan capacity control. The paper analyses the experience of development and exploitation of automatic methane control system in gassy mines of the USSR Donetz coal basin. Much attention is given to the study of technological factors influence upon aerogasdynamic process using automatic methane control system.

Jan 1, 1989

By Kazmierczak J. B., Klein E., Kinscher J., Lizeur A., De Santis F.

In this work, we propose to implement machine learning methods for the automatic classification of mining-related seismic data. The approach retained for the classification is based on a Convolutional Neural Network (CNN) which has been tested and applied to two different mining datasets: the active ore mine of Garpenberg (Sweden), currently under exploitation, and the abandoned coal mine of Gardanne (France), where mining stopped in 2003. The first step of the approach consists in creating a well classified (manually) database of seismic signals separated in different classes as a function of the seismic sources. The selected database is then divided into two groups: train, containing the 70% of the signals, and test, which contains the remaining 30% of the signals within the selected database. The learning phase of the algorithm consists in creating a classification model based on the train group, which is further validated on the test group. The application of CNN for the automatic classification of Garpenberg and Gardanne seismic data shows, respectively, that about 88% and 98% of the seismic events of the two sites can be properly classified. These results demonstrate that machine learning could be a powerful tool for microseismic monitoring in mining and post-mining environments, which could be further extended to the whole automatic processing of seismic data, including signal’s classification as well as microseismic event’s localization.

Apr 26, 2022

By David W. Houston

The increasing energy crisis, coupled with stringent environ- mental regulations, has created new demands for high capacity materials handling systems with unit train transporting and continuing surveillance of quality control. Effective and efficient methods of material conveyance are through high speed, high volume conveyor belts with the monitoring of quality through the utilization of automatic sampling. When we speak of high speed, high volume belt discharges we are referring to speed ranges from 600 to 750 FPM and volumes as high as 5500 TPH. To achieve the optimum operating sampling system for high capacity belt discharges, it is imperative that two major design characteristics be investigated and evaluated; namely technical analysis of operating conditions through application of ASTM design criteria and practical experience in the selection of equipment and the design of related components. The task of obtaining a sample of reasonable weight to represent an entire lot presents a number of problems and emphasizes the necessity for using standard sampling procedures.

Jan 1, 1973

By Melvin W. Dadd

[One of the major problems in the purchase and sale of coal shipped in lake or ocean going vessels has always been the difficulty in obtaining a true analysis of the shipped coal?s quality because of faulty sampling by manual methods. As long as coal was sampled according to standards set up by ASTM methods designated D 492-48 there generally were no quarrels with the results obtained. However, due to varied weather conditions and because of the large number of cars sampled, there is no assurance that prescribed manual methods of sampling will always be followed. Because of this problem, the organization previously called American Coal Sales Association, now part of the National Coal Association, set up a committee compose of representatives from coal producers, coal shippers and coal consumers to study this sampling problem and to devise, if possible, a means of sampling on the high lift dumpers which could be automated so that a; true sample of the coal as loaded in the railroad car could be obtained.]

Jan 1, 1962

By W. X. Wang

In the mining and quarry industries, rock fragments are often transported by conveyor belt. To estimate the qualities of the rock fragments (i.e., size distribution and shape), an operator must take samples from the conveyor and manually perform a sieve analysis, which is time-consuming and tedious. Alternatively, an image-analysis system can be used to monitor the fragment quality on a fast moving conveyor belt. However, images of fragments on a fast moving belt vary to such a degree that the quality of any two successive images are not the same, and some of the images are of such poor quality that they are unrecognizable by human eyes. If poor-quality images are directly analyzed by a segmentation algorithm, the analysis will not be satisfactory. To resolve this problem, it is necessary to use an image-classification pro-gram for the automatic selection of fragment images with good quality. Because of this need, an image-classification program was developed and tested both in the laboratory and in the field. Testing of the system on different types of fragments showed that the system works reasonably well.

Jan 1, 1996

By Young C. Kim

Because of the tremendous technological advances achieved in recent years in microcomputers, it is not only technically feasible but also economically viable to develop an automatic truck dispatching system using a microcomputer. Such an effort was initiated by the Department of mining and Geological Engineering, University of Arizona in the summer of 1983. Up to date results and experiences prove that today's microcomputers can be economically employed for such a system to be used at small to medium scale open-pit mines. An IBM/XT microcomputer with 10 MB harddisk storage, together with automatic sensing capability of truck movements at several key locations in the pit, formed the core of this system. System software is written primarily in MICROSOFT FORTRAN with supporting subroutines in MACRO assembly language. The software is designed to automatically monitor truck movement throughout the pit, to make heuristic assignments based on expected shovel availability and truck travel times, and to record production statistics. It is currently dimensioned to handle 50 trucks, 10 shovels, 10 dump sites and 3 material types. Due to the lack of funds to purchase the necessary communications hardware, the work related to the automatic sensing of truck movements has not been performed to date. Otherwise, the automatic truck dispatching-system is fully operational on a realtime mode.

Jan 1, 1984

By Thomas L. Mell

Continuous processing plants handling liquids have achieved a high degree of centralized automatic control. Many chemical plants are operated from one room, with automatic control of the various process flow rates. These plants know from experience that automatic control can produce higher through-put, better uniformity of product, decreased operating costs and reduction of storage capacity, Plants which process materials in the form of bulk solids have not been able to use control to as great an extent, primarily due to the lack of measuring equipment capable of providing the same types of continuous automatic control available with liquid flow meters. This paper will describe a scale for measuring flows of bulk materials on conveyor belts which is particularly adaptable to remote centralized instrumentation and automatic control, and will also describe some typical control applications. Fig. 1 illustrates the basic method of measurement of this scale. A conveyor belt idler is supported on a rigid carriage which in turn is mounted in two anti- friction bearings on the conveyor stringers. The pivoted carriage is prevented from rotating about the pivot shaft by an electric strain gauge load cell connected between the carriage and a cross support. Increasing load on the conveyor belt increases the moment of the carriage frame about the pivot shaft, and proportionally increases the tension in the load cell. The belt speed is measured by a conventional d. c. tachometer generator driven from a pulley, usually on the return belt. The speed signal from the tachometer generator and the load signal from the load cell are combined to produce a signal proportional to the flow rate of material in tons per hour, or lbs. per foot, or equivalent units, It will be important to remember, in considering various control applications, that the flow rate of material on the belt is composed of these two component signals, namely the weight of material and the speed at which it is moving. The feed rate is then indicated and recorded by a self-balancing potentiometer of the type used for measuring temperature by means of thermocouples. These instruments may also be equipped with integrating mechanisms reading the totalized tonnage over a period of time.

Jan 1, 1958

By Agne Rustan

INTRODUCTION This work is a continuation of the preparatory study by Rustan and Stöckel 1979 (3) and (4) of the possibilities to introduce automatic mine ventilation in Swedish mines and construction works. The preparatory study has been financed by the Swedish Board of Technical Development. In the study it was recommended that an automatic step by step control of the fans near the working place due to diesel exhaust emission would be the best solution. A more advanced alternative would be to regulate the fresh air continuously in proportion to the contamination. The latter alternative has been studied by Boliden Mineral Co in the Udden mine. In this study it was found that the air supply could be regulated continuously but it was very important where the sensors feeling the contamination were placed. An intense study of the environment underground is now being planned by our division together with specialists from the National Board of Health and Safety, The Swedish Work Environment Fund, LKAB and the local Governmental Inspection of the Workers Safety. Different gases, radon, dust, airspeed, moisture temperature and pressure is planned to be measured continuously and correlation between the parameters is going to be established to decide the best measurement parameters for regulating the system. The best situation of sensors is also going to be studied. Despite this work hasn't been done yet this paper covers some of the problems which could be encounted with continuous regulation. In this report the environment has been studied during the test with step by step regulation of fans by radio. Diesel vehicles are the largest polluters under ground in Swedish mines and we have therefore suggested that the large diesel vehicles should regulate the fans. The goal of this study has therefore been to find how active diesel vehicles should be able to start and stop gallery fans at both intake and return air. In this paper different methods for activating fans are discussed. Then the best methods are chosen and tested in the mine. In this study we have found that changes of temperature is a cheap and effective method to start and stop cross cut fans in sublevel caving and radio signals seem to be an attractive system for start and stop of gallery fans. This work has been done in close collaboration between LKAB in Kiruna and the University of Luleå - Division of Electronics and Division of Mining and Rock Excavation. A reference group for the project has been established with ventilation experts from the mines, representatives for the local mine worker's unions and authorities from the local Governmental Inspection of the Workers Safety. VENTILATION SYSTEM STUDIED In the project the ventilation system at LKAB in Kiruna has been studied. The mining method used is sublevel caving with 9-13 m slice height. The air is heated winter time over ground by hot water heat exchanger. The main fans are pushing air down to a main distribution level along the 4000 m long and about 100 m wide orebody. From the distribution level, air is taken through shafts down to the sublevels, where it is pushed through the levels by local gallery fans on both intake and return side, see fig 1. The air ( ~ 8 m3/s) is moving freely through the gallery head. The cross cuts are ventilated with smaller fans, diameter 500 mm, and flexible duct, see fig 2. The aim of this study has been to study how to start and stop gallery- and cross fans and examine the environment when the fans are stopped . In Sweden there are no regulations telling that a minimum of air amount must be supplied. Instead the hygienic limits must be fullfilled.

Jan 1, 1981