# Automation and Robotization of Underground Mining in Poland
## 2 Solutions Applied to Mining in Poland
### Famur Roadheader  
Making drifts in underground mines is one of the most important processes. In most cases, headings are made with roadheaders controlled locally by the operator. This work is dangerous due to falling rocks, dust, noise and temperature. It was, therefore, decided to withdraw the staff from the area of shearer operation and introduce systems for supervising and automating its work. Elgor-Hanses S.A., which is part of the FAMUR S.A. group(Katowice, Poland), developed and implemented a shearer remote control system. EH-RemoteHeadControl v2 is a system enabling the remote control of roadheaders designed for operation in particularly dangerous zones due to the risk of gas and rock outburst as well as rock burst hazards. The system allows the service staff to work in safe work conditions, as during the shearer operation, they stay in a non-hazardous area. The safety of underground miners is the most important issue of all matters related to the operation of underground mining plants [8].  
The system consists of a few elements (Figure 5).  
* Up to ca 50 m-100 m behind the shearer, a box with a laser shining parallel to the axis of the excavation is mounted on the roof. The laser position is corrected using a wireless remote control.
* The shearer has a set of devices for automatic positioning of the shearer in the heading. The devices include a set of cameras, sensors and a signal processing controller. A radar is used to communicate with the laser.
* In the safe zone outside the directly threatened area is an operator's workstation in the form of a cage with monitors with a remote-control panel. The operator's workstation is in the form of a cage with monitors and a remote-control panel located in a safe zone outside the directly threatened area.
* Diagnostic of head tools wear [12; 13].  
Figure 4: FGS report on drilling with a comparison of the assumed (**black**) with actually completed blasting pattern (**blue**) [9].  
The operator's station is equipped with computers presenting diagnostic information and the image from the cameras installed on the shearer as well as visualizing the operation of the machine. The real-time graphic representation of the cutting head makes it easier for the operator to drill the right profile. Audio and video are transmitted from three cameras located in the shearer's surroundings. This allows the operator to better understand the current conditions of the machine. The laser is installed in the excavation every 100 m and gives a beam of light in two directions. The laser is set using a wireless remote control and/or PC application.  
The data recorded by the laser sensor, radar sensor and cameras allow the visualization station to determine the position of the shearer and the head. It also checks the possibility of their movement on an ongoing basis and determining a possible collision. The 3D application additionally maps the state of cutting in the face. It uses various indicators and lights and provides information on the shearer's condition, including the signaling of warnings and emergencies (Figure 6). Data transmission to the surface of the mine enables generating reports on the operation of the system.  
Figure 5: Structure of the EH-RemoteHeadControl v2 system by Elgör + Hansen [8].  
Figure 6: 3D application of the EH-RemoteHeadControl v2 system by Elgör + Hansen.