Rendering of 3D Maps with Additional Information for Operator of a Coal Mine Mobile Robot

Kot, Tomáš; Novák, Petr; Babjak, Ján; Olivka, Petr

doi:10.1007/978-3-319-47605-6_18

Cited by 5 publications

(3 citation statements)

References 5 publications

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“…This system contains a Sick LMS111 two-dimensional (2D) laser scanner mounted on a rotating axis adding the third dimension to scanning. Using a special visualization part of the operator control system [25][26][27], the rescuers can inspect the mine and plan their intervention. Mapping can also be used for regular inspections of coal mine areas-the system compares the actual map with the previous one and can report unexpected changes in the tunnel shape (a part of the tunnel is starting to collapse, etc.…”

Section: Sensors 3d Mapping and Autonomymentioning

confidence: 99%

Implementation of Explosion Safety Regulations in Design of a Mobile Robot for Coal Mines

et al. 2018

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The article focuses on specific challenges of the design of a reconnaissance mobile robotic system aimed for inspection in underground coal mine areas after a catastrophic event. Systems that are designated for these conditions must meet specific standards and regulations. In this paper is discussed primarily the main conception of meeting explosion safety regulations of European Union 2014/34/EU (also called ATEX—from French “Appareils destinés à être utilisés en ATmosphères Explosives”) for Group I (equipment intended for use in underground mines) and Category M1 (equipment designed for operation in the presence of an explosive atmosphere). An example of a practical solution is described on main subsystems of the mobile robot TeleRescuer—a teleoperated robot with autonomy functions, a sensory subsystem with multiple cameras, three-dimensional (3D) mapping and sensors for measurement of gas concentration, airflow, relative humidity, and temperatures. Explosion safety is ensured according to the Technical Report CLC/TR 60079-33 “s” by two main independent protections—mechanical protection (flameproof enclosure) and electrical protection (automatic methane detector that disconnects power when methane breaches the enclosure and gets inside the robot body).

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Section: Sensors 3d Mapping and Autonomymentioning

confidence: 99%

Implementation of Explosion Safety Regulations in Design of a Mobile Robot for Coal Mines

et al. 2018

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“…3D scanning is the process typically used to get numerical data representing the shape of a real physical object. The subsequent use of such data depends on the specific project—some common uses include visualization [ 1 ], mapping [ 2 ], reverse engineering and rapid prototyping [ 3 ], quality control [ 4 ], prosthetic [ 5 ], digitization of important objects [ 6 ], gesture control, autonomous navigation in unknown terrain [ 7 , 8 ], etc.…”

Section: Introductionmentioning

confidence: 99%

Using Virtual Scanning to Find Optimal Configuration of a 3D Scanner Turntable for Scanning of Mechanical Parts

Kot

Bobovský

Heczko

et al. 2021

Sensors

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The article describes a method of simulated 3D scanning of triangle meshes based on ray casting which is used to find the optimal configuration of a real 3D scanner turntable. The configuration include the number of scanners, their elevation above the rotary table and the number of required rotation steps. The evaluation is based on the percentage of the part surface covered by the resulting point cloud, which determines the ability to capture all details of the shape. Principal component analysis is used as a secondary criterion to also evaluate the ability to capture the overall general proportions of the model.

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“…In addition to those robots, there are the Groundhog robot developed by Carnegie Mellon University (Baker et al, ), the Simbot robot developed by Florida University (Morris et al, ), the Numbat remote unmanned ambulance developed by the Commonwealth Scientific and Industrial Research Organization (Ralston, Hainsworth, Reid, Anderson, & Mcphee, ), the SOURYU series snake robots developed by Tokyo Institute of Technology (Masayuki, Takayama, & Hirose, ; Arai, Tanaka, Hirose, Kuwahara, & Tsukui, ), and the TeleRescuer rescue robot developed by Wolong University (Kot, Novák, Babjak, & Olivka, ). The robots all function in much the same way, such as being able to carry out environmental detection and remote control via a camera.…”

Section: Introductionmentioning

confidence: 99%

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

Zhu

et al. 2019

Journal of Field Robotics

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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.

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Rendering of 3D Maps with Additional Information for Operator of a Coal Mine Mobile Robot

Cited by 5 publications

References 5 publications

Implementation of Explosion Safety Regulations in Design of a Mobile Robot for Coal Mines

Implementation of Explosion Safety Regulations in Design of a Mobile Robot for Coal Mines

Using Virtual Scanning to Find Optimal Configuration of a 3D Scanner Turntable for Scanning of Mechanical Parts

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

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