Study of a Small Robot for Mine Hole Detection

Abstract

China is rich in coal resources, but complex hydrogeological conditions lead to difficulties in coal mining, including coal mine collapses, roof and water damage, and other accidents that occur frequently, resulting in many casualties and property losses. The use of coal mine hole detection technology to detect and analyze the internal environment of the coal mines in advance helps to reduce safety hazards and prevent coal mine accidents; however, the operation of existing coal mine hole detection technology is cumbersome, difficult to control, and encounters problems due to an insufficient depth of jacking. This paper designs a new type of small robot for mine hole detection. Firstly, we analyzed the function and structural design of the mine hole detection robot, designed a variable diameter function according to the characteristics of narrow and uneven mine holes in coal mines, and analyzed the mechanics of the critical parts using theoretical calculations. Secondly, using three-dimensional modeling software (Solidworks 2019), we established a structural model of the small robot for mine hole detection. After that, we designed a hardware circuit and control program for the robot and emphasized the safety design of the circuit, considering the presence of water and gas inside the coal mine. Finally, to verify the feasibility of the design program, the basic parameters and function tests of the mine hole-detection small robot were carried out. The experimental results show that the developed mine hole-detection small robot can adapt to working hole diameters from 65 mm to 100 mm and has a maximum working power of only 12 W and a maximum crawling speed of 3.96 m/min. The maximum crawling slope reaches 90°, which can meet existing mine hole inspection needs. This research provides theoretical and design guidance for developing mine hole-detection robots with substantial engineering practical reference values.

Methane Emission Estimation Tools as a Basis for Sustainable Underground Mining of Gas-Bearing Coal Seams

“…To build this model we will use the methods of system analysis presented in [102][103][104][105][106][107]. By conducting a number of experiments and comparing all the data as shown in [108,109], a logarithmic dependence of the methane content was obtained. Thus, the correctness of the developed device is confirmed.…”