Autonomous Mobile Inspection Robots in Deep Underground Mining—The Current State of the Art and Future Perspectives

摘要

In this article, the current state of the art in the area of autonomously working and mobile robots used for inspections in deep underground mining and exploration is described, and directions for future development are highlighted. The increasing demand for CRMs (critical raw materials) and deeper excavations pose a higher risk for people and require new solutions in the maintenance and inspection of both underground machines and excavations. Mitigation of risks and a reduction in accidents (fatal, serious and light) may be achieved by the implementation of mobile or partly autonomous solutions such as drones for exploration, robots for exploration or initial excavation, etc. This study examines various types of mobile unmanned robots such as ANYmal on legs, robots on a tracked chassis, or flying drones. The main scope of this review is the evaluation of the effectiveness and technological advancement in the aspect of improving safety and efficiency in deep underground and abandoned mines. Notable possibilities are multi-sensor systems or cooperative behaviors in systems which involve many robots. This study also highlights the challenges and difficulties of working and navigating (in an environment where we cannot use GNSS or GPS systems) in deep underground mines. Mobile inspection robots have a major role in transforming underground operations; nevertheless, there are still aspects that need to be developed. Further improvement might focus on increasing autonomy, improving sensor technology, and the integration of robots with existing mining infrastructure. This might lead to safer and more efficient extraction and the SmartMine of the future.