Coal mine robot for detection of hazardous gas ijareeie. The robot used in coal mine tunnel must have many special characters which are different from other robots on ground. Gas concentration prediction based on the measured data of a. Robot based wireless monitoring and safety system for. The system in view of general fuzzy neural network, adopt selforganizing learning algorithms, and add fuzzy rules and membership. International journal of advanced path planning for coal. The reason why you want to have a robot doing mine detection is fairly obvious. Automatic land mine detection and sweeper robot using microcontroller bharath j1 corresponding author. A system for volumetric robotic mapping of underground.
The robot is used to reach the disaster zone and it is used for rescue and research operations. Research article gas concentration prediction based on the. 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. 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. Clark bay geophysical associates, traverse city, mi. This paper proposed a binocular vision recognition system based on fuzzy neural network. A humananimalrobot cooperative system for antipersonal. A 3 1 scse, university, vellore, india 2, 3 sense, vit university vellore, india. The path planning method is composed of two steps in total. International journal of advanced path planning for coal mine. 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. Hazardous gas detecting rescue robot in coal mines 72 is 100 rpm and continues torque is 0. Research on detection system for coal mine detection robot based on the technology of information fusion. Gas detection toxic and harmful gases like methane, carbon monoxide may be present in the surfaces of underground coal mines.
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. Design of mine detection robot for korean mine field. Number objective status detect the toxic gases emitted from the achieved. 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.
Proximity detection systems for continuous mining machines in. Design of an adaptive coal mine rescue robot using. Landmine detection rover worcester polytechnic institute. The zigbee technology is used along with rf transceivers to carry out cheap and efficient wireless communication. Hazardous gas detecting method applied in coal mine. This paper presents some recent applications of sensing, guidance and telerobotic technology in the coal mining industry. This paper presents the critical design constraints of mine detection robots for korean minefield. Index terms wireless, protocol, robot, coal mine, sensor, zigbee i. The industry is changing to become safer and more efficient thanks to the introduction of automated robots. This paper presents a system of robot s sensors and obstacle avoidance which suitable for detecting mine environmental information.
Underground coal mines are beset with the presence of toxic gases. Pdf research on the application of a marsupial robot for coal. Human detection using 3d virtual glove robot express the working of the robot in 3 dimensions which is virtually controlled by the movement of hand from distant location. The application of robotic technology, although very limited in. Nextgen coal mining rescue robot sandia national laboratories is trying to make coal mining safer and more survivable. Motor control and simulation of coal mine detection robots based on fuzzypid. Detection of poisonous gases using mini robot in coal mining area. 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. 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. The first problem is explosion gas is everywhere in tunnel. Tracking system of mine patrol robot for low illumination environment shaoze you1,2, hua zhu1,2, menggang li1,2, lei wang1,2, chaoquan tang1,2 1 school of mechanical and electrical engineering, china university of mining and technology, xuzhou 221116, china 2 jiangsu collaborative innovation center of intelligent mining equipment, china university of mining and. Mine detection robot can be substituted or partial. Accelerometer is the main input element for virtual control in which the angle of movement of hand is converted into corresponding voltage levels. The principle of gas survey meter of infrared spectrum is according to the selectively absorption of infrared radiation by the mash gas, co to achieve the detection of their concentration.
An articulated robotic scanner for mine detection a novel approach to vehicle mounted systems y. Surface geophysical methods for detection of underground mine workings by william j. In this paper, a gray neural network is proposed to. Jan 07, 2011 coal mine detection robot uses infrared spectrum absorption way to detect methane, carbon monoxide and such gas simultaneously.
Robot enters and move in coal mine and detect hazardous gas and. China have a large of coal resources, while the accidents due to gas explosions, gushing water, fire and other factors often happened every year. Recent advances in remote coal mining machine sensing. Additional coal chapters contain methane controls for shaft sinking and shaft filling, for surface highwall mines, and for coal storage silos.
Coal mine robot binocular vision recognition system based on. 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 robot is an ideal tool in coal mine disaster. Characteristics of the detected gas coal mine detection robot mainly detects mash gas and carbon monoxide. 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. The rescuers have known the mine tunnel actual situation when a disaster in coal mine. International journal of mechanical and production engineering, issn. Introduction the modern world and its researches has made a tremendous change in.
Robot takes on landmine detection while humans stay very. By the same time, the theory of euler angle and dh method were established to analysis the posture and position of robot body and mechanical arm. 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. An environment adaptive rescue robot is an ideal tool to handle the coal mine disaster. First of all, the three degrees freedom mechanical arm was installed on the robots body. Keywords robot, sensor, detection, wireless communication, coal mine. 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. Aiming at the path planning for coal mine detection robot in unknown static environment, a path planning method is propounded which couples behavioural dynamics with rolling scan information. Conclusions this paper summarizes the domestic and international development status of coal mine detection and rescue robots firstly. 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. 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. The recent technological development of intelligent mining.
The recent technological development of intelligent mining in. Hazardous gas detecting rescue robot in coal mines 74. They designed mems based sensors network used to monitor the environmental parameters of underground mine area and sends all sensed data to arm 7 processor. Nov 07, 20 the objectives or requirements expected from the project and its status and explanation in the end. As a part of a demining robot development project, the environment of korean minefield was. This paper took the coal mine detection robot model tutcmdr for research.
Pdf nowadays everything in this world is automated to benefit and to reduce humans work. Cn103147789a system and method for controlling underground. The main task of mine robots is to achieve environmental detection and search missions in coal mines. Coal mine robot binocular vision recognition system based. In order to decrease the weight of the coal mine detection robot as possible, pressurized enclosure explosionproof type is. Coal mine methane cmm is a term given to the methane gas produced or emitted in association with coal mining activities either from the coal seam itself or from other gassy formations underground. Research on detection system for coal mine detection robot.
Pdf mechanism and explosionproof design for a coal mine. The transfer function model of the tutcmdr motor transmission system is established and mfiles used to ascertain the gain of the pid control are compiled. The main problem is to applicate the very demanding safe requirements of atex on the design. 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. Research on path planning for coal mine detection robot. A sensor also called detector is a converter it can measures a physical quantity and converts it into a. 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. Valdo henriques and reza alekian, mine safety system using wireless sensor network, ieee trans. Other coal mine chapters deal with methane emission forecasting and predicting the excess gas from troublesome geologic features like faults. Mechanism and explosionproof design for a coal mine detection robot article pdf available in procedia engineering 15. Hence prediction of gas concentration in front of coal mine rescue robot is an important significance to ensure that the coal mine rescue robot carries out the exploration and search and rescue mission. Hazardous gas detecting method applied in coal mine detection. A humananimal robot cooperative system for antipersonal mine detection thrishantha nanayakkara, tharindu dissanayake, prasanna mahipala, and k.
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. Nov 29, 20 hazardous gas detecting method applied in coal mine detection robot 1. Governments are looking into this situation seriously since landmines. Coal mine detection robot can be substituted or partial substituted for emergency workers to enter the mine shaft disaster site and detect hazardous gas. 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. Carried out in a framework of a eu programme of the research fund for coal and steel under the grant agreement no. This paper describes a main control system of the mobile robot telerescuer for inspecting coal mine areas affected by catastrophic events. Hydraulic technology design of mine fire extinguishing robot. 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. Iot based mine safety system using wireless sensor. Analysis on obstaclesurmounting of coal mine detection robot. Environmental detection and search and rescue have. 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.
Coal mine detect and rescue robot technique research ieee xplore. Detection of poisonous gases using mini robot in coal mining area k. This paper can provide some references to those who engaging in coal mine detection or rescue robots design or coal mine production safety management. Mechanism and explosionproof design for a coal mine. Tracking system of mine patrol robot for low illumination. Robots now assist in drilling and excavation, in the detection of dangerous gases much like the canaries used in coal mines in the early 20 th century, and in the hauling of rock in and out of mines.
Robot takes on landmine detection while humans stay very very. 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. Abstractin this paper, we present the design and construction of a mini robot for poisonous gas detection in mining areas. Of special interest is the development of semi or fully autonomous systems to provide remote guidance and communications for coal mining equipment. Li xiangong,reliability evaluation of coal mine iot,ieee ind. Current autonomous technology is now well positioned to begin addressing this dangerous task.
The gas detecting robot is a new generation robots which provides an answer to the problems of coal mines and provide an ease to. The imsc provides a machine working analysis report of the coal mine by day, week, month, and season in order to guide the reasonable arrangement of a production procedure and machinerepair time. It is essential to provide disaster relief assistance after coal mine explosions. All the coal mines are monitored in real time at the general headquarters of the anglo american company located in brisbane, australia. 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. Coal mine is a dangerous field, various fatal factors menace people.
Research article gas concentration prediction based on the measured data of a coal mine rescue robot xiliangmaandhuazhu school of mechanical and electrical engineering, china university of mining and technology, xuzhou, jiangsu, china. To avoid a secondary explosion when the coal mine robot passes through gas hazard zones, a path planning method is proposed, considering the gas concentration distributions. The coal mine environment is complex and dangerous after gas accident. Major coal mine explosion disasters have always involved the combustion of coal dust, originally triggered by methane.
The robot used in coal mine tunnel must have many special features like flameproof body parts which are different from other onground robots. Pdf a marsupial robot with strong practicability for coal mine rescue is presented with the discussion and. A system for volumetric robotic mapping of underground mines. Hazardous gas detecting method applied in coal mine detection robot abstract.
This 2d map is used for scan registration to localize the robot during mapping. The robot can go into explosion environment and detect gas contents. Nextgen coal mining rescue robot popular mechanics. Research article research on path planning method of coal. Introduction safety is one of the main aspects related to industries specially the mining industry. 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. Coal mine detect and rescue robot technique research. The same information is send to remote location by gsm and rf pro 5. Coal mine a cc idents detection and automation system. In general, coal mine detection robot has characteristics of a poor adaption to uncertain underground environment in the process of rescue.
Detection of poisonous gases using mini robot in coal. This paper presents a system of robots sensors and obstacle avoidance which suitable. This system incorporates the combined action of the temperature, pressure and gas sensor and iot module to detect the temperature, pressure and atmosphere in the coal mine and log every data onto. An articulated robotic scanner for mine detection a novel. Sensor based multipurpose mine detection robot and. Second, the initial working paths for the coal mine robot are obtained based on dijkstra algorithm, and then the global optimal working path for the coal mine robot is obtained based on ant colony algorithm. However, the application of the cmrr has not proven satisfactory after decades of. Miners working near continuous mining machines face pinning, crushing, and. The idea of a mobile robot to be able to aid the rescue team entering into a coal mine 3 got picked up with the tremendous uplift in the field of technology. Research on detection system for coal mine detection robot based on the technology of information fusion abstract. Pdf aiming at the path planning for coal mine detection robot in unknown static environment, a path planning method is propounded which couples behavioural dynamics with rolling scan information. Cn1931653a crawler type multiple joint hinged robot. 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. Major coal mine explosion disasters have always involved the.
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