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Figure 1. Mobile robots created in term of inspection use, a) MPI platform, b) Omnibot II,
c) Telerescuer.
Figure 2. Exemplary autonomous heavy equipment used in iron ore mine in West Australia, Pilbara
region.
housing. For inspection purposes, a 3D vison system is mounted on a scanner arm to build
a map of a mine.
Mine work automation programs, from remote machine operation to fully autonomous
drilling rigs and spoil transport vehicles are being developed all over the world. Mining robotics development programs are conducted, among others in Europe, Canada, Australia, South
Africa or Chile.
In Western Australia, Rio Tinto built an iron mine that used robotic control systems in
such operations as drilling or transporting ore(Figure 2). An example is a man-operated
drilling rig (Figure 2b.), which can be switched to automatic mode depending on the terrain
and the conditions in which it operates. The next operation which has been automated is
the transportation of ore. This is done using the fully autonomous Komatsu 930E vehicles
(Figure 2a) or centrally controlled train (Figure 2c) (Grad, 2010).
2 CONCEPT
2.1 Analysis of existing solutions
Currently, the most widespread drive system for mobile platforms are wheel drive solution. It
is used mainly due to the highest energy efficiency from all types of drives. For this reason, it
is also the most thoroughly tested system. It is very accurately described in the control theory
that provides many control algorithms. The biggest disadvantage of this system is the difficulty in overcoming terrain obstacles, especially when they are larger than half the diameter
of the wheel and passing on loose ground. It works best on an even, paved surface. An additional problem is the risk of tire damage on the sharp edges of the rocky surface.
Another type of drive is a track drive. It significantly increases the ability to move in difficult terrain. The ability to overcome obstacles is much greater if additional wheels placed
above the others inside the track are used. The disadvantages of this solution are the low
Figure 1. Mobile robots created in term of inspection use, a) MPI platform, b) Omnibot II,
c) Telerescuer.
Figure 2. Exemplary autonomous heavy equipment used in iron ore mine in West Australia, Pilbara
region.
housing. For inspection purposes, a 3D vison system is mounted on a scanner arm to build
a map of a mine.
Mine work automation programs, from remote machine operation to fully autonomous
drilling rigs and spoil transport vehicles are being developed all over the world. Mining robotics development programs are conducted, among others in Europe, Canada, Australia, South
Africa or Chile.
In Western Australia, Rio Tinto built an iron mine that used robotic control systems in
such operations as drilling or transporting ore(Figure 2). An example is a man-operated
drilling rig (Figure 2b.), which can be switched to automatic mode depending on the terrain
and the conditions in which it operates. The next operation which has been automated is
the transportation of ore. This is done using the fully autonomous Komatsu 930E vehicles
(Figure 2a) or centrally controlled train (Figure 2c) (Grad, 2010).
2 CONCEPT
2.1 Analysis of existing solutions
Currently, the most widespread drive system for mobile platforms are wheel drive solution. It
is used mainly due to the highest energy efficiency from all types of drives. For this reason, it
is also the most thoroughly tested system. It is very accurately described in the control theory
that provides many control algorithms. The biggest disadvantage of this system is the difficulty in overcoming terrain obstacles, especially when they are larger than half the diameter
of the wheel and passing on loose ground. It works best on an even, paved surface. An additional problem is the risk of tire damage on the sharp edges of the rocky surface.
Another type of drive is a track drive. It significantly increases the ability to move in difficult terrain. The ability to overcome obstacles is much greater if additional wheels placed
above the others inside the track are used. The disadvantages of this solution are the low