Abstract

Impact hammers are used to reduce the size of blasted ore in mining operations. In underground mines, tele-operated impact hammers are used to reduce the size of boulders placed on the orepass's grizzlies. An impact hammer consists of a hydraulic arm with 4 degrees of freedom, powered with a hydraulic impact hammer as an end-effector. The tele-operation of impact hammers is difficult due to the latency of communications, the poor visibility of the environment, and the used 2D interfaces. This may result in a collision with the hammer and the infrastructure, idle strokes, and non-optimal operation. To address these issues, this paper proposes the haptic tele-operation of impact hammers. The proposed haptic tele-operation system is based on a 3D model of the environment, which is used to estimate repulsion forces that are transferred to the operator via a haptic device, so that the hammer does not collide with the structures of the mine. The system also allows identifying the oversized boulders deposited on the grizzly and notifying the operator every time the orepass is blocked, as well as providing different 3D views of the environment. A proof of concept is presented using a scaled setup, where it is validated that the use of the proposed system allows for providing a better and more efficient tele-operation experience.