Proceedings of 43rd INCA International Congress, 06-08 November 2023,

Jodhpur, India.
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1 ENHANCING MINING EFFICIENCY AND SAFETY WITH AUTONOMOUS

2 DRONE TECHNOLOGY

3 Cyriac Joseph [1], Darshana Kumare [1], Amogh Gudekar [1], Satya Prakash Balooni [2]
4 [1,2] SQUADRONE INFRA AND MINING PRIVATE LIMITED.
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8 Abstract: Recent technological advancements, particularly in the domain of autonomous drones, have catalyzed a
9 transformative era in the fields of volumetric analysis and geotechnical observations. These advancements have
10 opened up opportunities for gathering data in areas that were once difficult to access, sparking a significant transfor-
11 mation in the mining industry. This study investigates the capacity of the "MagArrow," a drone-based Magnetometer,
12 to conduct geophysical surveys aimed at identifying valuable mineral deposits. The MagArrow is distinguished by its
13 remarkable precision and cost-effectiveness. Furthermore, this paper meticulously delineates a comprehensive
14 methodology for deploying drone-based Ground Penetrating Radar (GPR) as a non-destructive geophysical technique
15 for prospecting. GPR excels in delivering intricate subsurface information with exceptional cost-efficiency and effi-
16 cacy, especially when coupled with other geophysical modalities such as magnetic and electromagnetic surveys. Fi-
17 nally, the paper introduces the Hovermap platform, a cutting-edge autonomous mapping solution founded on Simul-
18 taneous Localization and Mapping (SLAM) technology, meticulously tailored for underground mining applications.
19 Hovermap not only amplifies accessibility and data security but also emerges as an indispensable tool for augmenting
20 mining operations and fortifying safety protocols through the integration of specialized payloads. Utilizing drones for
21 mapping has significantly enhanced both the safety and efficiency of workflow processes. The MagArrow technology
22 has amplified cost-effectiveness and efficiency when it comes to delineating mineralized zones during mineral explo-
23 ration. Ground-penetrating radar (GPR) stands out as a non-invasive technology for efficiently mapping geotechnical
24 and lithological features, particularly in shallow-depth mineral exploration. The introduction of autonomous drones
25 into the mining sector not only enhances safety for both humans and machinery but also streamlines and boosts the
26 overall efficiency of the mining process.

27 Keywords: Drone Based; Hovermap; MagArrow; Ground Penetrating Radar

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37 1. Introduction

38 Geophysical Survey Using Drone-Based Magnetometer - MagArrow

39 The purpose of this article is to explore the potential of using a drone-based Magnetometer - MagArrow for the
40 exploration of mineral deposits through drone-based geophysical exploration. This study will focus on evaluating this
41 method's accuracy, effectiveness, and cost-effectiveness of this technology. Geophysical studies were carried out using
42 a drone-based magnetometer (MagArrow) at a known test site for Critical Mineral deposits by Squadrone Infra and
43 Mining Private Limited. In every case, drone magnetometers have many scientific benefits in the basket. The
44 advanced technology of the cesium vapor helps in identifying the magnetic intensity of the earth’s magnetic field
45 which also helps in omitting the unwanted areas for drilling or mineral exploration.

46 Geophysical Survey Using Drone-Based Ground Penetrating Radar (GPR)

47 Prospecting using drone-based ground penetrating radar (GPR) is a geophysical method that transmits
48 electromagnetic waves underground and measures the reflected signal to identify subsurface features, including non-
49 ferrous minerals. Drone-based GPR works by sending high-frequency electrical signals to the ground using a
50 transmitting antenna. The pulse travels on the ground and interacts with the underground data, returning to where it
51 was detected by the antenna. The reflected signal is then processed to create an image of the underground. The
52 minerals have dielectric properties that differ from the surrounding rocks and soil, which can cause them to reflect
53 electromagnetic (EM) waves differently and create a unique signature. This signature can be used to identify the
54 presence of non-ferrous minerals.
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55 GPR is a non-destructive method that can provide detailed information about subsurface features, including their
56 depth and dimensions. It can be used in many places, especially in rocky terrain and green areas. It is also fast and
57 cost-effective compared to traditional drilling and sampling methods. The transmitted EM signal is also attenuated or
58 scattered by certain ground materials such as clay or water. Additionally, GPR surveys require trained personnel and
59 specialized equipment, increasing research value. GPR has shown great results as a mineral exploration tool,
60 especially when combined with other geophysical methods such as magnetic and electromagnetic surveys. This article
61 aims to contribute to the growing research on drone-based technologies for mineral exploration by using drone-based
62 Magnetometer and drone-based Ground Penetrating Radar.

63 Evolution of Hovermap

64 Underground mining operations are perennially plagued by an array of formidable accessibility challenges. Mines
65 grappling with additional complexities, such as the ever-present specter of seismicity, finding effective hazard
66 management, an even more Herculean task. Over the past few decades, a noticeable decline in companies' willingness
67 to subject their workforce to such perilous conditions has become increasingly apparent. Simultaneously, the growing
68 emphasis on safety has translated into heightened demands on labor, time, and costs associated with conducting
69 additional inspections.

70 In this milieu, the development of an autonomous drone-based mobile mapping platform emerges as a pragmatic and
71 imperative solution to these multifaceted challenges. This innovative platform facilitates remote data acquisition from
72 areas that would otherwise remain inaccessible due to pressing safety concerns, thereby enabling inspection and
73 analysis without imperiling the well-being of personnel. The transformative solution presented herein involves the
74 integration of a specialized payload, equipping commercially available drones with the capacity to navigate
75 seamlessly in GPS-denied environments. This ensures the secure acquisition of vital data in the harshest and most
76 hazardous terrains. In essence, this approach not only serves as a potent risk mitigator but also serves to optimize
77 mining operations, paving the way for safer and more efficient practices within the mining industry.

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82 2. Materials and Methods

83 2.1. Methodology of Drone-Based Geophysical Survey Using MagArrow for Mineral Exploration.

84 Drone-based geophysical surveys using magnetometers are becoming increasingly popular for mineral exploration,
85 and environmental and archaeological research.
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86 Nonferrous metal minerals such as copper, gold, silver, and zinc often have strong magnetic fields due to the presence
87 of iron-bearing minerals in their geological setting. By measuring the magnetic gradient, the MagArrow can pinpoint
88 the location of minerals.

89 MagArrow is based on a Cesium vapor magnetometer which is highly sensitive, stable, and has the ability to measure
90 both the magnitude and direction of the magnetic field. Flight routes should cover the entire target area with sufficient
91 overlap between adjacent flight routes. The drone must maintain altitude and speed at all times, and magnetometers
92 must be calibrated before each flight. Make sure the areas your drone can fly in are safe and legal.

93 The collected data are processed with special software to remove background noise and extract magnetic anomalies
94 caused by minerals. The resulting data can be displayed as contour plots or 3D models to visualize the distribution
95 and intensity of mineral deposits. Interpretation of the processed data to identify areas of potential mineralization and
96 prioritize further exploration. Additional geological and geophysical data can be combined for better interpretation.
97 Drone-based geophysical surveys using magnetometers are just one tool in mineral exploration, and results should be
98 confirmed by surface surveys and other exploration methods. An in-depth understanding of the geological setting
99 and expected pattern of mineralization of the area is essential to ensure the effective development and execution of
100 exploration programs.

Figure1: Drone Based Figure2: Illustration of

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Magnetometer MagArrow Flight Path
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108 2.2. Methodology of Drone-Based Geophysical Survey using Ground Penetrating Radar (GPR) for Mineral Explora-
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110 Drone-based geophysical exploration using ground-penetrating radar (GPR) for mineral exploration can provide
111 valuable data for identifying underground mineral deposits.
112 Ground Penetrating Radar (GPR) is a non-invasive geophysical method used to image and detect objects or
113 subsurface features by sending electromagnetic pulses into the ground and analyzing the reflections that bounce back.
114 It's commonly used for mineral exploration, archaeological, geological, environmental, and engineering applications.
115 GPR system consists of a transmitter and a receiver antenna. The transmitter emits short bursts of electromagnetic
116 waves, typically in the microwave frequency range. Electromagnetic waves travel through the ground and encounter
117 different materials with varying electrical properties, such as soil, rocks, water, and buried objects, they behave
118 differently.
119 Drones equipped with GPR can cover a wide area quickly and efficiently. This is particularly useful for large-scale
120 surveys or areas that are difficult to access on foot or with vehicle. Aerial GPR can provide high-resolution imaging of
121 the subsurface due to the ability to maintain a consistent height above the ground and cover the survey area
122 systematically.
123 Drone-based GPR systems offer real-time data analysis, allowing operators to make informed decisions during the
124 survey itself. Combining drone-based GPR with other technologies such as LiDAR (Light Detection and Ranging) can
125 create accurate 3D maps and visualizations of subsurface features, enhancing the understanding of the surveyed area.
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145 Figure 3: Drone Based Ground Penetrating Radar –
GPR
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152 2.3. (a) Method-
153 ology of
154 Drone-Based
155 Hovermap
156 To effectively em-
157 ploy Hovermap with a drone for data collection and obstacle avoidance, follow a defined sequence. First, securely at -
158 tach Hovermap to the drone. Power on the drone to initiate Hovermap. Establish a Wi-Fi connection between a tablet
159 and Hovermap for control. Ensure the operator's safe location away from hazards. Access tablet settings for collision
160 avoidance and Visual Environment Sensing and Avoidance (VESH) configurations. Assign a unique operation name.
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161 Hovermap begins with an initial scan, creating a localized map. Carefully take off and guide the drone to waypoints
162 or a rally points. Hovermap, using Simultaneous Localization and Mapping (SLAM), autonomously detects and navi-
163 gates around obstacles. As the drone reaches the target area, it maximizes coverage of the Area of Interest (AOI). A
164 live point cloud data feed is sent to the tablet for real-time monitoring and adjustments. This visual feedback ensures
165 comprehensive coverage. When satisfied with the scan's extent, command the drone to return home. It efficiently re -
166 traces its path, avoiding obstacles. Upon a safe landing, the mission is a success, providing secure and comprehensive
167 data collection through Drone-based Hovermap integration,
168 (Figure 4: Drone Mounted Hovermap)
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170 2.3. (b) Methodology For Handheld Hovermap
171 To deploy the Hovermap system effectively, it's essential to ensure proper setup and operation, tailored to the specific
172 requirements of the mission. Initially, the Hovermap device should be securely mounted in the appropriate configura-
173 tion, either handheld using a handle or attached to a backpack, which is particularly useful for longer scan times or
174 when traversing challenging terrain. The power source is provided by the battery connected to Hovermap via a cable.
175 Establish a Wi-Fi connection between Hovermap and a tablet for data visualization and control. Once the connection
176 is established, assign a mission name and commence the operation. Proceed along the designated path that covers the
177 target area, adjusting the walking pace to align with the desired level of resolution and detail needed for the task. A
178 live feed of the visualization will be displayed on the tablet connected to Hovermap, facilitating real-time monitoring.
179 During this phase, it's important to be vigilant for any potential blind spots in the scan coverage and take corrective
180 action as required to ensure comprehensive data collection. Upon successful coverage of the target area, cease the
181 scanning process, and disconnect the power supply to Hovermap. With
182 these steps completed, the mission can be considered successfully accom-
183 plished, with data collected as needed for further analysis and evaluation.
184 This approach allows for flexibility in data collection, accommodating dif-
185 ferent terrain conditions and scan duration requirements.
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188 (Figure 5: Handheld Hovermap/Bag pack)
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191 2.3. (c) Methodology for Vehicle-Mounted Hovermap
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192 To effectively integrate the Hovermap system with a vehicle for data collection, a series of meticulous steps should be
193 followed. Begin by securely attaching the specialized mountings designed for Hovermap to the vehicle. It's crucial to
194 ensure that these mountings are strongly affixed, and it's advisable to perform a double-check to confirm their stabil-
195 ity. Once the mountings are in place, proceed to mount the Hovermap device onto these fixtures, taking care to secure
196 it adequately. If necessary, provide additional support to ensure that the device remains stable during the operation.
197 Next, establish a reliable power supply for Hovermap by connecting it to a
198 battery via the appropriate cable. Ensure that the connection is secure to
199 prevent any interruptions during the mission. Establish a Wi-Fi connection
200 between Hovermap and the tablet for data visualization and control. With
201 the connection successfully established, assign a mission name and initiate
202 the operation. It's important to adhere to a speed limit of no more than 20
203 km/h for optimal results during data collection. This controlled speed al-
204 lows for accurate data acquisition and minimizes potential inaccuracies in
205 the scan. As the vehicle moves through the Area of Interest (AOI), Hov-
206 ermap will collect the required data. Once the designated AOI is com-
207 pletely covered, halt the scanning process, and proceed to safely unmount
208 the Hovermap device. Following these meticulous steps ensures a system-
209 atic and effective approach to vehicle-based data collection using Hov-
210 ermap, facilitating precise and comprehensive results.
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239 3. Results

240 3.1. Results for Drone Based Magnetometer (MagArrow).

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254 Figure 7 - Drone-based Magnetic Anomaly Map

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256 Advantages of Drone-Based Magnetometer.
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258  Efficient in Critical Mineral prospecting in severe terrain, harsh Deserts, and inaccessible areas.
259  Mineral Prospecting in thick forests without disturbing the ecology
260  Mineral Prospecting in densely populated areas-villages, towns, without entering the area.
261  Very high-resolution outputs with LOW-flying SLOW-flying.
262  No approach roads required
263  Precision flying in harsh terrain Excellent for highly detailed magnetic survey, water detection,
264 boreholes, well detection Centimetres data sampling intervals
265  Fully autonomous flight of Magnetic sampling at 1000 samples per second

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271 3.2. Results for Drone-Based Ground Penetrating Radar (GPR)

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Figure 8 (a) Isosurfaces

in 3D highlighting
anomalies.
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273
274 Advantages Drone-Based Ground Penetrating
275 Radar (GPR)
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277 • Lithological Characterization and
278 Stratigraphic Modelling
279 • Tailing dam in mines ((Strength & Leakage
280 analysis))
281 • Cavity – land//underground monitoring
282 • Mineral prospecting.
283 • Detection of Underground tunnels, Structures, and pipe leakages.
284 • Stability Analysis and Subsidence Evaluation
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287 3.3 Hovermap Outputs

Figure 8 (b) The output from the

GPR data captured shows the
different lithological values of
permittivity.

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(Figure 10: Draw point Inspection)

(Figure 9: Digital Twin of Stope)
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309 5. Discussion
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310 The paper explores the application of drone-based technologies in geophysical surveys for mineral exploration, with
311 a specific focus on two primary methodologies: Drone-Based Magnetometer (MagArrow) and Drone-Based Ground
312 Penetrating Radar (GPR), in addition to the innovative Hovermap technology for data collection in challenging min-
313 ing environments. Drone-based magnetometer (MagArrow) stands out as a promising tool for mineral exploration.
314 It excels in diverse terrains, including deserts, dense forests, and populated areas, eliminating the need for access
315 road construction and proving cost-effective. MagArrow autonomously conducts high-resolution magnetic surveys,
316 collecting data at an impressive rate of 1000 samples per second. This data is crucial for identifying mineral deposits
317 and mapping magnetic anomalies, resulting in significant time and cost savings compared to traditional approaches.
318 Drone-Based Ground Penetrating Radar (GPR) is also examined as a valuable asset in mineral exploration. GPR pro-
319 vides detailed insights into subsurface features, aiding in lithological characterization, stratigraphic modeling, and
320 stability analysis. Its capabilities extend to detecting underground tunnels, structures, and pipe leakages, which are
321 vital for safety and environmental concerns. The speed and cost-effectiveness of GPR make it an attractive choice, es-
322 pecially in challenging terrains. The innovative Hovermap system is introduced to address challenges in inaccessible
323 and hazardous mining environments. It enables secure data acquisition through specialized mounts and drone inte-
324 gration, adaptable to various configurations. Hovermap enhances safety and efficiency by creating 3D maps and vi-
325 sualizations of subsurface features, while real-time data analysis and obstacle avoidance capabilities further improve
326 data collection. The research underscores the growing importance of drone-based technologies in mineral explo-
327 ration. These tools enhance safety, accuracy, efficiency, and cost-effectiveness in the mining industry, contributing to
328 sustainable development. As technology continues to advance, its role in mineral resource discovery and extraction
329 is expected to expand.

330 6. Conclusions
331 In conclusion, the methodologies outlined for drone-based geophysical surveys using MagArrow, Ground Penetrat-
332 ing Radar (GPR), and Hovermap represent innovative and efficient approaches to mineral exploration and data col-
333 lection. These methods harness the power of modern technology to overcome traditional challenges associated with
334 mineral prospecting in diverse terrains and environments. Drone-based magnetometer surveys with MagArrow
335 demonstrate the utility of utilizing drones for geophysical data collection, particularly in challenging landscapes
336 such as deserts, dense forests, and populated areas. The high-resolution data obtained through low and slow-flying
337 drones provide valuable insights into mineral deposits and subsurface features. Furthermore, the fully autonomous
338 flight capabilities of MagArrow ensure precision in data collection. Drone-based GPR surveys offer a non-invasive
339 means of detecting subsurface features and are adaptable to various applications, including lithological characteriza-
340 tion, tailing dam analysis, and stability assessments. The ability to cover large areas efficiently and obtain high-reso-
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341 lution data enables precise mineral prospecting and the detection of underground structures and pipe leakages.
342 Hovermap, whether mounted on drones, handheld devices, or vehicles, provides a comprehensive and flexible solu-
343 tion for data collection, particularly in complex and rugged terrains. Its ability to autonomously detect and navigate
344 around obstacles ensures the safe and effective coverage of the target area. Real-time monitoring and data visualiza-
345 tion enhance the quality of the collected data, making it a valuable tool for mineral exploration and geological inves -
346 tigations. These methodologies represent a significant advancement in the field of mineral exploration. They offer a
347 combination of efficiency, accuracy, and adaptability, making them invaluable tools for identifying mineral deposits,
348 subsurface features, and geological structures. When applied alongside traditional exploration methods and geologi-
349 cal knowledge, they contribute to a more comprehensive and effective exploration process, ultimately leading to the
350 discovery and evaluation of mineral resources.

351 References
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