Dr.-Adrian-Boeing- Control-and-Automa6on-Division .... Remotely... ·...
Transcript of Dr.-Adrian-Boeing- Control-and-Automa6on-Division .... Remotely... ·...
www.transmin.com.au-
Efficient,-Reliable-&-Innova6ve-Solu6ons-for-Global-Mining-Since-1987
Engineered(Products(&(Systems
Outline-
• Mining--– Automa6on-&-On-Earth-(au)-– OffQEarth-
• Rockbreaker-Automa6on-• Transmin-Rocklogic-
– System-Architecture-– System-in-Opera6on-
• Conclusions-
Challenges-for-the-Mining-industry-
• Increased-demand-for-product-• Reduced-ore-grade-&-accessibility-• Hazardous-environment-• Increasingly-complex-sites-and-opera6ons-
• High-opera6onal-cost--• Availability-of-skilled-employees--• Societal-cost-of-FIFO-
Technology-Spectrum-Mechanised- Equipped-
with-machines- Au
toma6
c- Well-defined-rules-–-does-not-make-decisions- Au
toma6
on-
Replacing-workers-with-machines-
Automated
-System-
Requires-human-supervision-to-handle-ac6ons-not-defined-in-design-
Autono
mou
s- Independent-of-human-supervision-
We-are-here-1960- 1980- 2000-
Notable-Australian-Projects-
• Drill-&-Blast-– ACFR,-Rio-Tinto-– Atlas-Copco-
• Load-Haul-&-Dump-– CSIRO,-RCT-– Komatsu,-Sandvik-
• Transport-&-LoadQout-– MRX,-Ansaldo-STS--
Rio Tinto’s Mine of the Future TM
Remote-Opera6ons-
• Rio-Tinto-–-ROC1-– Opera6onal-– Very-large-data-stream-
• BHP-–-IROC2-
• Roy-Hill3,-FMG4-
1.http://www.riotinto.com/documents/ReportsPublications/corpPub_TechnologyInnovation.pdf 2.http://www.bhpbilliton.com/home/investors/reports/Documents/2011/110927%20Western%20Australia%20Iron%20Ore%20site%20tour%20presentation%20combined.pdf 3.http://www.itnews.com.au/News/293373,roy-hill-advances-design-of-automated-mine.aspx 4 http://www.itnews.com.au/News/294346,fortescue-deploys-container-data-centres-to-mines.aspx
BHP-Technology-and-Innova6on-
http://www.bhpbilliton.com/home/investors/reports/Documents/2011/110927%20Western%20Australia%20Iron%20Ore%20site%20tour%20presentation%20combined.pdf
• Challenges:-– Business-Model-– Loca6on-(Luna,-Asteroids)-– Scale-– Mining-process-– Similar-challenges:-
• Ore-accessibility-• Hazardous-environment-• Complex-opera6ons-• Very-high-opera6onal-cost-• Availability-of-labour-
OffQEarth-Mining-
Bloomberg, Wired
OffQEarth-Mining-System-• Con6nuous-miners-
– OnQEarth:-Coal-mining-– Requires-gravity,-high-power-demands,-untargeted,-so#$rock$only$
• FluidQbreaking-– OnQEarth:-Coal-mining-(historically)-– Requires-fluid,-vacuum,-soh-rock-only-
• Tunnel-Boring-Machines-(TBM)-– OnQEarth:-Tunnels-– High-cost,-high-mass,-large-size,-straightQlineQonly-
Satish, et.al. A Review Of Mining Technologies For Space
OffQEarth-Mining-System-
• Novel-methods-(Microwave,-Laser,-Nuclear)-– OnQEarth:-None!-– New/Conceptual-technology,-power-intensive,-expensive,-lack-of-scalability-
• Hydraulic-Rock-Breaking-– OnQEarth:-Secondary/primary-breaking-in-mining-– OnQEarth:-Construc6on-✓ Simple,-versa6le,-no-gravity,-powerQefficient,-scalable-
✓ Produc6onQquality-automa6on-Satish, et.al. A Review Of Mining Technologies For Space
Rockbreaker-
• Versa6le-– Break-or-manipulate-rocks-– Chisel-or-blunt-(or-Grab)-(quickQhitch-akachment,-exchange-tool)-
– Mobile-or-sta6onary-
• HeavyQduty,-Scalable,-Reliable-– Primary-or-secondary-breaking-
• Transmin-creates-custom-designs-to-suit-client-requirements:-Fit-for-purpose-
• Transmin-focuses-on-simplifying-manufacturing:--Possibility-of-offQearth-construc6on-
Rockbreaker-Automa6on:--A-brief-history-
• Early-work-by-CISRO-(Peter-Corke-et.-al.)-in-1998--
• Hydraulic-test-rig-–-lab-environment-
Corke, et.al. Robotics for the mining industry
Rockbreaker-Automa6on:--A-brief-history-
• Stereo-vision-–-lab-trial-• Laser-scanner-–-field-trial-
Corke, et.al. Robotics for the mining industry
Rockbreaker-Automa6on:--A-brief-history-
• Corke,-et-al.-found:-• Challenging-control-task-due-to-compliant-mechanics,-high-payload-to-mass-ra6os,-hydraulic-control-
• Lack-of-commercially-appropriate-components,-sensors-&-computa6on-
• No-appropriate-vision/model-algorithms-• Concluded:-“many-decades-from-reality”-
Rockbreaker-Automa6on:--A-brief-history-
• Revisited-in-2009,-as-joint-research-by-Rio-Tinto,-Transmin,-and-CSIRO-to-inves6gate-remote-opera6on-
• Developed-a-prototype-rockbreaker-control-system--
• Tes6ng-at-Transmin’s--facili6es-and-at--Rio’s-West-Angelas-site-
Duff, et.al. The development of a telerobotic rock breaker
Rockbreaker-Automa6on:--A-brief-history-
• Duff-et.-al:-– TeleQopera6on-over-1000km-&-Closed-loop-control-– MixedQreality-interface-&-3D-sensing-– Iden6fied-need-for-collision-avoidance-– Hardware-reliability-
Duff, et.al. The development of a telerobotic rock breaker
• Hardware-design-concerns:-– Mining-environment-(temperature,-vibra6on)-
– Maintenance-requirements-
– Retrofit-– Support-different-site-layouts-(underground-&-open-pit-mines,--industrial)--
Rocklogic-Hardware-
Radio
Network
MilSpec PC
Safety Controller
I/O Controller
Media Converter
Relays
I/O Blocks
Rocklogic-Sohware-
Filters-Drive- Radio-
Config-Hydraulic--Control-
CAN-I/O-
CAN--
Filters-Dynamics-Filters- Kinema6cs-
Controller-Drive-by-Wire-
Path-Planner-Collision-Avoidance-
Config-Collision-Detec6on- Telemetry-
Plant-
I/O-Network-
Rocklogic-Sohware-
Filters-Drive- Radio-
Config-Hydraulic--Control-
CAN-I/O-
CAN--
Filters-Dynamics-Filters- Kinema6cs-
Controller-Drive-by-Wire-
Path-Planner-Collision-Avoidance-
Config-Collision-Detec6on- Telemetry-
Plant-
I/O-Network-
Rocklogic-Sohware-
Filters-Drive- Radio-
Config-Hydraulic--Control-
CAN-I/O-
CAN--
Filters-Dynamics-Filters- Kinema6cs-
Controller-Drive-by-Wire-
Path-Planner-Collision-Avoidance-
Config-Collision-Detec6on- Telemetry-
Plant-
I/O-Network-
Rocklogic-Sohware-
Filters-Drive- Radio-
Config-Hydraulic--Control-
CAN-I/O-
CAN--
Filters-Dynamics-Filters- Kinema6cs-
Controller-Drive-by-Wire-
Path-Planner-Collision-Avoidance-
Config-Collision-Detec6on- Telemetry-
Plant-
I/O-Network-
Rocklogic-Sohware-
Filters-Drive- Radio-
Config-Hydraulic--Control-
CAN-I/O-
CAN--
Filters-Dynamics-Filters- Kinema6cs-
Controller-Drive-by-Wire-
Path-Planner-Collision-Avoidance-
Config-Collision-Detec6on- Telemetry-
Plant-
I/O-Network-
Rocklogic-Sohware-
Filters-Drive- Radio-
Config-Hydraulic--Control-
CAN-I/O-
CAN--
Filters-Dynamics-Filters- Kinema6cs-
Controller-Drive-by-Wire-
Path-Planner-Collision-Avoidance-
Config-Collision-Detec6on- Telemetry-
Plant-
I/O-Network-
Rocklogic-Sohware-
Filters-Drive- Radio-
Config-Hydraulic--Control-
CAN-I/O-
CAN--
Filters-Dynamics-Filters- Kinema6cs-
Controller-Drive-by-Wire-
Path-Planner-Collision-Avoidance-
Config-Collision-Detec6on- Telemetry-
Plant-
I/O-Network-
Rocklogic-Sohware-
Filters-Drive- Radio-
Config-Hydraulic--Control-
CAN-I/O-
CAN--
Filters-Dynamics-Filters- Kinema6cs-
Controller-Drive-by-Wire-
Path-Planner-Collision-Avoidance-
Config-Collision-Detec6on- Telemetry-
Plant-
I/O-Network-
Case-Study-
Newcrest-Ridgeway-Deeps-Mine-Site-
Near-Orange,-NSW,-Australia-
Underground-Block-Cave-Mine-
Gold/Copper-mine-
-
--
New South Wales
Cadia Valley
DISCLAIMER: Any views or opinions presented in this presentation are solely those of the author and do not represent those of Newcrest Mining Limited.
Rockbreaking-Concerns-
Q -Underground-Hazards-
Q-Poor-Visibility-
Q -Confined-Area-
Q -Travel-Time-
Q -Vehicle-Interac6ons-
Rockbreaking-Summary-
• OnQearth-mining-applicable-to-offQearth-mining-(asteroids-/-luna)-! Simple,-versa6le,-proven-technology,-scalable-
• Automa6on-! Reliability-! Remote-opera6on,-Collision-Avoidance,-Path-planning,-Systems-Integra6on,-Rock-sensing-
! Autonomous-progressing-(1998-Q>-2013)-
Engine
ered
-Produ
cts-&
-Systems
Increase-Efficiency-&-Improve-Safety-
Intelligent-Rockbreaker-
Control-