Past Cases

Orepass Scan with SWECO in LKAB Mines, Kiruna, Sweden

With the help of an equipped crane from SWECO, the TILT Ranger drove (ground mode) in through the aperture till it met the orepass, which was inclined at about 60 degrees then took off in flight mode.

In another run the Ranger was lowered while being attached to an extended boom. It remained active, powering up to navigate obstacles and re-orient using its rotors while in air.

Vertical Shaft Test in Lovisagruvan Mine, Stråssa, Sweden

As vertically inclined shafts remain one of the most challenging zones to scan. A pre-commercial prototype of the TILT Ranger, incorporating tilt-rotor and hybrid fly/drive/climb capacity was tested, to inspect a ventilation shaft in Lovisagruvan.

Description of zone:
– 1m diameter
– 50 m length
– 10 degree inclination from vertical
– 90% bare rocky, with concrete rings on top

Description of system:
– TILT ranger prototype with photo-sensors (on-board FPV and action cameras)

Orepass-like scan for Boliden Mines, Garpenberg, Sweden

Later prototypes of the TILT Ranger were used for scanning an orepass-like zone in Boliden’s mine in Garpenberg. In the first run, the Ranger was first lowered using its ground navigation mechanism (wheels) without flying, while being activated to maneuver – through flight- any obstacles.

The second run was through a powered flight descent. Both runs had the laser scanner active.

Scans were processed through SLAM to create a 3D map/model of the zone. The models were combined to make for a more accurate representation. Furthermore, a 3D print of the zone followed.

Description of zone:
– 25 m (estimated) height
– 10 m approx. diameter

Description of system:
Two TILT Ranger prototypes, equipped with a 3D laser scanner from Clickmox Solutions

Vertical Shaft/Cage Inspection for Rambler Mines, Canada

A significant complication of that mission was the continuous water pouring from above in all three cages thus we had to mitigate this issue by covering the cage of interest with a tarp. This reduced the water to about 50% of the quantity falling over the drone and the drone and all its systems proved to tolerate mild-rain-like precipitation.

Description of zone:

– Three-cage vertical shaft at level 1500
– 1.5 x 1.8 meters cross section per cage (descent in the central one
100+ meters depth
Time since arrival at site to mission starts: about 30 min
Descent time: about 12 min
Ascension time: about 5 min

Assess the 30-years-old shaft condition for posterior rehabilitation

Description of system:

– TILT Ranger commercial drone, equipped with a 3D laser scanner from Clickmox Solutions
Descent via rope using the drone stabilization system to control the position and rotation during descent and to orient the drone and cameras to interesting areas.
Three-camera real-time live feed to guide the descent

Stope Scans for Glencore's Nickel Rim South Mine, Canada

– Create a 3D map of an unsupported stope using the TILT Ranger drone with Clickmox’s 3D scanning system.

Description of zone:
– Stope
– About 15 x 20 meters cross section, 35 to 40 meters height
– Time since arrival at site to mission starts: about 25 min
– Total mission time: about 4 min

Description of system:
– TILT Ranger commercial drone, equipped with a 3D laser scanner from Clickmox Solutions.
– Operator to unsupported area was about 15 meters and about 10 meters after the stope started.
– The TILT Ranger was flown via real-time video live feed of the onboard cameras from the access area.
– The drone went to up to an approximate height of 15-20 meters due to difficulties with the overall lighting conditions (too much light on the access ceiling made the high sensitivity live feed camera to darken all the image. Best to fly on dark environments).

Water tests

An early prototype of the TILT Ranger was tested for water resistance. A short stunt where the Ranger was driven on land mode, flight and then till semi-submergence in a lake, then took off in controlled flight to demonstrate water resistance.

Stope Scans for Underground Gold Mines in Loulou, Mali (Africa)

The TILT Ranger was commissioned to scan three inaccessible stopes in an underground gold mine in the Mali. BVLOS (Beyond Visual Line of Sight) flights were conducted for some stopes.

Current solutions they use (boom-mounted CMS) can’t scan certain spots, creating blind zones. Such data is critical to mine operators and surveyors.

For two stopes, a 3D model was generated using the application of SLAM to the laser scan acquired. For the third stope, intense smoke prevented the scan from completion.

Radio Range Tests in Atlas Copco Test Mines, Nacka, Sweden.

This was done to test different video and radio control systems to maximize beyond-line-of-sight (BLOS) reach in underground missions.

Range test drone is a small unit carrying the RF systems and cameras only.