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By J. D. T. Steyl, G. B. Grobbelaar

Two examples are presented to show how first-principles – physical-dynamic, here termed behavioural modelling, is used to build digital twins of unit processes or plant sections. A digital twin equips the metallurgist, engineer, or manager with a powerful tool to conduct model-based design, solve process problems and improve operations. It is particularly relevant in the metallurgical industry where plant behaviour is highly integrated, rates respond to particle dynamics in complicated ways and mineral flows across flowsheet boundaries are variable. The two examples used to illustrate the behavioural modelling methodology are 1) a flotation column unit block and 2) a multi-compartment pressure oxidation (POX) autoclave. It simultaneously accounts for the causality of material and heat flow, takes care of mineral particle dynamics, physical and chemical reaction rates, the plant control system behaviour and operating heuristics. The basic modelling building blocks are briefly reviewed to show how the behavioural modelling attributes constrain the mass and heat flow dynamics to physically realistic values. This is the key aspect that allows project value to be created with minimal input data. Behavioural modelling is especially valuable where the process dynamics are poorly understood or controlled, where data-driven models fail to cope with complex and highly integrated plant behaviour, where quality data is lacking or limited funds are available to generate the data required to fill all the knowledge gaps. The paper uses the flotation column example to show how behavioural modelling and simulation can be used to optimise plant performance, while the multi-compartment POX autoclave model shows how it can be used to diagnose process problems. It also provides a solid basis to add a data-driven component – in other words, it makes a strong case for a hybrid first-principle– data-driven approach to solve process problems, especially where microscopic-level understanding is poor. Keywords: Digital twin, behavioural modelling, simulation, flotation column, pressure oxidation

Jan 1, 2020

By G. Popplewel

Commencing with the Pre-Feasibility Study (PFS) conclusions, the Orapa 3 process design evolved through a phase of value-engineering studies. An overall re-evaluation of the originally proposed process design was necessary both in order to address the interim increase in target throughput from 9.8 Mtpa to 12 Mtpa as well as to increase capital efficiency. In the interests of clarity, the PFS process design for Orapa 3 has been omitted from this paper, as it is no longer relevant. Recognition is however due to those engaged in earlier phases of the Orapa 3 project with respect to fundamental mass-balancing modelling; and ore and diamond characterization, which fanned the basis for the process design that has evolved from feasibility study activities.

Jan 1, 2010

By Y. Qin, X. Fu, T. Qi, H. Tang

"The FASTMELT ® process was developed as an alternative to blast furnace ironmaking; in this process, high-quality molten iron is produced using direct reduction followed by high-temperature slag/metal separation. In this study, iron recovery and phosphorus removal from oolitic highphosphorus haematite using the FASTMELT® process was investigated. The performance of two reducing agents, coal and wood char, was compared. Direct reduction experiments indicated that with optimized reductant addition, the ore-char and ore-coal briquettes attained metallization values of 82% and 78%, respectively, and residual carbon contents of 0.24 and 2.35%, respectively. The slag/metal separation experiments revealed that molten iron containing 0.41% phosphorus and 0.021% silicon (by mass) was produced from optimally reduced ore-char briquettes, and molten iron containing 0.78% phosphorus and 0.91% silicon from optimally reduced ore–coal briquettes. The study indicates that carbonaceous materials with high CO2 reactivity are suitable for use in the FASTMELT ® process for phosphorus removal and iron recovery from oolitic high-phosphorus haematite. IntroductionIn China, the general depletion of iron-rich mineral reserves has led to many efforts to exploit low-grade and refractory ironcontaining resources for ironmaking (Liu et al., 2014). The efficient utilization of the highphosphorus oolitic haematite resources in central China has received considerable attention. The available resources of this material total approximately 3.0 billion tons. The oolitic units in the ore exhibit an onionlike structure with phosphorus-containing gangue layers of 2–10 µm thickness. The best concentrate produced from these resources contains approximately 50% iron (Fe) and 0.8–1.2% phosphorus (P) (by mass) (Ai, Yu, and Wei, 2009; Song et al., 2013; Wu, Wen, and Cen, 2011). Further removal of phosphorus from these ores using conventional beneficiation methods is not possible."

Jan 1, 2017

By J. Engelbrecht

Understanding the deportment of minerals in size fractions has already led to improvements in the flow sheets for platinum minerals beneficiation. There are, however, more potential changes in the flow sheets that may improve the recovery of platinum group metals or reduce the costs of beneficiation before refining. Based on known technology of pre-concentration, milling, gravity concentration, flotation, and magnetic separation a number of potential alterations or additions can be considered and motivated based on the mineral deportment in size fractions.

Jan 1, 2012

By S. Liaghat, J. Rosenkranz, P. Semsari Parapari, S. Chehreh Chelgani, A. Tohry

It is commonly accepted that the energy consumption for comminution within mineral processing is responsible for around 3% of the global electrical energy usage. However, it was clearly noted that inside mills, less than 1% of this energy efficiency is actually consumed for particle size reduction. Therefore, monitoring of grinding parameters and modelling of product particle size distribution (e.g. characterised by the 80% passing size P80) play an essential role in operating costs of a mineral processing plant. Several empirical models have been introduced for the prediction of the P80. Since in the industrial scale usually a few numbers of grinding variables are monitored, these models cannot identically be used in plants. In addition, these empirical models do not always indicate the magnitude of correlations between milling variables. This study proposes to introduce the Hilbert-Schmidt independence criterion (HSIC) as an intelligent model for exploring linear and nonlinear relationships between grinding variables and P80 for an industrial scale data assessment. HSIC can rank variables based on their importance and help to select the most effective one for the generation of predictive models. HSIC modelling through various monitored grinding variables (ball charge, feed input rate, F80, power draw and work index) of an industrial plant indicated that F80 as a feed property has the highest effect on P80 of the ball mill products. Modelling results highlighted that the P80 can be accurately predicted, based on effective variables by using a HSIC model. These outcomes showed that HSIC as a powerful modelling tool can assess the relationships between monitored grinding parameters, select the most effective grinding parameters and satisfactorily predict the P80. Keywords: Product particle size, variable importance measurement, Hilbert-Schmidt independence criterion, mill charge

Jan 1, 2020

By K. C. Corin, M. S. Manono

The mining and mineral concentration of Cu-Ni-PGM sulfide ores in South Africa occurs in semiarid regions. The scarcity and availability of water resources in these regions has become one of the biggest challenges facing mineral concentrators.S Owing to this challenge, concentrators have to find ways through which they can manage and control their water usage. Recycling and re-use of process water in mineral concentrators has therefore become common practice. This practice is beneficial in that it reduces reliance on municipal water, harnesses compliance to stringent environmental regulations on water usage, and it also offers a better response to the Sustainable Development Goals. This could however be somewhat concerning to the operator as recirculated water often has higher concentrations of ions compared to fresh or potable water. The unintended change in the process water quality may potentially affect critical aspects of flotation such as the stability of the froth. This has led to the need to find those process water ions that have the greatest impact on froth stability. Thus, this paper investigates the effect of various ions common in process water of a typical Cu-Ni-PGM concentrator on froth stability. Bubble size, water recoveries, foam height, and dynamic froth stability in both twophase and three-phase flotation systems are used as proxies for froth stability. Findings of this study are deemed crucial towards the development of a process water management protocol in sulfidic Cu-Ni- PGM ore concentrators. Keywords: Bubble diameter, electrolytes, flotation, froth stability, water quality

Jan 1, 2020

By I. Nolet

Matte tapping is one of the most critical operations of a matte smelter. Every smelter has developed particular matte tapping practices and tap-hole repair strategies that are often based on the experience of the smelter personnel. As a result, very little information has been published on these critical topics. This paper aims at providing the information gathered from a survey conducted in the PGM and Ni industries on matte tapping practices and tap-hole maintenance strategies for different PGM-Ni matte smelting operations.

Jan 1, 2014

By M. Mathey

The application of the Monte Carlo technique to production planning and everyday economic decisionmaking in mine production management is demonstrated. The logic is detailed using an example of underground production with continuous miners (CMs) and truck haulage. It is argued that availability of equipment and personnel are the predominant variables influencing mine output and productivity and that those availabilities may be well represented by binomial probability distributions. The probabilistic model is implemented in a standard Excel® spreadsheet with Palisade’s @Risk add-on to facilitate simulations. Starting from model calibration against data obtained from a mine’s annual reports, some general interdependencies of availability, utilization, productivity, and costs of production processes are outlined. Finally, several possible options and their consequences as regards production improvements are explored.

Dec 13, 2022

By X. Cao, R. Wang, H. Han, Y. Hu, Z. Wei, W. Sun, H. Tang, J. Wang

Flotation reagents play a vital role in mineral flotation. In the past century, most studies focused on the modification of anion or cation collectors and the synergistic effect of mixed collectors, which have contributed to research. In this study, we reviewed brand-new reagents, metal-organic/inorganic complexes, with the functional group of metal ion, which are totally different from the traditional anion or cation collector and show absolute specificity for some minerals. For example, Pb-BHA complex collector was developed to realise the atmospheric flotation of scheelite due to the absolute specificity for calcium minerals. Calcium oleate collector was found to be the effective species in the flotation of calcium minerals, and has been employed to selectively separate fluorite from calcite. Selective adsorption of Al-Na2SiO3 polymer on calcite surfaces proved the self-assembly of H2SiO3 polymer using Al3+ had stronger selectively adsorption ability than Na2SiO3. Also that Fe3+-starch complex was a better depressant for iron minerals than caustic starch and contributed to a more efficient reverse flotation. In conclusion, metal ions are good templates for molecular assembly and can be used to control the structure of metal complexes and exhibit special properties, which provide possibilities for the design of new flotation agents. Keywords: Metal-organic/inorganic; flotation; collector; depressant

Jan 1, 2020

By I. O. Ondicho, E. K. Mutinda, B. O. Alunda, E. Agyekum

Driven by the necessity to improve blast performance regarding fragment size distribution in limestone mines, this paper introduces the prediction and measurement of blast fragmentation distribution through the modified Kuz-Ram (MKR) and Kuznetsov-Cunningham-Ouchterlony (KCO) models. Precise prediction and measurement of rock fragmentation resulting from blasting play a critical role in hard rock ore extraction. This is due to the substantial influence of post-blast ore size distribution on the efficiency of all subsequent downstream rock handling and processing operations. Additionally, employing secondary breakage of boulders, when necessary, leads to an unjustified rise in production costs. In this paper, the MKR and KCO models were utilised to identify the most appropriate model for application in Bisil and Simba quarries situated in Kajiado County, Kenya. Split-Desktop was used for blast fragment measurement by processing digital images obtained after blasting and computing the fragment size distribution of the blasted rock. As per the investigation, the recorded percentages of boulders generated at the sites ranged from 7% to 12.3% for the Simba quarry and from 11.2% to 23.9% for the Bisil quarry, respectively. Regression, correlation, and root mean square error (RMSE) were employed as the primary performance indicators. The study concluded that KCO outperformed MKR in accurately predicting blast fragment sizes in the examined quarries.

Mar 5, 2025

By D. A. Hayman, N. Rambuda, N. A. Sithole, C. Hockaday, J. D. Steenkamp

"Mogale Alloys operates two alternating current (AC) submerged arc furnaces (SAFs), and two direct current (DC) open bath furnaces. These furnaces are capable of producing two products, silicomanganese (SiMn) and ferrochrome (FeCr), with a total production capacity of 110 000 t/a. This paper focuses on the silicomanganese process specific to Mogale Alloys, with a two-furnace operation facility that produces 55 000 t of SiMn per annum.IntroductionMogale Alloys is situated in Krugersdorp in the West Rand District Municipality in South Africa’s Gauteng Province. The Krugersdorp facilities were initiated by Palmiet Chrome Corporation in February 1963 to produce charge chrome (Basson, Curr, and Gericke, 2007). Mogale Alloys bought the Palmiet Chrome facilities in 2005 from Samancor Chrome. The Afarak Group currently owns 90% of Mogale Alloys.SiMn is produced in two 20 MVA submerged arc furnaces (SAFs), which were originally built for chromite processing, and ferrochromium (FeCr) in two DC open bath furnaces rated at 40 MVA and 10 MVA. When this paper was compiled, the 10 MVA furnace was not operational due to the high cost of production, and one of the 20 MVA SAFs was recently converted to produce FeCr due to market constraints. Mogale Alloys has 290 permanent employees with four contracting companies on site. The paper presented here focuses on the production of SiMn at Mogale Alloys.The high-level process flow at Mogale Alloys is summarized in Figure 1, which details the raw material input and the products produced by the two 20 MVA furnaces. SiMn is produced by carbothermic reduction of manganese-bearing raw materials from four different sources, namely Wessels, Mamatwan, and UMK ores, and BHP sinter feed. The carbon sources are bituminous coal from Forzando and Msobo, local suppliers in Mpumalanga."

Nov 1, 2018

By N. Duda, P. Śliwiński, P. Stefaniak, B. Jachnik

Ventilation and air-conditioning are some of the most energy-consuming processes in deep underground mining. Additionally, the energy consumption of these processes systematically increases along with the expansion of the mine. Therefore, proper energy efficiency assessment and consumption forecasts of these systems are particularly important in modern mines for ongoing tracking and planning of the likely costs. In the article, a short-term prediction model for surface air–conditioning stations is described. This model takes into account dependencies that were identified, based on the data from the supervisory control and data acquisition (SCADA) systems. These dependencies between the response value and the external conditions are then incorporated into the model. This way, for example, the ambient temperature or the total number of specific days of the week (with sometimes significantly lower or higher than the weekly average energy consumption levels) are included. Taking into account these dependencies, and e.g. forecasted average monthly temperatures allow us to include the seasonality of energy consumption in the presented model. In the article, a sample energy efficiency analysis of the A/C system based on an example of the KGHM Polish Copper Polkowice-Sieroszowice mine is performed. The results of the solution proposed in the article are then evaluated, and compared to the currently functioning, more basic forecasting methods. However, given the general nature of the dependencies used in the model, similar solutions could be used in other case studies.

Sep 1, 2021

By A. Singh, K. Bisaka, G. Marape, T. Mokgomola

This paper investigated the pre-concentration amenability of sovite (carbonatite) ore to enhance the grade of rare earth elements (REE) bearing minerals by rejecting calcite, and to improve total rare earth elements (TREE) recovery using gravity and magnetic separation. A high proportion of calcite affects downstream processes like leaching due to high acid consumption. Multiple flowsheets combining gravity and magnetic separation were employed to target > 60% TREEs recovery to the final concentrate and > 60% calcite rejection to the tailings. Head analysis of the feed showed the sample’s main constituents as Fe (15.61%), Ca (16.04%), SiO2 (7.13%), and lastly TREEs (1.12%). Mineralogy liberation data at 2mm top size indicated poor liberation of TREEs, with the majority of minerals displaying < 30% mass greater than 80% liberated. Grain size distribution data showed that the majority of REE minerals are fine grained and report to the < 20 μm size class. Calcite liberation mineralogy showed < 60% mass greater than 80% liberation.A combination of a single-stage shaking table with a wet high intensity magnetic separator at a magnetic intensity of 7520 G was found to be the optimum flowsheet. For a shaking table feed with P80 of 150 μm followed by tails regrind to P80 of 45 μm as feed to wet high intensity magnetic separator, the overall mass balance results showed that 60.5% TREEs are recovered to the concentrate while 63.0% calcite is rejected to the tails. However, due to the fine-grained nature of This paper investigated the pre-concentration amenability of sovite (carbonatite) ore to enhance the grade of rare earth elements (REE) bearing minerals by rejecting calcite, and to improve total rare earth elements (TREE) recovery using gravity and magnetic separation. A high proportion of calcite affects downstream processes like leaching due to high acid consumption. Multiple flowsheets combining gravity and magnetic separation were employed to target > 60% TREEs recovery to the final concentrate and > 60% calcite rejection to the tailings. Head analysis of the feed showed the sample’s main constituents as Fe (15.61%), Ca (16.04%), SiO2 (7.13%), and lastly TREEs (1.12%). Mineralogy liberation data at 2mm top size indicated poor liberation of TREEs, with the majority of minerals displaying < 30% mass greater than 80% liberated. Grain size distribution data showed that the majority of REE minerals are fine grained and report to the < 20 μm size class. Calcite liberation mineralogy showed < 60% mass greater than 80% liberation.A combination of a single-stage shaking table with a wet high intensity magnetic separator at a magnetic intensity of 7520 G was found to be the optimum flowsheet. For a shaking table feed with P80 of 150 μm followed by tails regrind to P80 of 45 μm as feed to wet high intensity magnetic separator, the overall mass balance results showed that 60.5% TREEs are recovered to the concentrate while 63.0% calcite is rejected to the tails. However, due to the fine-grained nature of TREEs, no flowsheet improved their grade.

Nov 6, 2024

By I. James, R. J. Durrheim, M. S. D. Manzi, O. Valeshin, J. Lepine, L. V. Socco, C. Colombero, A. Malehmir, M. K. Rapetsoa, M. Sihoyiya

The FUTURE project aims to enhance seismic surveying in South African mining by integrating advanced acquisition technologies. In this paper, we detail surface and underground seismic surveys at the South Deep gold mine as part of the project. Surface seismic acquisition used co-located broadband micro-electromechanical sensors, one and three component recorders connected to geophones, distributed acoustic sensing using a straight fibre optic cable, along with a 6 ton broadband seismic vibrator operating with 4–180 Hz linear sweeps. In addition, underground surveys employed a combination of straight, and helically wound fibre optic cables, cabled-based and nodal sensors, along with a 500 kg drophammer mounted on a skid steer bobcat. The surface and underground seismic arrays were time synchronised using a GPS-time transmitter to allow for accurate seismic data recording in a GPS-denied environment. Results show the efficacy of these techniques in acquiring high-resolution seismic data, revealing detailed subsurface geological structures and mineralisation down to 3500 m below ground surface. Surface data revealed clear seismic reflections corresponding to the Black Reef and Ventersdorp Contact Reef. An underground P-wave velocity model exhibits low velocity anomalies that are associated with fracturing, while a P-wave reflection stack section shows significant reflections and a degree of faulting below the tunnel floor that was not observed on the surface reflection seismic data. We highlight the potential of these technologies to enhance safety, efficiency, and sustainability in mining. This study sets a benchmark for future reflection seismic surveys, paving the way for safer, more efficient, deep mineral exploration and extraction practices.

Jan 12, 2025

By N. V. Nemchinova, A. A. Kozlov, A. V. Epiforov

The gold dissolution in sulfuric acid media during industrial oxidative leaching test of sulfide gold-copper flotation concentrates has been achieved. The reason for this was using technological water containing thiocyanates and cyanides, which can dissolve gold under these conditions. The carbon in column (CIC) process for gold recovery from these solutions was proposed. However, significant amounts of copper and iron were adsorbed onto the carbon during CIC technology industrial tests. This resulted in a decrease of the gold content in the loaded carbon up to 0.5 kg/t. Further development of the technology was conducted by optimisation of gold and impurities stripping and implementation of carbon reactivation. It was shown, that the copper extraction from the loaded carbon during cyanide treatment was about 95%. The copper content in the stripped carbon after cyanide treatment was 1.76 kg/t. The gold recovery during high-pressure elution by caustic solution was 98%. The hydrochloric acidic treatment with thermal pre-treatment (reactivation) for removing iron and calcium from gold-free carbon was proposed. In this case, the iron and calcium extractions from carbon were 40-45 and 50-55% respectively. These tests showed that for carbon recycling the sequence operations of ‘cyanide treatment, gold elution, thermal pre-treatment, hydrochloric acidic treatment’ can be used. Keywords: Thiocyanate leaching, recovery of gold, carbon adsorption, gold elution, copper stripping, thermal reactivation of carbon, activated carbon, carbon-in-column

Jan 1, 2020

By T. M. Chagwedera, A. E. Lewis, J. Chivavava

Eutectic freeze crystallisation is a novel separation technique that can be applied to treat brine solutions such as reverse osmosis retentates, which are often a mixture of different inorganic salts. The treatment of calcium sulphate-rich brine solutions through eutectic freeze crystallisation has resulted in gypsum scale formation on the walls of the crystallisers and ancillary equipment. In order to prevent gypsum scaling on equipment surfaces, it is essential to understand the mechanism of gypsum scaling on cold surfaces. This paper focused on the interaction between gypsum crystallisation in the bulk solution and scaling on the crystalliser walls in the presence of gypsum seeds. A cooled, U-shaped stainless-steel tube suspended in the saturated solution was employed as the scaling surface. Preliminary results showed that the scale layer was predominantly composed of needle-type and hexagonal prismatic crystals. The rate of scale deposition was highest during the first 24 hours, thereafter it decreased. A thin scale layer was observed to have coated the tube within the first hour of the experiment. Seeding, using reagent grade gypsum crystals, was effective in reducing scale layer formation through providing a surface for growth. The highest scale reduction, 81%, was realised at a seed loading of 0.50 g/L. At a high seed loading of 4.01 g/L, the seed material adhered to the tube. Keywords: Gypsum, eutectic freeze crystallization, seeding, scaling, cooling crystallisation

Jan 1, 2020

By R. W. O. Kersten

"The aim was to investigate stable pillar design procedures currently in use on chrome and platinum mines, subject them to a critical appraisal, and review some of the alternatives proposed in the literature. It is concluded that these pillar design methodologies suffer from drawbacks that can be detrimental to the mining industry and that an improvement is essential.It was decided that the increased availability of analytical models and failure criteria could be exploited to update the empirical to an analytical/empirical method. The proposed methodology adopted FLAC2D simulations using the Hoek-Brown failure criterion to calculate full stress-deformation curves for typical pillars. The mine stiffness concept was introduced to determine the pillar load, integrating the influence of the pillar and strata stiffness and mining geometry.The proposed methodology was calibrated by comparing experimental and predicted deformations and failure depth of pillars in one hard-rock mine. The conclusion was that the methodology is an improvement over the one currently in use. An improved factor of safety is given by the intersection point of curves for the stiffness of the system and the pillar strength. IntroductionThe paper describes part of the findings of a PhD thesis (Kersten, 2016) on an alternative stable pillar design methodology. This publication contains sufficient information to implement the method for further interpretation and testing. A detailed comparison of measured and predicted data is dealt with in the thesis, and the results show that there is promise in the methodology.The design of stable pillars in mining is of fundamental importance, not only in the Bushveld Complex mines but throughout the mining industry. Wherever mining occurs, pillars are formed at some stage and it is essential to predict their behaviour, i.e. whether they will burst, yield, or remain stable. Although of crucial importance, pillar design still suffers from major shortcomings and weaknesses."

May 1, 2019

By B. Oladipo, E. Govender-Opitz, T. V. Ojumu

Bioleaching, one of the several important processes of biohydrometallurgy is an accepted technique for the extraction of desired metals from sulphide ores. Although the mechanism is well understood, the slow metal extraction rate due to passivating layer and ferric ion precipitation, especially in a typical chalcopyrite leaching, impact negatively on the overall efficiency of the process. Iron precipitates are common in many biohydrometallurgical operations and these precipitates represent the exit route for undesired iron, alkali ions or sulphate ion from the processing circuit. While there have been reports on approaches to slow the formation of these precipitates by manipulation of various operating conditions such as pH, redox potential and temperature, the precipitates become highly significant over the long term in the continuous operation of bioleaching and may render heap impermeable. Although there is evidence supporting the nature of the passivation to be precipitates of iron, their scavenging mode of reducing extraction efficiency is still not well understood. This paper thus discusses iron precipitation in biohydrometallurgical processes, including its formation and significance on bioleach processes. The paper also details the associated passivating species identified with heap bioleaching of sulphide minerals and provides some insight into sorption mechanism that limits metal recovery in a typical bioleach operation. Keywords: Iron precipitation, bioleaching, chalcopyrite, passivation, jarosite, metal sorption

Jan 1, 2020

By N. Madani, S. Abulkhair

In multivariate geostatistics, it is common to have different types of complexities between variables of interest. In this context, an inequality constraint is an example of complex bivariate relationships. Unfortunately, traditional co-kriging and co-simulation algorithms cannot reproduce this type of bivariate complexity, leading to the overestimation of disturbing elements. This paper proposes a new algorithm based on a hierarchical sequential Gaussian co-simulation framework, integrated with inverse transform sampling, to model inequality constraints between variables. First, the proposed methodology's validity was evaluated by applying it to a real case study from an iron deposit, with an inequality constraint between iron and aluminum oxide. Then the simulated results were compared with a conventional hierarchical co-simulation algorithm to investigate the effect of inverse transform sampling on the quality of the co-simulation. The results showed that the proposed algorithm can reproduce an inequality constraint between variables.

Sep 1, 2021

By M. Stachowiak, M. Nowicki, K. Walas, A. Skoczylas, P. Stefaniak

In this paper the authors present a walking robot dedicated to the inspection of a belt conveyor’s transportation system in an underground mine. The developed robot can independently diagnose all of the key rotating elements of the belt conveyor (pulleys, bearings, drums, gears, engines) based on vibration and acoustic signals as well as typical RGB (red, green, blue) and thermal images. The article presents key diagnostic procedures applied to real industrial data obtained during robot testing.The work was developed as part of the ‘THING–subTerranean Haptic INvestiGator’ project. The authors presented the main assumptions of the research methodology developed for the needs of technical diagnostics of conveyor elements typical of inspection work performed by mining staff. Based on industrial data, the use of algorithms for elements such as rollers, drive stations, and the conveyor belt were shown. The main assumption of the research is to develop a robot adapted to the conditions of a deep mine, capable of carrying out an autonomous inspection of mining infrastructure. The conducted tests and the developed fault detection algorithms were aimed at preparing the robot for underground tests in the operating conditions of the mine.

Sep 1, 2021