Design of an adaptive coal mine rescue robot using. The robot used in coal mine tunnel must have many special features like flameproof body parts which are different from other onground robots. Johnson dappolonia, monroeville, pa introduction the need to understand the location of abandoned workings has recently been high. An articulated robotic scanner for mine detection a novel approach to vehicle mounted systems y. The status of mine fire research in the united states cdc. Apr 01, 2011 coal mine fire is a major problem in jharia coal field jcf. Research on detection system for coal mine detection robot based on the technology of information fusion abstract. A 3 1 scse, university, vellore, india 2, 3 sense, vit university vellore, india. After the coal mine accident, to get information of the coal mine accident has become the key of disaster rescue and relief, and after disaster, the environment is very bad, the rescueworkers cant arrive at the scene of the accident to obtain information at the first time, so the coal mine rescue robot was brought into being, it can reach the place where the person hard to go to implement the. So developing the coal mine detecting and rescue robot for mine rescue has a very important meaning. Robotics, driverless tech are taking over mining jobs. Gas concentration prediction based on the measured data of a.
A distributed location algorithm for underground miners based. Coal mine detect and rescue robot technique research. Detection of poisonous gases using mini robot in coal mining area. The robot mapped 40 m of the abandoned coal mines in teleoperated mode and 308 m in autonomous mode. The functionality of the robots and if available their technical parameters were described. The coal mine rescue robot s walking speed is 1 ms, and after every 0. An analysis of mine safety and health administration data calculated the crude incidence of reported heat illness by mine sector.
Research perspective mobile robots in underground mining. We hope to achieve this in every coal mine across the country. Mines safety and inspection regulations 1995 contents page ii version 06d006 as at 24 jan 2017 published on. The mine safety and health administrations msha final rule requires underground coal mine operators to equip continuous mining machines, except fullface continuous mining machines, with proximity detection systems.
Coal mine detect and rescue robot is a kind of mobile robot. Wireless robot for personal mine detection and extraction equipped with a wide range metal detector sensor w. The robot is guided by an android application that allows it to scan the infected area, while a beat frequency oscillator is used as mine detection sensor placed on servo motor in front of the. This project deals with design and fabrication of coal mine gas detection robot articulated track robot aimed to identify gases inside the coal mine and know the environmental conditions of coal. It is carried out in a framework of a eu programme of the research fund for coal and steel under the grant agreement no. Automatic land mine detection and sweeper robot using microcontroller bharath j1 corresponding author. The capability of improved mine ventilation models, such as those created with mfire 3. There are two key issues behind the drive to develop ever more sophisticated autonomous and remote technologies safety and the shortage of skilled and unskilled workers. This work has four main objects, to survey previous research about mine detection, to collect signature data for future research, to experiment with the surveyed methods and collected data, and to propose an idea for an. The coal mine detection robot lurker1 developed by the robotics research centre of shandong university and the one developed by taiyuan university of technology dont meet the explosionproof. Pdf a marsupial robot with strong practicability for coal mine rescue is presented with the discussion and analysis to the complicated environment in. It can go into explosion environment and detect gas content, temperature, etc.
An overview of coal mine rescue robot and its navigation. The system comprises a communication module, an environment perception module, a self perception module, a barrier avoidance module, a motor drive module, an autonomous navigation module, a data acquisition control module, a visual perception. While there were fewer coal mine employees in the united states in 2014, the average production per employee hour increased by 7. The status of mine fire research in the united states. Researcharticle method for effectively utilizing node energy of wsn for coal mine robot xiliangma 1,2 andruiqingmao1 xuzhouinstituteoftechnology,xuzhou,jiangsu,china. Li xiangong,reliability evaluation of coal mine iot,ieee ind. Robot takes on landmine detection while humans stay very. International journal of mechanical and production engineering, issn. The robot is used to get in to the disaster zone and detection of research operations. In order to decrease the weight of the coal mine detection robot as possible, pressurized enclosure explosionproof type is. For detection of underground mine workings archived. Robot can go in to mine and detect butane levels, temperature, gas contents. Research on detection system for coal mine detection robot.
Mine gases pdf files you can use in your safety training programs. Conclusions this paper summarizes the domestic and international development status of coal mine detection and rescue robots firstly. Detection of hazardous gas using land rover robot in mines. Robot patrols the mine in certain orbit and whenever there is any detection or leak of gas it will trigger the alarm as a indication of warning. Number objective status detect the toxic gases emitted from the achieved. Hydraulic technology design of mine fire extinguishing robot.
Of special interest is the development of semi or fully autonomous systems to provide remote guidance and communications for coal mining equipment. Method for effectively utilizing node energy of wsn for coal. Mine detection techniques using multiple sensors cheolha pedro lee. Especially after coal mine disaster, rescuer doesnt know mine tunnel situation. Mine detection robot can be substituted or partial. An environment adaptive rescue robot is an ideal tool to handle the coal mine disaster. Today, the international business of mining is a heavily mechanized industry that exploits the use of large diesel and electric equipment. Iot based mine safety system using wireless sensor network roopashree k1, srujana2 b k, suma p3, suma g4. Research and application of coal mine rescue and detecting robots. Autonomous landmine detecting and mapping robot open. Land mine detecting robot capable of path planning ieee. The zigbee technology is used along with rf transceivers to carry out cheap and efficient wireless communication. Zlot and bosse 2014 describe the mapping of a large, active underground mine.
Characteristics of the detected gas coal mine detection robot mainly detects mash gas and carbon monoxide. The main task of mine robots is to achieve environmental detection and search missions in coal mines. Cumt1, the first generation of coal mine disaster rescue robots in china. Coal mine is a dangerous place in which many fatal factors menace miners life. Mine detecting robot using wireless tecchonology and iot. Koutb abstract this paper deals withdesign and implementation of a novel low cost four wheels mine detection and extraction robot. An articulated robotic scanner for mine detection a novel.
To achieve an agile and accurate motor control performance on coal mine detection robots tutcmdr, fuzzypid control and its model building method in the simulink environment are explored. The landmine detecting robots are designed to cover maximum possible area of landmine field for detection of landmines. Coal mine rescue robot, temperature sensor, hazardous gas detector. Hazardous gas detecting method applied in coal mine. Coal mine detect and rescue robot design and research. Introduction the modern world and its researches has made a tremendous change in. These robots are effective but cost of robot is very high. Vintage uk document on mine gases and gas detection including information about the flame safety lamp. May 11, 2016 in this project, robot finds mines under the ground, robot has tracking system of sun for charging, robot can be tracked on the map via gps system. The surface and subsurface mine fire areas can be detected with different type of techniques like borehole temperature measurement, geophysical methods, thermocompositional analysis, thermographic measurement, airborne remote sensing and spaceborne remote sensing techniques. The program offers health screenings for coal miners and allows researchers to identify trends in disease across the nation.
The encountered problems and solutions in the development of. Nextgen coal mining rescue robot sandia national laboratories is trying to make coal mining safer and more survivable. When underground mine accidents occur, location of rescue robot and two way communications between robot and. Acknowledgements the authors would like to thank the yankuang group coal mine rescue corps which offers several opportunities for the detection robot to be tested in coal mine.
Study of unmanned vehicle robot for coal mines ijirae. How might robots play a role in the mining industry. The reason why you want to have a robot doing mine detection is fairly obvious. Mining is the practice of extracting resources for utilitarian purposes. Hazardous gas detecting method applied in coal mine detection robot abstract. Proximity detection systems for continuous mining machines in. The robot used in coal mine tunnel must have many special characters which are different from other robots on ground. Nov 29, 20 hazardous gas detecting method applied in coal mine detection robot 1. Design of mine detection robot for korean mine field. Scholar makes robots that detect land mines harvard gazette. This paper presents a prototype model of land mine detecting robot that is powerful yet low cost and easily controllable.
Coal mine detect and rescue robot technique research ieee xplore. In this project, robot finds mines under the ground, robot has tracking system of sun for charging, robot can be tracked on the map via gps system. This paper presents the critical design constraints of mine detection robots for korean minefield. Mechanism and explosionproof design for a coal mine. Nov 07, 20 the objectives or requirements expected from the project and its status and explanation in the end. This paper presents a system of robots sensors and obstacle avoidance which suitable. Abstractin this paper, we present the design and construction of a mini robot for poisonous gas detection in mining areas. The application of robotic technology, although very limited in. This paper introduces a coal mine detect and rescue robot. Geophysical technologies for detecting underground coal mine voids, lexington, ky, july 2830, 2003 applications of the electrical resistivity method for detection of underground mine workings by william j. China have a large of coal resources, while the accidents due to gas explosions, gushing water, fire and other factors often happened every year.
As a part of a demining robot development project, the environment of korean minefield was. Hazardous gas detecting method applied in coal mine detection robot embedded systems ieee project topics, robotics base paper, synopsis, abstract, report, source code, full pdf, working details for electronics science electical engineering, diploma, btech, be, mtech and msc college students. Also the robot shall be able to detect 5090% of landmines antipersonnel mines and mark the. As one of the largest coal production and consumption countries in the world, many countries are having related accidents occurred frequently such as gas explosion, flood. The coal mine rescue robots walking speed is 1 ms, and after every 0. When some disasters occur, it may be very dangerous for rescuers to go into mine tunnels to search survivors.
This paper describes a main control system mcs and 3d map subsystem of the mobile robot telerescuer for inspecting coal mine areas affected by catastrophic events. This chapter presents an overview of the state of the art in mining robotics, from surface to underground applications, and beyond. Land mine detecting robot capable of path planning muhammad zubair, muhammad ahmad choudhry department of electrical engineering, university of engineering and technology, taxila, pakistan. Coal mine robot for detection of hazardous gas ijareeie. It is very dangerous to go into mine tunnel without environment detect because second explosion may occur. As one of the largest coal production and consumption countries in the world, china is also one of the related accidents occurred frequently countries such as gas explosion, flood, breaking out of fire during the exploitation of coal mine. Since the coal mine is the highest degree explosive gases atmosphere, the coal mine detection robot itself can not be the source of explosion and must meet the mine permissible requirements. The mash gas is the generic terms of the mixed gas which mainly make up of methane ch4 in the underground of the coal mine. Coal mining and production industry description and practices coal is one of the worlds most plentiful energy resources, and its use is likely to quadruple by the year 2020. Environmental detection and search and rescue have. It is targeted at solving the navigation problems that exist on other lowcost mine detection robots. The use of robots in the mine detection field from distance can improve gigantically the process, while the beat frequency oscillator for.
With the help of this mobile robot, the loss due to coal mine disaster can be reduced and efficient rescue operation can be carried out. A sensor also called detector is a converter it can measures a physical quantity and converts it into a. The gas concentration prediction experiments based on the coal mine rescue robotmeasured data are carried out in the coal mine tunnel. Hazardous gas detecting method applied in coal mine detection robot 1. Coal mine gas chart mine gas chart containing all pertinent information related to gases commonly found in underground coal mines. Gayan sanjaya university of moratuwa sri lanka abstract this chapter reports the latest results of an attempt made in sri lanka to develop a human. Mechanism and explosionproof design for a coal mine detection robot article pdf available in procedia engineering 15. Miners working near continuous mining machines face pinning, crushing, and. Niosh is conducting an evolving comprehensive program of research that is addressing mine fire prevention, detection, management and suppression. Wireless robot for personal mine detection and extraction. Landmine detection rover worcester polytechnic institute. The transfer function model of the tutcmdr motor transmission system is established and m files used to ascertain the gain of the pid control are compiled.
However, there is another way of getting effective and low cost solution of sensor implantation. The purpose of landmine detecting robot is to cover maximum possible area, presentation of landmines and the left over area on a visual map with accuracy in millimeters. Gas concentration prediction based on the measured data of. The robot continuously senses about the metal detection, obstacle detection and the present temperature value for defence purpose with that we are using carbon monoxide sensor, oxygen sensor and fire sensor to inspect coal mine. Introduction the modern world and its researches has made a tremendous change in the field of computer science and engineering. It is composed of mechanism, control system, communication system and sensors, etc. A smart safety helmet having sensor array to sense data and a wireless modem to transmit it. Research on detection system for coal mine detection robot based on the technology of information fusion. The invention discloses a system and a method for controlling an underground coal mine rescue robot, and relates to the technical field of robot control.
A humananimal robot cooperative system for antipersonal mine detection thrishantha nanayakkara, tharindu dissanayake, prasanna mahipala, and k. Coal mine detection robot can be substituted or partial substituted for emergency workers to enter the mine shaft disaster site and detect hazardous gas and. But the argument for autonomous systems is also one of. When the robot reaches the explosive coal mine site, it detect and sends the environmental conditions such as temperature, presence of poisonous and. Detection of coal mine fire in jharia coal field using. Coal mine is a dangerous field, varies fatal factors menace people. The first problem is explosion gas is everywhere in tunnel. Keywords robot, sensor, detection, wireless communication, coal mine. The opportunity arose as a result of the quecreek mine accident, in which an inaccurate map caused miners to breach an abandoned, waterlled mine, trappingthem for severaldays. An overview of a mine detection robot and related technologies for humanitarian demining is introduced, mainly focusing on the mine hunter vehicle mhv developed by a project of the japan science and technology agency jst. As one of the largest coal production and consumption countries in the world, many countries are having related accidents occurred frequently such as gas explosion, flood, breaking out of fire during. Governments are looking into this situation seriously since landmines. This project focuses on the detection and marking of cold war era pmn1 antipersonnel land mines as they are easier to detect and are more commonly found than the newer versions.
Our eld test illustrates thefeasibility and potential of high resolution threedimensional 3d mapping of an underground coal mine using a cart. So the coal mine detect and rescue robot is a very useful robot in the coal mine disaster. In order to decrease the weight of the coal mine detection robot as possible, pressurized enclosure explosionproof type is adopted for it. According to cai jianjun, the chief engineer of shanxi administration of coal mine safety, our primary goal is to achieve zero coal mine deaths.
Hazardous gas detecting method applied in coal mine detection. Iot based mine safety system using wireless sensor. It was the first time a robot was sent into a coal mine ahead of humans to ensure conditions were safe, according to an official with the mine safety and. May 28, 2009 scholar makes robots that detect land mines. The gas concentration prediction experiments based on the coal mine rescue robot measured data are carried out in the coal mine tunnel. The niosh cwhsp was established by the federal coal mine safety and health act of 1969 to provide early detection of coal workers pneumoconiosis, also known as black lung, and to prevent progression to severe lung disease. Pdf mechanism and explosionproof design for a coal mine. Motor control and simulation of coal mine detection robots. Nextgen coal mining rescue robot popular mechanics. A humananimalrobot cooperative system for antipersonal.
Probably robots will transform almost every industry and service sector, particularly in the area of mining sector where safety and efficiency are the main issues. This paper presents a prototype model of land mine detecting robot that is powerful. Hazardous gas detecting rescue robot in coal mines 74. A pickup truck equipped with multiple laser scanners was used to create a virtual 3d model of a modern copper and gold mine in new south wales, australia.
Detection of poisonous gases using mini robot in coal mining area k. Coal occurs in a wide range of forms and qualities. The recent technological development of intelligent mining. The mine has safety hatches called man doors at intervals with awkward lips, but the flexible gemini can get through even when they are a foot off the ground. Robot takes on landmine detection while humans stay very very. A robot was developed to minimize the human and material loss that happens during rescue operations in coal mines. Recent advances in remote coal mining machine sensing. Then it gives detail mechanical transmission system and positive pressure explosion proof design of a coal mine detection robot made by the robotics research centre of shandong n y y y timeout aug 23, 2010 nextgen coal mining rescue robot.
Pdf research on the application of a marsupial robot for coal. This paper presents some recent applications of sensing, guidance and telerobotic technology in the coal mining industry. This paper can provide some references to those who engaging in coal mine detection or rescue robots design or coal mine production safety management. Underground coal mines are beset with the presence of toxic gases. Niosh coal workers health surveillance program niosh cdc. A land mine detection robot is needed to employ in peace support operations and in the clearance of contaminated areas. Exploration mobile robot for coal mines springerlink.970 1488 1079 822 800 448 552 1597 494 1581 1337 173 1489 1095 204 1041 905 201 1015 1069 491 1499 869 1489 485 1019 1353 73 1043