Intelligent Mining Engineering Systems in the Structure of Industry 4 . 0

The solution of the problem of improving the human environment and working conditions at mines is based on the provision of the rationale of parameters and conditions for the implementation of an environmentally balanced cycle of comprehensive development of mineral deposits on the basis of the design of mining engineering systems characterized by the minimization of the human factor effect in danger zones of mining operations. In this area, robotized technologies are being developed, machinery and mechanisms with the elements of artificial intelligence, and mining and transport system automatic controls are being put into service throughout the world. In the upcoming decades, mining machines and mechanisms will be virtually industrial robots. The article presents the results of zoning of open-pit and underground mine production areas, as well as mining engineering system of combined development depending on the fact and periodicity of human presence in zones of mining processes. As a surface geotechnology case study, the software structure based on a modular concept is described. The performance philosophy of mining and transport equipment with the elements of artificial intelligence is shown when it is put into service in an open pit.


Introduction
The first three industrial revolutions have occurred as a result of mechanization, electrification and information technologies.The progress of Internet and satellite navigation have determined a new industrial epoch -the fourth industrial revolution -Industry 4.0 [1].Global trends of each and all large production corporation entry to Industry 4.0 give clear-cut interpretation of the prospects of mining industry developmenttransition to intelligent control systems with the human factor role changing in design, operation of mining engineering systems and their condition monitoring [2].
Industry 4.0 is not only and not so much new technologies as a new approach to production and consumption.It is based on the collection of big data, their processing and use for the perfection of coordinated operation and processes without human interference [3].The base trend of Industry 4.0 development is the assignment of optimization functions to machines and mechanisms and customization of their operation in autonomous mode.A trend is now emerging, according to which the objects of industrial Internet will independently perform the monitoring of their operation, adjust the parameters sending data to the manufacturer for the elimination of machine design shortcomings and estimation of the remaining operation life of some of the machine components, replacement parts, expendable materials, depending on operation in specific geological mining and natural conditions, and climate.It means that one of the most significant aspects of the fourth industrial revolutions is the idea of mining machinery "oriented design service".For instance, for surface mining operations Komatsu has already designed a system of remote prediction of operability and condition monitoring of a diesel engine [4].The system envisages sending of daily statistics on the variation of shovel engine operation parameters to a remote operator.These parameters include: pressure, consumption of fuel, temperature and rpm of the engine.Komatsu engineers note [4] that this system including the necessary algorithms of data processing, namely, the estimates of the engine current conditions, identification of the source of abnormal behavior and, what is most important, forecast of the remaining operation life of the diesel engine, is a pioneer system.In the upcoming decades, mining machines and mechanisms will be virtually industrial robots [5][6][7][8], and their application will change the requirements to mining engineering systems design that in its turn will result in large-scale changes in the effect of mining engineering systems on human environment.

Materials and methods
The solution of the problem of human environment and working conditions at mines is based on the provision of the rationale of parameters and conditions of the implementation of an environmentally balanced cycle of comprehensive development of mineral deposits on the basis of the application of mining engineering systems with intelligent control [9].In this area, robotized technologies, automatic controls for mining and transport systems are being developed throughout the world.For design and perfection of mineral mining and processing processes it is important to find the solutions aimed at the development of resource-saving and resource-reproducing geotechnologies [10], elimination or minimization of human presence in danger zones of mining operations: development headings, faces and stopes, zones of intensive deformation of the rock mass, including those with dynamic rock pressure occurrence, areas with high radioactive background, unfavorable environment -high or low temperature of the rock mass, high gas content, low oxygen content or pressure of the atmosphere.Of significant interest is the establishment of fundamental objective laws of the interoperability of mining engineering systems employing industrial robots with the natural -human environment in the mining engineering system and in the affected area [11,12].
To provide the rationale of an environmentally balanced cycle of comprehensive development of mineral deposits on the basis of the application of mining engineering systems with intelligent control an approach has been proposed aiming at the creation of micro-climate zones characterized by particular, specified and controlled parameters of the environment listed above depending on the fact and periodicity of human presence in the zones of mining processes.-monitoring of simultaneous travel of several automated dump trucks on prescribed routes in autonomous control mode with a feature of remote control from the control center throughout the whole route; -monitoring of travel and condition of automated dump trucks, haulers, which are not furnished with autonomous/remote control equipment, and auxiliary machinery shown on the map, the required reporting, storage of the history of travel and events on a centralized server; -providing runs for loading and discharge in autonomous and remote control modes; -providing interoperability with the personnel for fuelling and maintenance of automated machinery in a dedicated zone; -stop and overspeed monitoring; -automatic identification of dump-truck hauls and routes; -remote monitoring of the condition of on-board equipment for autonomous/remote control and a feature of connectivity with the available dump-truck diagnostic systems; -keeping a supervisor informed on an accident hazard; -export and e-mailing of reports; -import of a mine map from mine surveying-geological and mine surveying systems.

Results and discussion
For remotely controlled machinery the following functions are typical: -remote control mode for machinery control; -displaying the main parameters at the operator's workplace; -augmented reality for a remote control operator.Various information helping the performance of control is displayed over the surveillance camera images; -control of location on the map with the display of auxiliary information: current condition of every unit (speed, coordinates, fuel level, etc.); -control of equipment condition and recording of machinery misuse; -keeping an operator informed on emergency situation, and failure to further travel in a remote control mode; -issue of shift tasks and formation of immediate reporting, shift reports and reports on other periods.
At a time one operator from the remote control point can remotely control one unit of equipment, and if needed, switch the control to some other machinery, thus having an opportunity of serving several units.
For drilling in autonomous mode a separate software module is provided, which performs the autonomous job of a drill rig and monitoring of drilling parameters.A drill rig is directed to boreholes and drills the rock mass without interference of an operator.The module performs the following functions: -automatic recording of task performance; -automatic monitoring and control of a drill rig position; -collection of production and technical information on the equipment condition; -collection and accumulation of geological data generated in the process of drilling; -automatic collection of information about actually drilled boreholes (there is no need for mine surveyor to take measurements of actually drilled boreholes).
An autonomous drill rig performs the following processes without interference of an operator: -direction to planned boreholes; -platform alignment; -drilling, including rod handling; -monitoring of drill rig location on the map with the display of auxiliary information: current condition of each unit (speed, coordinates, fuel level, etc.).
Transmission of accurate information on drilling location to an on-board computer of a drill rig together with the use of a high-accuracy navigation system also helps eliminate the problem of low-quality drilling and blasting processes -great share of oversize.
The efficiency of coordinated operation of separate modules is determined by a module of static optimization.This module is activated by a supervisor from the operating control module, and it displays the results of its operation in a window of an operating control module.It automatically performs the initial distribution of dump trucks at the beginning of a shift by route groups, and redistribution of machines in the course of a shift in case of open pit situation changing (breakdown of a shovel, changes in quality requirements of ore supplied to a processing plant, etc.).The results of this module operation are used as source data for the module of dynamic optimization.The module of dynamic optimization performs the redistribution of robotized dump trucks within each optimized group in the course of a shift in compliance with the specified criteria of optimization.It is automatically activated after each discharge of a dump truck and in automatic mode transmits the instructions to the control system of a dump truck if a change of its route is needed.Change of the route is also displayed in a window of the operating control module.Change of a dump-truck route is also envisaged in a semi-automatic mode, when the system issues a notification to a supervisor on the necessity of changing a route, and a supervisor takes a decision.
One of the most important control elements of the Intelligent Mines system is a module of maintenance and repair planning.This module becomes a logical complement of accounting of all service factors of machinery operation and provides impartial estimation of time to the subsequent maintenance and repair forming the chains of intervals between maintenance and repair for equipment and machinery by motor-hour, mileage or time.Estimated time of maintenance can be adjusted manually for optimal operation of maintenance and repair crews.Maintenance planning and repair mechanism (hereinafter referred to as M and R module) provides the solution for the following tasks:  keeping the directory of maintenance intervals.Intervals can be specified by time, mileage and motor-hour.Eventually, this information is used in automated calculation of the subsequent maintenance and repair process. automatic prediction of the date of the subsequent planned maintenance and repair based on the information about motor-hours, mileage or time, with a feature of manual input and updating of information.This form is intended both for planning and for accounting of actually performed work. accounting for mobile object availability in the formation of a shift job order.
For combined surface-underground geotechnology mining engineering systems are zoned depending on geological and mining conditions of deposit development.For instance, with a significant depth of transition from surface to underground mining zero entry zones will include in addition to the above listed the bottom elevations of an open pit (fig.2), which are poorly ventilated areas, as well as deposit sites of the surfaceunderground level.For instance, in conditions of combined development of the Trubka Udachnaya deposit open pit dimensions are large in plan and in depth.Steep slope angles, risks of aggregation of mined material due to slumping, consolidation or freezing, formation of non-drainable slurry-like material in an open-pit shell, inrush of gases, pressure water or slurry to mined-out areas make preferable the mineral mining technology in "ore triangles" and open-pit bottom, which does not require human presence in a stoping zone.Without human presence in this zone the ventilation parameters can be any and they