Research on coal mine search and rescue robot
1 Research background Disaster emergency search and rescue robots (Search And Rescue Robot) natural disasters, accidents and other unexpected events occur, instead of search and rescue personnel to enter the mobile robot to perform search and rescue missions in the field. This type of robot can remotely control or use an autonomous approach to penetrate complex, dangerous, and uncertain disaster sites, detect unknown environmental information, and search for and rescue trapped people. Search and rescue robots are an important branch of robotic technology and a new research field, which has important social value. Search and rescue robots can be used in many rescue situations, such as earthquakes, mudslides, typhoons, floods, mine disasters, firefighting, hazardous materials removal, and field surveys. When a disaster or accident occurs, the on-site environment is complex and full of uncertainties and uncertainties, which seriously threaten the life safety of search and rescue personnel and bring severe challenges to the deployment and implementation of search and rescue work. The 48 hours after the disaster is the key time to implement the rescue, otherwise the possibility of surviving more than 48 hours is small. Therefore, the research of search and rescue robots has important practical value and social significance. In recent years, it has been highly valued by the United States, Japan, Australia, China and other countries. The research goal of this project is to develop a stable and reliable underground coal mine mobile detection robot platform based on master-slave teleoperation and with certain autonomy. The main task of the platform is to locate the environment in the underground mine dangerous area. Including ambient temperature, gas composition and content (CO, CH4, O2, H2S, etc.) detection, as well as on-site video and audio acquisition and real-time upload; for these hazardous areas we locate limited parameter detection in limited target environments, because of coal mine accident types A wide variety of situations, we can not expect to adapt to all downhole environments through one or two complex institutions, especially for the detection of special environments such as roof collapse, landslides and other extremely complex environments or permeable, special mechanisms and technologies must be used. Therefore, the platform is mainly for the detection of disaster environment with accessible conditions, such as gas outburst, local fire, explosion or collapse. In addition, as a search and rescue robot platform, the system reserves the interface that can load the end effector such as the robot arm, thus providing the necessary technical support for the more complicated and effective rescue work, and can also search for other platforms for the platform. Application with the rescue field (such as earthquakes, mudslides, fires and other disaster sites) provides an important technical reserve. 2 Research progress in search and rescue robots The research on emergency disaster search and rescue robots started in the 1980s. After the 1995 US Oklahoma bombings and the Kobe earthquake in Japan, search and rescue robots were gradually taken into account as humanitarian applications for robotics. In the following ten years, the technology of search and rescue robots continued to develop, but most of them remained in the laboratory stage. There were few examples of participating in actual rescue operations and playing an important role. The first large-scale application case of search and rescue robots to participate in on-site rescue occurred after the 9/11 incident in the United States. At that time, robots of six military and research institutes such as Talon, Solem, PACKBOT, VGTV, MicroTracs and SPAWARUrbot participated in the rescue work, such as Figure 1 shows. In this rescue mission, the main tasks of the robot system include: searching the ruins for possible space for survivors, and monitoring the structural changes at the site to prevent the collapse from jeopardizing the on-site rescue personnel. The search and rescue work is mainly divided into two stages. In the first stage of work, the robot is not excessively deep into the ruins, but plays a supporting role in places where people are not easily accessible. The second phase of the work focused on cleaning up the wreckage of the site and providing a basis for analysing the collapse of the World Trade Center tower. In this phase, with the increase in operator proficiency and experience accumulated in the field, the superiority of the robot system is gradually manifested. The robot can detect the stability of the residual wall and the possibility of collapse by deep-field reconnaissance and imaging. At the same time, the robot measures the concentration of carbon monoxide, hydrogen sulfide, volatile organic compounds and the site through different types of detectors carried by the robot. Temperature, the basis for the formation of dangerous conditions in the field environment. Through on-site analysis by more than a dozen experts from different fields and different fields, and researching and guiding the rescue work on the spot, the work progress has been greatly accelerated, and the safety of personnel has been ensured, which shows obvious advantages. At the same time, some problems of the robot system, such as water resistance, heat resistance, shock resistance and other deficiencies against the harsh environment, as well as the robot's own state perception and environmental description methods, were also found during the rescue. In short, this rescue mission is the largest and more successful rescue in the history of mankind by rescue robots. During this rescue process, engineers and field experts accumulated a large number of robotic systems to carry out disaster relief work. Experience is a huge asset for the future research and development of search and rescue robots. Since then, search and rescue robots in the United States, Japan, Australia and other countries have gradually participated in actual disaster relief operations. Through close cooperation with the disaster emergency department, they have continuously accumulated actual disaster relief experience and improved the performance of search and rescue robots to improve the adaptability of robots to the search and rescue environment.
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