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<p>With technological advances in areas like robotics, information processing, and machine learning, the performance of robots is improving constantly, leading to increasing attractiveness for applications in research and industry. Therefore, the main objectives of this contribution are, on the one hand, to gather possible use cases for robots in mining based on a&#xa0;literature review and on the other hand, to examine the current usability and operability of the ANYmal D&#xa0;robot in mining environments. The latter is based on three experiments in real environments to test the practical suitability besides some smaller laboratory tests.</p><p>The results show that ANYmal&#xa0;D has a&#xa0;stable walk, except on very steep or slippery slopes, and appears to be suitable for mining applications in principle. Manual measurements like mapping with the LiDAR sensor and examination of the geometry and tunnel volume can already be implemented well, although localization does not yet work error-free. Inspection tasks are by now possible, but complex and practical applications often require the demanding implementation of data interpretation methods. For unsecured tunnel areas or rescue missions, the short radio range and lack of autonomy during exploration still pose major hurdles for practical applicability. Hence, it is recommended that new respective technologies constantly developed by research teams worldwide for autonomous exploration should be refined and included in the commercially available software of the robot in order to make them available to practitioners lacking a&#xa0;dedicated IT-background.</p>

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Use Cases und Einsatzfähigkeit von Inspektionsrobotern im Untertagebergbau

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年1月8日

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  • Philipp Kogler,
  • Philipp Hartlieb

摘要

With technological advances in areas like robotics, information processing, and machine learning, the performance of robots is improving constantly, leading to increasing attractiveness for applications in research and industry. Therefore, the main objectives of this contribution are, on the one hand, to gather possible use cases for robots in mining based on a literature review and on the other hand, to examine the current usability and operability of the ANYmal D robot in mining environments. The latter is based on three experiments in real environments to test the practical suitability besides some smaller laboratory tests.

The results show that ANYmal D has a stable walk, except on very steep or slippery slopes, and appears to be suitable for mining applications in principle. Manual measurements like mapping with the LiDAR sensor and examination of the geometry and tunnel volume can already be implemented well, although localization does not yet work error-free. Inspection tasks are by now possible, but complex and practical applications often require the demanding implementation of data interpretation methods. For unsecured tunnel areas or rescue missions, the short radio range and lack of autonomy during exploration still pose major hurdles for practical applicability. Hence, it is recommended that new respective technologies constantly developed by research teams worldwide for autonomous exploration should be refined and included in the commercially available software of the robot in order to make them available to practitioners lacking a dedicated IT-background.