Shared Control Method for Coal Mine Rescue Robots

The explosion-proof design for coal mine robots that are used to explore environment and rescue after coal mine disaster must be adopted. In order to carry out the explosion-proof design for coal mine robots reasonably, based on the analysis of coal mine robots and their explosion-proof design, the explosion-proof types for robots are studied on. The conclusions are as follows: (1) the mixed explosion-proof design including integrated and partial explosion-proof design can be adopted in the robots design; (2) protection types for robots mainly include flameproof enclosure, pressurized enclosure, intrinsic safety, and combination of them. Based on this, the explosion-proof structures of the mobile systems of a track-type robot and a rocker-type robot for coal mine environment exploration are introduced. According to the different structure of the two robots, the concentrated and dispersed flameproof enclosures are respectively designed for the track-type robot and a rocker-type robot. This paper can provide reference for the explosion-proof design for coal mine robots.

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Lightweight Design for Coal Mine Rescue Robot’s Swing Arm Brackets

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.496-500.657 ◽

2014 ◽

Vol 496-500 ◽

pp. 657-661

Author(s):

Chuan Wei Wang ◽

Hong Wei Ma

Keyword(s):

Coal Mine ◽

Maximum Stress ◽

Lightweight Design ◽

Element Model ◽

Swing Arm ◽

Simulating Analysis ◽

Cutting Out ◽

Reduce Energy Consumption ◽

Rescue Robots ◽

Mine Rescue

By analyzing the force of the Coal Mine Rescue Robots swing arm brackets, the maximum torques of the Coal Mine Rescue Robots swing arm brackets are calculated, the results are applied into finite element model, the maximum stress of brackets are much smaller than allowable stresses of the materials, so there is a large optimise space. Optimum design of Swing Arm Brackets are carried out by changing materials and dimensions. After simulating analysis, it can be seen that the lightweight design for out-bracket have better effect through cutting out materials rather than changing its materials. The results of this optimization may conserve materials and reduce energy consumption. And it has significant in successfully applying the robot into the coal mine underground after disasters and improving the using time of the batteries.

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Deduction of the Rocker-type Track Suspension Configurations and Their Applications to Coal Mine Rescue Robots

ROBOT ◽

10.3724/sp.j.1218.2010.00025 ◽

2010 ◽

Vol 32 (1) ◽

pp. 25-33 ◽

Cited By ~ 5

Author(s):

Yunwang LI ◽

Shirong GE ◽

Hua ZHU

Keyword(s):

Coal Mine ◽

Rescue Robots ◽

Mine Rescue

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Setting-Up Wireless Communication System for Mine Rescue Robots

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.668-669.366 ◽

2014 ◽

Vol 668-669 ◽

pp. 366-369 ◽

Cited By ~ 1

Author(s):

Xu Sheng Xue ◽

Hong Wei Ma ◽

Juan Wei

Keyword(s):

Wireless Communication ◽

Coal Mine ◽

Communication System ◽

Long Distance ◽

Wireless Communication System ◽

Underground Communication ◽

Efficient Construction ◽

Rescue Robots ◽

System Breakdown ◽

Mine Rescue

Aiming at the communication system breakdown after coal mine explosions collapses and other accidents, this paper puts forward an efficient construction method for long distance of wireless communication system in emergency with coal mind rescue robots which are self-adaptive and self-networking. With a two-level robotic system of detecting-robot and carrying-robot as the main, the carrying-robot, equipped with distributing device which contains a "roly-poly" wireless repeater, enters into an accident underground, analyzes the underground communication environment via network monitoring system, controls the distributing device and safely distributes the repeaters in order to realize secure and reliable communication with underground coal mine rescue robot. The test shows that the wireless communication system for emergency is rational, feasible, safe and reliable.

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Coal Mine Rescue Robots Based on Binocular Vision: A Review of the State of the Art

IEEE Access ◽

10.1109/access.2020.3009387 ◽

2020 ◽

Vol 8 ◽

pp. 130561-130575

Author(s):

Guodong Zhai ◽

Wentao Zhang ◽

Wenyuan Hu ◽

Zhendong Ji

Keyword(s):

Binocular Vision ◽

Coal Mine ◽

State Of The Art ◽

The State ◽

Rescue Robots ◽

Mine Rescue

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Efficient Laser-Based 3D SLAM for Coal Mine Rescue Robots

IEEE Access ◽

10.1109/access.2018.2889304 ◽

2019 ◽

Vol 7 ◽

pp. 14124-14138 ◽

Cited By ~ 9

Author(s):

Menggang Li ◽

Hua Zhu ◽

Shaoze You ◽

Lei Wang ◽

Chaoquan Tang

Keyword(s):

Coal Mine ◽

Rescue Robots ◽

3D Slam ◽

Mine Rescue

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Research on Path Planning of Mine Rescue Robots Based on Fuzzy Control

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.44-47.3593 ◽

2010 ◽

Vol 44-47 ◽

pp. 3593-3600

Author(s):

Yan Hua Liang ◽

Cheng Tao Cai

Keyword(s):

Path Planning ◽

Fuzzy Control ◽

Collision Avoidance ◽

Coal Mine ◽

Fuzzy Inference ◽

Coal Dust ◽

Planning Algorithm ◽

Rescue Robots ◽

Avoidance Problem ◽

Mine Rescue

After a coal mine disaster, especially a gas and coal dust explosion, the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performance. This paper tackles path-planning or collision avoidance problem. The collision avoidance problem in path planning of mobile robots was inspired from fuzzy control concept. The deduction of the path-planning algorithm is followed. Fuzzy rules and fuzzy inference based on experiences is built, it constructed a reasonable and applicable control reactive rule table. The simulation results are presented to validate the approach. And it is also proved that the control arithmetic is available in both static and dynamic obstacles in coal mine environment.

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