Abstract
This paper introduces a search-and-rescue robot system used for remote sensing of the underground coal mine environment, which is composed of an operating control unit and two mobile robots with explosion-proof and waterproof function. This robot system is designed to observe and collect information of the coal mine environment through remote control. Thus, this system can be regarded as a multifunction sensor, which realizes remote sensing. When the robot system detects danger, it will send out signals to warn rescuers to keep away. The robot consists of two gas sensors, two cameras, a two-way audio, a 1 km-long fiber-optic cable for communication and a mechanical explosion-proof manipulator. Especially, the manipulator is a novel explosion-proof manipulator for cleaning obstacles, which has 3-degree-of-freedom, but is driven by two motors. Furthermore, the two robots can communicate in series for 2 km with the operating control unit. The development of the robot system may provide a reference for developing future search-and-rescue systems.
Highlights
IntroductionCoal mine accidents are difficult to avoid as long as humans still conduct mining activities
Coal mine accidents are difficult to avoid as long as humans still conduct mining activities.With the development of mining technologies, large-scale mine accidents have been reduced due to precautions in recent years, coal mine disasters still happen frequently in China
The angle of slopes in the coal mine is lower than 16◦, so the robot can travel in the coal mine smoothly
Summary
Coal mine accidents are difficult to avoid as long as humans still conduct mining activities. With the development of mining technologies, large-scale mine accidents have been reduced due to precautions in recent years, coal mine disasters still happen frequently in China. Just from the years 2006 to 2016 in China, there were about 20 coal mine accidents, and about 889 people died. Coal mining activities will encounter a complex and volatile geological environment, so accidents cannot be avoided. The rescue technology should be increased for reducing the number of casualties in accidents. The coal mine environment is too dangerous to send in rescue teams after accidents, because there will be poisonous gases, debris, flooding, unstable structures and explosive vapors. The rescue teams is in the most dangerous environment. If there is a mobile sensor in front of the rescuers for perceiving dangers, they will be much safer
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