Robotic self-propelled tracked vehicles in combined mining systems

Читать на русскоя языкеV.S. Velikanov1, V.A. Ovchinnikova1, I.A. Grishin2
1 Ural Federal University named after the first President of Russia B.N. Yeltsin, Ekaterinburg, Russian Federation
2 Nosov Magnitogorsk State Technical University, Magnitogorsk, Russian Federation

Russian Mining Industry №1 / 2023 р. 76-82

Abstract: The challenges concerned with the increasing global demand for minerals have identified the need to upgrade and enhance not only the mining methods and systems, but also to create and apply mining machines that would ensure that the operators of these machines can be removed from the dusty, noisy and potentially dangerous environments of the underground mines. Therefore in the last decades the vector of research and development has been directed towards creating fully autonomous robotic machines that would perform the basic operations of the process cycle of mining minerals. To effectively operate in underground mines, the robotic mining machines need an on-board navigation system, which enables correct interpretation of environmental data from state-of-the-art sensors, creates traffic routes, controls the motion parameters and constantly monitors its own coordinates. In order to address this challenge, theoretical and experimental research has been carried out and theoretical provisions for designing control systems for smart robotic mining machines have been developed using a track-mounted underground drilling unit as an example. The SLAM method used in this study optimizes the path of an unmanned robotic track-mounted drill rig, maps the underground space, and determines the actual location of the machine on this map.

Keywords: minerals, mining machine, track-mounted vehicles, mineral mining, combined mining systems

Acknowledgments: This work was financially supported by the Ministry of Science and Higher Education of the Russian Federation (Project FRZU-2023–0008).

For citation: Velikanov V.S., Ovchinnikova V.A., Grishin I.A. Robotic self-propelled tracked vehicles in combined mining systems. Russian Mining Industry. 2023;(2):76–82.

Article info

Received: 12.02.2023

Revised: 27.03.2023

Accepted: 07.04.2023

Information about the authors

Vladimir S. Velikanov – Dr. Sci. (Eng.), Professor, Department of Hoisting and Hauling Machines and Robots, Ural Federal University named after the first President of Russia B.N. Yeltsin, Ekaterinburg, Russian Federation, Professor, Department of Automatics and Computer Technologies, Ural State Mining University, Ekaterinburg, Russian Federation; ORCID; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

Valentina A. Ovchinnikova – Director, the Urals Advanced Engineering School, Ural Federal University named after the first President of Russia B.N. Yeltsin, Ekaterinburg, Russian Federation; ORCID; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

Igor A. Grishin – Cand. Sci. (Eng.), Head of the Department of Geology, Mine Surveying and Mineral Processing, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russian Federation; ORCID; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.


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