Development and applications of rescue robots for explosion accidents in coal mines

Abstract

It is essential to provide disaster relief assistance after coal mine explosions. Often, it is life‐threatening for rescuers to enter an accident scene blindly; therefore, a coal mine rescue robot (CMRR) has been developed. However, the application of the CMRR has not proven satisfactory after decades of development. To solve this problem, we summarize the reasons for this disappointing state and address the technical challenges of the CMRR. Based on these reasons and the associated technical challenges, two generations of tracked robots have been developed. The China University of Mining Technology‐V (CUMT‐V) (A) robot was first developed and its walking system, body support system, communication system, environmental awareness system, and control system are described in detail. A performance test was performed on the CUMT‐V (A) robot and some problems were encountered. To address these problems, we designed the CUMT‐V (B) robot. The field test was conducted in Shanxi province, China, in August 2016. The application results show that the robot has good adaptability to complex terrain and high reliability in terms of environmental awareness and data transmission. In conclusion, the robot is nearing practical applications.

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

“…Subsequently, the upgraded CUMT-V (A) and CUMT-V (B) crawler robots were developed, as shown in Fig. 8 (f) and (g) [58]. In these robots, an explosion-proof multidrive crawler device and slide-block low-speed clutch were used for the motion system, an environment perception module with good interaction was used for the perception system, an optical fiber release device and relay release device were used for the communication system, and a distributed Ethernet structure was used for the control system [58].…”

“…8 (f) and (g) [58]. In these robots, an explosion-proof multidrive crawler device and slide-block low-speed clutch were used for the motion system, an environment perception module with good interaction was used for the perception system, an optical fiber release device and relay release device were used for the communication system, and a distributed Ethernet structure was used for the control system [58]. A multicrawler snake-shaped CMRR was developed by the Harbin Institute of Technology, and the principle of lightness was used in the design of the robot.…”

“…In addition, scattered mechanical parts, stones, coal, etc. are distributed on the ground, so the terrain of the coal mine becomes extremely complicated [58]. In the process of moving forward, the binocular camera of a CMRR will vibrate and shake, resulting in different degrees of motion blur in the images collected by the camera.…”

New Insights for the Design of Bionic Robots: Adaptive Motion Adjustment Strategies During Feline Landings

“…Bionic robots' mobility mechanisms are often built on the bionics principle, replicating animal motion sections of the body or motion models while walking or running ( 1 ). Bionic robot design has gained momentum in recent years because robots have the potential to play a major role in replacing humans in difficult working environments, engage in rescue missions, space exploration, and so forth ( 2 – 5 ). Although wheeled and tracked robots move effectively on flat ground, the majority of bionic robots are capable of working in complicated and crowded terrain.…”

Design of Bionic Buffering and Vibration Reduction Foot for Legged Robots

“…Mobile robots had received much attention in the past few years because they could play an important role in rescue operation, space exploration, and so on [1][2][3][4]. Though wheeled and tracked robots could run well in flat terrain, most of them could not adapt to working in complex and cluttered terrain.…”