It is imperative to check the width of the mineshaft as it is being used, as wear and erosion can widen the walls to unsafe levels.
Each mineshaft must be checked at regular intervals.
The mineshaft is off-limits for personnel due to risk of falling rocks, so any solution must be operable from outide. %TODO: ?
The current method is to drill a hole from a different shaft and insert sensors through the hole.
Currently employed methods involve drilling a hole from a different shaft and insert sensors through the hole.
This method is very expensive and time-consuming, and LKAB would like to find a cheaper method.
Conex suggested usage of an unmanned quadracopter drone, equipped with sensors to fly up and down the shaft to measure its insides.
\subsection{Assignment}
We are to build a solution for scanning the mineshaft using a remote-operated quadcopter drone.
An onboard laser should map the walls of the shaft, and some collision avoidance should be implemented to facilitate semi-autonomous operation.
Data should be passed on to a base station using UWB radio, which also acts as control for the drone.
Communication between the drone and the base station should be done wirelessly using a UWB radio.
The base station should receive sensor data and, using LabVIEW, construct an easily understandable representation of the mine shaft.
Only high-level control of the drone, using simple commands such as ``up'' or ``down'', should be needed.
Such commands are to be issued by the base station and wirelessly sent to the drone.
\subsection{Problem Formulation}
Is it feasible to use a drone with laser measuring to measure the width of a tilted mineshaft, and for the whole process to be cheaper than current methods?
Is it feasible to use a drone with laser measuring to measure the width of a tilted mineshaft, and for the whole process of usage and to be cheaper than current methods?
\subsection{Assignment limitations}
No investigation into recovery of crashed drones will be made.
Personnel are not allowed within the area, making recovery difficult.
Automated recovery using other metods lie beyond the scope of this project.
The project is intended to check the feasibility of mapping mine shafts with this method and not to construct a complete product.
Thus, unit degradation from dust or other wear inherent to the workspace is disregarded.
Thus, unit degradation from dust, moisture or other wear inherent to the workspace is disregarded.
No consideration of falling rocks that could cause the copter to crash will be taken.
It has been presented as a possible failure source, and the copter as suggested cannot feasibly dodge rocks.
%TODO: Further limitations?
\ No newline at end of file
%No consideration of falling rocks should be made.
%They cannot feasibly be dodged, and it may happen.
%Should the drone be disabled or destroyed, there are no plans on making things recoverable, as the shaft itself is still off-limits.
%Producing a prototype and not put much thought into whether the dust inside the mineshaft will cause failures, short-circuits or other problems.
