Provided is a telerobotic mining device for underground mining, and specifically for stope mining, as well as a method of mining using such a device. The telerobitic mining device is capable of remotely moving about a mine and utilizing drill arms to drill a hole within a chosen rock bed. Explosive placement arms on the telerobot may be utilized to place an explosive within the drilled hole to blast away rock. Control over the device is achieved by way of operational commands that may be wirelessly sent to the device from a command centre located outside the mine.
A wireless optical communication receiver is provided. The optical receiver includes an arrangement of wavelength shifting fibers preferably encased within a protective shroud. The wavelength shifting fibers provide an efficient method for capturing photons of light that strike them. Photons may strike the fibers as they first pass through a clear lens in the shroud or may strike the fibers after they are concentrated and focused by an embedded ring or hyperbolic mirror. The wireless optical receiver may be attached to a mobile vehicle in order to facilitate teleoperation of that vehicle.
H04B 10/00 - Systèmes de transmission utilisant des ondes électromagnétiques autres que les ondes hertziennes, p. ex. les infrarouges, la lumière visible ou ultraviolette, ou utilisant des radiations corpusculaires, p. ex. les communications quantiques
G08C 23/06 - Systèmes de transmission de signaux non électriques, p. ex. systèmes optiques utilisant des ondes lumineuses, p. ex. infrarouges à travers des guides de lumière, p. ex. des fibres optiques
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
H04B 10/2575 - Radio sur fibre, p. ex. signal radio modulé en fréquence sur une porteuse optique
A robotic mapping system for charting or mapping a path through an underground cavity, and/or mapping a surface of the underground cavity. The robotic mapping system may comprise a mobile control centre located on the surface in wireless communications with one or more mapping robots located within the underground cavity. The mapping robots may be controlled by way of an avionics navigation system.
G01C 7/06 - Tracé de profils de cavités, p. ex. de tunnels
G09B 29/00 - CartesPlansGraphiquesTracés, p. ex. tracés de routes
H04B 7/26 - Systèmes de transmission radio, c.-à-d. utilisant un champ de rayonnement pour communication entre plusieurs postes dont au moins un est mobile
G01C 21/16 - NavigationInstruments de navigation non prévus dans les groupes en utilisant des mesures de la vitesse ou de l'accélération exécutées à bord de l'objet navigantNavigation à l'estime en intégrant l'accélération ou la vitesse, c.-à-d. navigation par inertie
G01S 5/10 - Position du récepteur obtenue par coordination de plusieurs lignes de position définies par des mesures de différence de parcours
An optical receiver is provided. The optical receiver includes a fiber support structure located on a front side of a back plate. The fiber support structure supports and guides a plurality of scintillating fibers in a spiral arrangement extending from a back orifice through the back plate. A central guide located around the back orifice is adapted to gather and collect the plurality of scintillating fibers from their disperse spiral arrangement on the fiber support structure and direct them through the back orifice as a bundle into a photo detector located behind the back plate.
A system and method for relieving hang-ups, comprising a mobile command vehicle operative to transport a robotic vehicle to a control location remote from a hang-up location; the robotic vehicle operative to advance from the control location to the hang-up location, scan the hang-up location, transmit scanning information to the command vehicle, and receive positioning commands to position the robotic vehicle for drilling into the hang-up location, implant an explosive, and withdraw.
E21F 17/00 - Procédés ou dispositifs destinés à être utilisés dans les mines ou tunnels, non couverts ailleurs
F42D 3/04 - Applications particulières de techniques de sautage pour faire sauter des rochers
E21B 7/02 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21C 37/16 - Autres procédés ou dispositifs d'abattage avec ou sans chargement en mettant le feu ou par des procédés analogues basés sur un effet thermique
A wireless optical communication receiver is provided. The optical receiver includes an arrangement of wavelength shifting fibres preferably encased within a protective shroud. The wavelength shifting fibres provide an efficient method for capturing photons of light that strike them. Photons may strike the fibres as they first pass through a clear lens in the shroud or may strike the fibres after they are concentrated and focused by an embedded ring or hyperbolic mirror. The wireless optical receiver may be attached to a mobile vehicle in order to facilitate teleoperation of that vehicle.
G08C 23/06 - Systèmes de transmission de signaux non électriques, p. ex. systèmes optiques utilisant des ondes lumineuses, p. ex. infrarouges à travers des guides de lumière, p. ex. des fibres optiques
B25J 3/00 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace
A wireless optical communication receiver is provided. The optical receiver includes an arrangement of wavelength shifting fibres preferably encased within a protective shroud. The wavelength shifting fibres provide an efficient method for capturing photons of light that strike them. Photons may strike the fibres as they first pass through a clear lens in the shroud or may strike the fibres after they are concentrated and focused by an embedded ring or hyperbolic mirror. The wireless optical receiver may be attached to a mobile vehicle in order to facilitate teleoperation of that vehicle.
G08C 23/06 - Systèmes de transmission de signaux non électriques, p. ex. systèmes optiques utilisant des ondes lumineuses, p. ex. infrarouges à travers des guides de lumière, p. ex. des fibres optiques
B25J 3/00 - Manipulateurs de type à commande asservie, c.-à-d. manipulateurs dans lesquels l'unité de commande et l'unité commandée exécutent des mouvements correspondants dans l'espace
An optical receiver is provided. The optical receiver includes a fiber support structure located on a front side of a back plate. The fiber support structure supports and guides a plurality of scintillating fibers in a spiral arrangement extending from a back orifice through the back plate. A central guide located around the back orifice is adapted to gather and collect the plurality of scintillating fibers from their disperse spiral arrangement on the fiber support structure and direct them through the back orifice as a bundle into a photo detector located behind the back plate.
A system and method for relieving hang-ups, comprising a mobile command vehicle operative to transport a robotic vehicle to a control location remote from a hang-up location; the robotic vehicle operative to advance from the control location to the hang-up location, scan the hang-up location, transmit scanning information to the command vehicle, and receive positioning commands to position the robotic vehicle for drilling into the hang-up location, implant an explosive, and withdraw.
A system and method for relieving hang-ups, comprising a mobile command vehicle operative to transport a robotic vehicle to a control location remote from a hang-up location; the robotic vehicle operative to advance from the control location to the hang-up location, scan the hang-up location, transmit scanning information to the command vehicle, and receive positioning commands to position the robotic vehicle for drilling into the hang-up location, implant an explosive, and withdraw.
A telerobotic communications system including a teleoperation center to transmit control data and receive non-control data by wireless connection to and from a first mobile telerobot and indirectly to and from a second mobile telerobot. The first mobile telerobot includes a transceiver for receiving and transmitting control and non-control data, respectively, and also a repeater for relaying control data to a second mobile telerobot and relaying non-control data back to the teleoperation center. The system allows the second mobile telerobot to travel beyond a communications-enabled distance of the wireless signal emitted directly by the teleoperation center. The system may also include wireless repeaters to extend the communications distance between the first and second telerobots.
G08C 17/00 - Dispositions pour transmettre des signaux caractérisées par l'utilisation d'une voie électrique sans fil
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
A telerobotic communications system including a teleoperation centre to transmit control data and receive non-control data by wireless connection to and from a first mobile telerobot and indirectly to and from a second mobile telerobot. The first mobile telerobot includes a transceiver for receiving and transmitting control and non- control data, respectively, and also a repeater for relaying control data to a second mobile telerobot and relaying non-control data back to the teleoperation centre. The system allows the second mobile telerobot to travel beyond a communications-enabled distance of the wireless signal emitted directly by the teleoperation centre. The system may also include wireless repeaters to extend the communications distance between the first and second telerobots.
A telerobotic communications system including a teleoperation centre to transmit control data and receive non-control data by wireless connection to and from a first mobile telerobot and indirectly to and from a second mobile telerobot. The first mobile telerobot includes a transceiver for receiving and transmitting control and non- control data, respectively, and also a repeater for relaying control data to a second mobile telerobot and relaying non-control data back to the teleoperation centre. The system allows the second mobile telerobot to travel beyond a communications-enabled distance of the wireless signal emitted directly by the teleoperation centre. The system may also include wireless repeaters to extend the communications distance between the first and second telerobots.
An optical receiver or transceiver comprises a plurality of light receiving elements positioned to receive light from a plurality of directions. In some embodiments the optical receiver or transceiver comprises multiple light receiving elements, different light receiving elements being adapted to output an electric signal only in response to light of different wavelengths or range of wavelengths. In some embodiments the optical transceiver comprises a plurality of light receiving elements positioned to receive light from a plurality of directions, interspersed with light transmitting elements positioned to transmit light in a plurality of directions.
H04B 10/80 - Aspects optiques concernant l’utilisation de la transmission optique pour des applications spécifiques non prévues dans les groupes , p. ex. alimentation par faisceau optique ou transmission optique dans l’eau
An optical receiver or transceiver comprises a plurality of light receiving elements positioned to receive light from a plurality of directions. In some embodiments the optical receiver or transceiver comprises multiple light receiving elements, different light receiving elements being adapted to output an electric signal only in response to light of different wavelengths or range of wavelengths. In some embodiments the optical transceiver comprises a plurality of light receiving elements positioned to receive light from a plurality of directions, interspersed with light transmitting elements positioned to transmit light in a plurality of directions.
H04B 10/80 - Aspects optiques concernant l’utilisation de la transmission optique pour des applications spécifiques non prévues dans les groupes , p. ex. alimentation par faisceau optique ou transmission optique dans l’eau
16.
Subsurface positioning system and method for monitoring movement underground
A system for monitoring movement in a subsurface environment, which may be used to determine flow dynamics within a fluid mass such as an ore body, or track subsurface persons or moving assets. A plurality of underground positioning system (UPS) elements in the subsurface environment transmit characteristic signals to a plurality of antennas, which transmit the signals to a data processing apparatus. The system thus determines changes in the positions of the UPS elements to derive an indication of the motion of the fluid mass or the locations and movement of subsurface persons or assets.
G01V 3/00 - Prospection ou détection électrique ou magnétiqueMesure des caractéristiques du champ magnétique de la terre, p. ex. de la déclinaison ou de la déviation
17.
SUBSURFACE POSITIONING SYSTEM AND METHOD FOR MONITORING MOVEMENT UNDERGROUND
A system for monitoring movement in a subsurface environment, which may be used to determine flow dynamics within a fluid mass such as an ore body, or track subsurface persons or moving assets. A plurality of underground positioning system (UPS) elements in the subsurface environment transmit characteristic signals to a plurality of antennas, which transmit the signals to a data processing apparatus. The system thus determines changes in the positions of the UPS elements to derive an indication of the motion of the fluid mass or the locations and movement of subsurface persons or assets.
G01S 13/74 - Systèmes utilisant la reradiation d'ondes radio, p. ex. du type radar secondaireSystèmes analogues
E21C 35/00 - Détails ou accessoires de machines pratiquant des saignées ou libérant complètement la matière minérale de la veine, non prévus dans les groupes , ou
E21C 41/00 - Procédés d'exploitation minière souterraine ou en surfaceTracés à cet effet
G01S 5/10 - Position du récepteur obtenue par coordination de plusieurs lignes de position définies par des mesures de différence de parcours
G01V 9/00 - Prospection ou détection par des procédés non prévus dans les groupes
18.
SUBSURFACE POSITIONING SYSTEM AND METHOD FOR MONITORING MOVEMENT UNDERGROUND
A system for monitoring movement in a subsurface environment, which may be used to determine flow dynamics within a fluid mass such as an ore body, or track subsurface persons or moving assets. A plurality of underground positioning system (UPS) elements in the subsurface environment transmit characteristic signals to a plurality of antennas, which transmit the signals to a data processing apparatus. The system thus determines changes in the positions of the UPS elements to derive an indication of the motion of the fluid mass or the locations and movement of subsurface persons or assets.
G01S 13/74 - Systèmes utilisant la reradiation d'ondes radio, p. ex. du type radar secondaireSystèmes analogues
G01S 5/10 - Position du récepteur obtenue par coordination de plusieurs lignes de position définies par des mesures de différence de parcours
G01V 9/00 - Prospection ou détection par des procédés non prévus dans les groupes
E21C 41/00 - Procédés d'exploitation minière souterraine ou en surfaceTracés à cet effet
E21C 35/00 - Détails ou accessoires de machines pratiquant des saignées ou libérant complètement la matière minérale de la veine, non prévus dans les groupes , ou
19.
Underwater optical communications system and method
An underwater optical communications system and method particularly suitable for use in communications with automated equipment. A series of light beacons are dispersed throughout a communications zone. The light beacons are each provided with a plurality of light-emitting elements and light receiving elements which are positioned so that each beacon within the communications zone emits light in a plurality of directions and receives light from a plurality of directions. A submersible craft is similarly provided with light emitting elements and light receiving elements. The submersible craft is thus always in optical communication with one or more beacons when in the communications zone, regardless of the orientation of the craft and regardless of the position of the craft within the communications zone.
H04B 10/00 - Systèmes de transmission utilisant des ondes électromagnétiques autres que les ondes hertziennes, p. ex. les infrarouges, la lumière visible ou ultraviolette, ou utilisant des radiations corpusculaires, p. ex. les communications quantiques
brevets
