3D robotic imaging of coal seams using ground penetrating radar technology

摘要

Improving the safety of personnel and boosting productivity are fundamental drivers for the coal mining industry. Automated mining is seen as providing the ultimate outcome, with reliable sensing technology being a key enabler to this strategy. However present automation capability is being limited by a lack of sensing instrumentation that can reliably measure coal-strata geological structure. A related challenge is how to incorporate new sensing technology into production processes in such a way that it is both robust and efficacious. In an attempt to explore solutions to these problems, this paper describes the application of ground penetrating radar technology (GPR) at a production open cut coal mine. An integrated systems-level approach was developed as a framework to first identify the major factors that are significant in determining overall sensing performance. A series of minesite survey campaigns were then undertaken to validate performance for a range of different geological conditions. The use of a robotic platform was also explored as a means to collect survey data in a rapid and systematic manner. Outcomes from this activity are helping to advance the level of sensing technologies available to the coal mining industry towards full automation capability.