# Automation and Robotization of Underground Mining in Poland
## 3 Research and Development in the Field of Robotization of Mining in Poland
### Research Projects and Prototype Solutions  
Below we present some examples of projects and solutions that significantly contribute to increasing the level of mining robotization and pave the way for the future mine, which is to be fully robotic. An interesting project has been implemented by the Space Research Centre of the Polish Academy of Sciences and the AGH University of Science and Technology--\"Development of a model of an automatic core drilling rig for work in extreme conditions, in particular in the space environment.\" The aim of the project is to design, construct and test a model of an automatic core drilling rig, the task of which is the unmanned sampling of material from a depth of several meters. The expected operating environments of the machine are both hard-to-reach places on Earth as well as the surface of planets and asteroids. Specific requirements are related to available power and mass. In addition, work under vacuum causes difficulty. However, it can fill the market niche, especially in the context of Poland's accession to the European Space Agency [17]. Another interesting example of a project is the automation of the shaft support control and monitoring system. This solution was developed by the Central Mining Institute. The laser system of automatic geometry measurement has been tested in terms of the recording, visualization and signaling of emergencies. This system increases the operational safety of shaft equipment and allows for continuous supervision at lower costs than periodically performed classic geodetic measurements [18]. Figure 8: Analysis of the situation on the grate by the system: (**a**) view of mined rock on the grate; (**b**) view of the scan; (**c**) table of mined rock height on the grate [15]. In the introduction, attention is drawn to threats occurring in underground mines, which are the main reason for interest in the robotics of mining works. However, the problem does not only concern regular, typical mining works, but also rescue operations. Robots equipped with sensors for measuring concentrations of dangerous gases and climatic conditions should also participate in rescue operations. Robots provide reconnaissance for rescue teams giving them advance information on the conditions prevailing in the excavation. Therefore, robots should ensure the greater safety of people. This necessity is recognized all over the world, as evidenced by the multitude of construction solutions of mining robots from various countries. Groundhog, Wolvarine V-2, Gemini-Scout robots developed in the US, Numbat and the Water Corporation robots constructed in Australia, or Telerescuer, implemented by an international consortium, are examples of some robots. Tangshan Kaicheng Electronic from China offers robots for the hard coal mining industry. As part of the project \"Research and feasibility study of a model of the M1 category mobile inspection platform with electric drives for potentially explosive areas\", implemented by the consortium of the Institute of Innovative Techniques EMAG and the Industrial Institute of Automation and Measurements PIAP, the Mobile Inspection Platform (MPI) was developed. The most important functionality of MPI is to measure the concentration and climate parameters of the mine atmosphere on a continuous basis or at the request of the operator. MPI also sends the measurement results to the control and measurement console. The measurement results are archived together with images from cameras operating in the visible and infrared band. The MPI's place of operation is a potentially explosive zone. So, since the very beginning, the robot has been intended to work as a machine that meets the requirements of Directive 94/9/EC (ATEX), as well as the Machinery Directive 2006/42/EC (MD) and Directive 2004/108/EC(EMC). The robot has been designed to overcome various obstacles, such as debris, water, mud and mining floor railways [19]. The above-mentioned units have also developed the Mining Mobile Inspection Robot (GMRI) [20].