Literature survey fire and smoke spread in underground mines. Light is the medium of data collection which makes image acquisition faster. Mechanism and explosionproof design for a coal mine detection robot article pdf available in procedia engineering 15. It is carried out in a framework of a eu programme of the research fund for coal and steel under the grant agreement no. Coal mine is a dangerous place in which many fatal factors menace miners life. Coal mine detection robot uses infrared spectrum absorption way to detect methane, carbon monoxide and such gas simultaneously. This paper can provide some references to those who engaging in coal mine detection or rescue robots design or coal mine production safety management. In july 2002, the quecreek mine accident in pennsylvania revealed the deficiencies of outdated 2d mine maps. 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 mine methane mitigation and utilization technologies and project profiles.
Pdf vrbased remote control system for rescue detection robot in. After the coalmine accident, to get information of the coalmine 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 coalmine rescue robot was brought into being, it can reach the place where the person hard to go to implement. 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. The detection of the buried mine is done by using metal detectors since most land mines contain metal components. 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. The stateowned coal mining complex rb kolubara is working to overhaul the tamnava west coal mine in cooperation with system integrator mikro kontrol and abb, the. When designing the robot in the underground coal mine environment, it is. A crucial aspect of the the coalmining automation process lies in the proper detection of the coalbed boundary, which is depicted in figure 5, leftmost image. Image mining for intelligent autonomous coal mining. Another example of a mobile robot designed for usage in coal mines is the mine rescue robot. 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.
Knowing the exact position of this boundary at each point in space is sucient to estimate the exact position of the coal seam based on geological domain data. 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. Researcharticle method for effectively utilizing node energy of wsn for coal mine robot xiliangma 1,2 andruiqingmao1 xuzhouinstituteoftechnology,xuzhou,jiangsu,china. Continuous miner coal cutting underground coal mining youtube. 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 robot can go into explosion environment and detect gas content.
The coal mine detection robot kqr48 developed by tangshan kai cheng company and the. In accordance with section 654 of the insurance company law of may 17, 1921, p. Coal mine methane sources coalbed methane outreach program. Sylvester, boone county, west virginia april 11, 1999 by william h. Pdf land mine detecting robot capable of path planning. Pdf a marsupial robot with strong practicability for coal mine rescue is presented with the discussion. Robot based wireless monitoring and safety system for. Scholar makes robots that detect land mines harvard gazette. References 1 murphy r, kravitz j, stover s, shoureshi r.
Development of mine detection robot mine hunter vehicle. The geminiscout is equipped with gas sensors, a thermal camera to locate survivors and another higher mounted panandtilt camera to spot obstacles and the continuous gas monitoring information is wirelessly fed back to the. The idea of a mini robot to be able to aid the rescue team entering into a coal mine 3. The geminiscout is equipped with gas sensors, a thermal camera to locate survivors and another higher mounted panandtilt camera to spot obstacles and the continuous gas monitoring information is wirelessly fed back to the operator along with colour imagery, and stereo. The structure design methods of robot have been discussed in detail, including robot body, computer control system, explosionproof and waterproof design of systems, mobile. The coal mine detect and rescue robot is used for detecting the explosion environment of coal mine and rescuing miners who are trapped in the underground coal mine after gas explosion. 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.
Pennsylvania coal mine workers compensation manual effective. Design of mine detection robot for korean mine field. Introduction there is a need for landmine detection equipment that can sweep large surfaces such as roads at a reasonable speed with a reduced logistic burden and hazard level. Embedded control system design for coal mine detect and rescue. Detection of poisonous gases using mini robot in coal mining area. These systems may employ vertical andor horizontal wells to recover methane in advance of mining known as premine drainage or after mining called gob or goaf wells. Whenever any explosions occur, the robot automatically detects the explosion, finds the explosion location and enters the coal mine tunnel well before the arrival of rescuers. The overall design of this robot was determined by considering the speed of the whole mine detection process and a point of economic view to replace human in minefield. There is a dire need for cost low mobile robots for the purpose of mine detection and disposal. A distributed location algorithm for underground miners based. Mechanism and explosionproof design for a coal mine. 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. Methane recovery systems help coal mining businesses recover more products, which can then be used as energy needed for the coal mining process.
Index terms wireless, protocol, robot, coal mine, sensor, zigbee i. Merger is the global leader in the development and use of lasers for mining. The robot is designed in such a way that it suits the mine tunnel. Nearly all of this gas was sold to natural gas pipelines. The use of fire suppression systems and rapid fire detection systems should be considered for manned cabs in swedish mines. Automated mining involves the removal of human labor from the mining process.
A distributed location algorithm for underground miners. Underground coal mines are beset with the presence of toxic gases. 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. Research and application of coal mine rescue and detecting. The first problem is explosion gas is everywhere in tunnel. Coal mine methane sources coalbed methane outreach. Wv coal mine, 1415 continuous miner removing a stump of coal. The robot used in coal mine tunnel must have many special characters which are different from other robots on ground. 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 health administration.
The reason why you want to have a robot doing mine detection is fairly obvious. Continuous miner coal cutting underground coal mining. San jose, ca, usa figure 4a with mq9, mq4, mq5 and dth11 drobotics, london, uk. Pdf research on the application of a marsupial robot for coal. 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. Development of coalmine safety system using wireless. Method for effectively utilizing node energy of wsn for.
Normally turbines operate over a range of methane concentrations, but best results are achieved with a concentration above 35 % with minimal concentration variability. An articulated robotic scanner for mine detection a. Gas turbines company description a wide variety of gas turbines may be fuelled with cmm or amm. The encountered problems and solutions in the development of. Nov 29, 20 hazardous gas detecting method applied in coal mine detection robot 1. An overview of coal mine rescue robot and its navigation. In this months spotlight feature article, from the pages of the january issue of international mining magazine, john chadwick takes an annual look at the advance of autonomous and. It can still require a large amount of human capital, particularly in the developing world where labor costs are low so there is less incentive for increasing efficiency. Technology saves a coal mine 20150812 following floods in the balkans in 2014, three companies created a solution to save one of serbias main coal mines from destruction. This innovative use of lasers and robotics has the potential to change the way mining is. Implementation of explosion safety regulations in design of a. Supervisory civil engineer mine waste and geotechnical engineering division pittsburgh safety and health technology center. Degasification systems at underground coal mines also commonly referred to as drainage systems.
Hazardous gas detecting method applied in coal mine detection. 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. The robot is used to reach the disaster zone and it is used for rescue and research operations. Hazardous gas detecting method applied in coal mine. Robot takes on landmine detection while humans stay very. The coal mine environment is complex and dangerous after gas accident. Coal mine detection robot can be substituted or partial substituted for emergency workers to enter the mine shaft disaster site and detect. This innovative use of lasers and robotics has the potential to change the way mining is done worldwide. Sep 08, 2015 the fully automated mine has long since passed the days of concept and evolved into a reality. The system allows the operator to stay at a safe distance by enabling him to control the robot wirelessly.
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. Apr 01, 2016 pennsylvania coal mine workers compensation manual effective. If the industry is to survive and grow, on this planet and elsewhere, total automation of many of the. 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 do some environmental exploration and surveying task. Gas concentration prediction based on the measured data of. Development of coalmine safety system using wireless sensor network s. When some disasters occur, it may be very dangerous for rescuers to go into mine tunnels to search survivors. Coal mine robot project report linkedin slideshare. Sandias intelligent systems and robotics center isrc of america developed an underground mine robot called. Aug 09, 2007 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 health administration.
The innovation consists in placing the safety gas detector with a. Development of mine detection robot mine hunter vehicle mhv. Introduction safety is one of the main aspects related to industries specially the mining industry. When undergrow1d coal is mined by the roomandpillar method, rooms are formed by cutting into the coal bed seam, leaving a series of pillars or columns of coal to help support the mine roof and crea te passages for the flow of fresh air. Hazardous gas detecting method applied in coal mine detection robot 1. The same information is send to remote location by gsm and rf pro 5. Gas detection toxic and harmful gases like methane, carbon monoxide may be present in the surfaces of underground coal mines. Exploration mobile robot for coal mines springerlink.
Limestone powder, known as rock dust, is spread throughout the mine workings on a regular basis. Method for effectively utilizing node energy of wsn for coal. Pdf on jun 1, 2017, zhang xuhui and others published vrbased remote control system for rescue detection. The idea of a mobile robot to be able to aid the rescue team entering into a coal mine3 got picked up with the tremendous uplift in the field of technology. Developing inspecting and rescue coal mine robot, to implement environment monitoring before disaster occurring and realize the rescue when disaster happened, is an important application area for robot. Gas concentration prediction based on the measured data of a. An articulated robotic scanner for mine detection a novel.
Merger mines corporation innovative technology, creative thinking and vision for the 21st century. Coal mine detect and rescue robot technique research. Robot takes on landmine detection while humans stay very very. 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. The reason for this is the rapid fire behaviour of spray fires. Nine workers became trapped in a flooded coal mine for 77 hours, even though their maps indicated that they were hundreds of feet away from the abandoned mine. Cdc mining feature coal mine explosion prevention niosh. In this paper, a gray neural network is proposed to. The aim of this robot is to detect motion automatically around its environment and the robot has the. Coal mine methane mitigation and utilization technologies.
Nov 07, 20 such a robot can reduce the death toll considerably, because the necessary statistics i. These systems may employ vertical andor horizontal wells to recover methane in advance of mining known as pre mine drainage or after mining called gob or goaf wells. This robot is implemented by using microcontroller pic 16f877. As one of the largest coal production and consumption countries in the world, many countries are having related accidents occurred frequently such. In this paper, a system of explosionproof detecting robot is presented.
Methane gases are a dangerous factor of coal mining, and in the past the industry and the miners themselves suffered great losses because of this gas. So developing the coal mine detecting and rescue robot for mine rescue has a very important meaning. Aug 23, 2010 nextgen coal mining rescue robot sandia national laboratories is trying to make coal mining safer and more survivable. Msha coal mine fatal accident investigation report. Mining disasters have occurred in both coal and metalnonmetal mines and. A sensor also called detector is a converter it can measures a physical quantity and converts it into a. Characteristics of the detected gas coal mine detection robot mainly detects mash gas and carbon monoxide. This paper provides better understanding about mine safety. Feb 17, 2017 continuous miner coal cutting underground coal mining. The coal mine detect and rescue robot is used for detecting the explosion. A large part of the earlier mine safety research has been conducted with respect to detecting fires in mines and conveyor belts. This rock dust serves to inert the coal dust when applied in the proper proportion. The mining industry is in the transition towards automation. Iot based mine safety system using wireless sensor network.
There is a dire need for cost low mobile robots for. Nextgen coal mining rescue robot sandia national laboratories is trying to make coal mining safer and more survivable. Underground coal mining produces finely divided coal dust that deposits throughout the mine and serves as a source of combustible material for coal dust explosions. The robot can go into explosion environment and detect gas contents.
Sivasoundari, 6 developed a surveillance robot for motion detection. There are two types of automated mining process and software. Globally, as of 2015, there are more than 200 operating recovery and utilization projects in about 15 countries at active or abandoned coal mines and approximately 30 more projects. See more ideas about robot, coal mining and robot news. Miners working near continuous mining machines face pinning, crushing, and. Detection of poisonous gases using mini robot in coal. Vrbased remote control system for rescue detection robot in coal mine. The mine detection robot supports the mine removal work in countries where mines are buried, such as afghanistan. Nextgen coal mining rescue robot popular mechanics. But the argument for autonomous systems is also one of. Frequent questions about coal mine methane coalbed methane. Hazardous gas detecting rescue robot in coal mines 72 is 100 rpm and continues torque is 0. To acquire the situation under the mine well, the mother robot and baby robot both.
Such a robot can reduce the death toll considerably, because the necessary statistics i. Coal mine methane mitigation and utilization technologies and. Mineralogical analyses of lta from coal samples from the different mines wt % note. Pdf mechanism and explosionproof design for a coal mine. The event was designed to distract potential child soldiers from the allure of war.
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