MINERÍA la mejor puerta de acceso al sector minero MINERÍA / ABRIL 2024 / EDICIÓN 559 31 Abstract In Peru, the Ministry of Energy and Mines has implemented Supreme Decree 024-2016EM with the objective of reducing fatal accidents in the mining industry. There are essential tasks such as exploration, inspection, and digitizing of underground drifts that can present a high risk to workers as accidents can occur. This is due to the use of traditional methods for measurement, variable and difficult to access topology, exposure to noxious gases, among others. Negative effects include fatal accidents, operational downtime, infrastructure failures, and economic losses. These effects affect the image of mining companies in the eyes of investors seeking sustainable and responsible investment practices. In this context, it is necessary to look for more efficient and safer solutions for exploration, inspection and digitization of underground drifts in the mining industry. The use of an unmanned ground robot capable of moving over irregular surfaces is proposed as a solution for the digitization, inspection, and recurrent and safe diagnosis of the infrastructure of underground drifts in mining. The robot can be operated remotely or move autonomously through the use of vision and positioning in conjunction with autonomous navigation algorithms based on visual SLAM (VSLAM). In addition, it has a wireless communication module based on nodes that allows the transmission of data to the base station to know the position and critical status of the robot in real time. The ground robot is capable of performing tasks such as 3D reconstruction of underground infrastructure, hazard identification, and high quality video storage. The proposal allows the collection of a large amount of information from the underground environment on a recurring basis without putting workers' lives at risk, improving efficiency and safety in exploration and inspection. This is why the robot is equipped with: a Tuminav Underground autonomy module that allows autonomous mobilization in underground drifts, LiDARs sensors, RGB and infrared cameras for the three-dimensional reconstruction of the environment associated with heat maps for the inspection of the interior of the drifts, a robot chassis equipped with independent suspension, Ackerman steering, six (06) high-power motors and wheels with IP68 watertight protection for movement in rough terrain in extreme conditions, and wireless communication modules for confined spaces for remote and real-time monitoring of the robot from the base station. This paper shows the design of the system for autonomous digitization of underground drifts, in particular the sections of mobile platform, autonomous navigation and wireless communication. The results obtained from validation tests performed in real environments are also shown.
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