# Automation and Robotization of Underground Mining in Poland
## 2 Solutions Applied to Mining in Poland
### Mine Master Self-Propelled Mining Machines  
In ore mines, such as KGHM Polska Miedz S.A. (Lubin, Poland), the useful mineral is usually mined by means of explosives. Self-propelled drilling machines are used for harsh operating conditions, characterized by an ambient temperature exceeding 35\({}^{\circ}\) Celsius and air humidity up to 98%. The machines are operated at depths ranging from 600 m to 1200 m, where there are strong saline watercourses, which force the use of subassemblies with high IP 67 (International Protection). In such extreme conditions, the human factor is increasingly often an unreliable element, so a chance to improve work efficiency is seen in the automation and monitoring of mining processes. Mine Master, in cooperation with the AGH University of Science and Technology, based on joint experiences in drilling process automation, designed two modular drilling machine monitoring systems. The system was implemented jointly with the machine user--KGHM Polska Miedz--which works on selected Face Master 1.7 machines [9; 10; 11]. Monitoring of drilling machines was first introduced for systems that have a decisive impact on achieving the assumed productivity by machines. In the case of Face Master 1.7 drill rigs, it was a system for monitoring the drilling parameters and drilling frame settings in accordance with the assumed blasting pattern (Figure 3). The natural consequence of monitoring was the implementation of systems for diagnosing the drive system and the hydraulic system of machines. Monitoring has control over the machine, not only during the process of drilling, but also when traveling to and from the workplace on roads with a slope of up to 15\({}^{\circ}\). Figure 2: Cabin for monitoring the automatic operation of the MIKRUS system from the surface [8]. Monitoring systems for drilling machines used in underground conditions of KGHM Polska Miedz, which successfully completed their tasks, include the following scope:  
* Mapping of the blast pattern on the heading face and its visualization on the operator's panel;
* Repeatability of the drilling process in the face geometry;
* Monitoring and control of drilling parameters;
* Quick diagnosis of the drilling system;
* Increased work efficiency;
* Recording of work done;
* USB or WiFi data transfer;
* Generating reports on the work performed (Figure 4);
* Work \"in the background\" of systems so that their possible failure will not limit the basic functions of the machines;
* Increasing the availability of machines through more precise and faster damage diagnostics. The FGS system (Feeder Guide System) is the successor of the DMS system (Drilling Monitoring System). DMS monitored only drilling parameters, such as speed, depth or pressure in the hydraulic system. The basic element of the system is the operator's panel, which contains software that controls the drilling support process. The operator's panel is resistant to operating conditions and has a high-contrast display with built-in function buttons or a touch screen facilitating correct readings. The operator's panel is additionally equipped with an integrated USB port, which enables data transfer. Another element necessary for the proper operation of the FGS system is sensors, the basic task of which is to determine the drill rig's position between the positioning and measuring elements. Thus, it is possible to reflect the position of the drilling frame in the system and the control panel. The software allows employees to create 3D blasting patterns, including the preparation of previous patterns and their uploading via a USB flash drive. The FGS system allows obtaining one plane of the face regardless of the initial state. The length of individual holes is calculated by the system in such a way that they end in one plane. Obtaining this effect with manual control is not possible. The program for creating blasting patterns enables changing the direction of the excavation. The result is the program choosing the appropriate length of the holes.