3.1 Strategic Considerations for Mixed Fleet Open Autonomous Underground Haulage

Before delving into the specifics of the technology, it's critical to establish a clear strategy for implementing open autonomous haulage in an underground environment. The strategy will influence the design, infrastructure, and operational protocols of the haulage system, and as such, must align with the specific needs of the mining operation, regulatory requirements, safety standards, and long-term objectives.

A well-defined autonomous haulage strategy considers not only the technological capabilities but also how autonomous vehicles (AVs) will safely integrate with existing personnel, vehicles, and infrastructure. Below, we outline several strategic options, along with their respective pros and cons, to aid in this decision-making process.

3.1.1 Safety Gates (leveraging AI-Driven Perception and Planning with Safety and Controlled Routes, but without UWB/SLAM)

Overview: This approach is most closely related to the primary technology strategy for open-pit autonomy, though requiring some tailoring to the underground environment. It focuses on creating tightly controlled haulage routes supported by safety gates and barriers, which limit the interaction between AVs and personnel. AI-based systems guide the AVs along predefined paths, ensuring they follow precise, safe routes.

Pros:

• Increased safety: Safety gates and barriers significantly reduce the risk of accidents by separating AVs from personnel and manual vehicles.
• Reliability: Predefined paths and controlled routes minimize operational complexity, allowing for predictable vehicle movement and reducing system errors.
• Clear traffic management: Well-established traffic protocols prevent route conflicts and optimize haulage efficiency.

Cons:

• Reduced flexibility: This approach is less adaptable to changes in the environment or spontaneous personnel movement, which may lead to operational bottlenecks.
• Higher infrastructure costs: Installing safety gates and controlled routes increases upfront capital costs and requires ongoing maintenance.
• Restricted human-AV interaction: The strict separation may limit operational flexibility, particularly in mixed-use environments where manual and autonomous tasks need to be performed in tandem.

3.1.2 Fully Open Environments (leveraging technologies like SLAM and UWB)

Overview: This approach is most closely related to the functionality of autonomous haulage in open-pit mining, though with a different technology strategy. Leveraging SLAM (Simultaneous Localization and Mapping) and UWB, this strategy allows AVs to operate in dynamic, open environments where they navigate and adapt to changing conditions without relying on safety gates or barriers.

Pros: