Research and experiment of a new type of coal mine rescue robot

Coal mine rescue robot (CMRR) is a kind of intelligent equipment which not only substitutes rescuer ente- ring the danger area to carry out environmental exploration and rescue the miners,but also contributes to improving the rescue efficiency,especially reducing secondary casualties when the disaster occurs in the mine suddenly. Taking the China University of Mining and Technology-V ( CUMT-V) series CMRR as an example,the relevant technology and research are carried out from the aspects of walking mechanism,explosion-proof design,structural lightweight,commu- nication method,sensing detection and intelligence. Aiming to the environmental characteristics of the post-disaster coal mine,firstly the robot walking mechanism is designed for a good terrain adaptability and strong barrier ability. Secondly,the robot explosion-proof design technology based on the short-term explosion-proof theory is presented and adopted. Thirdly,the robot lightweight optimization design method which called a multicavity self-strengthening structure is adopted. Fourthly,the robot sensor detection and motion control system are constructed. Fifthly,the robot com- munication method of wired-wireless combination is proposed for improving rescue efficiency. Finally,the robot under- ground map construction and positioning navi-gation technology was developed to simplify personnel operations. Thus, the CMRR which can carry many kinds of sensors and first-aid equipment is developed,and has obtained the national coal safety certification. The results of field application and performance test show that the robot has strong walking a- bility and can be applied to the non-structural complex terrain of coal mine. Additionally,the robot has a strong range, long communication dis-tance,and high reliability of environmental awareness and information transmission. To be de- light the robot can be remotely controlled for post-disaster relief and the collaborative rescue of multiple robots can be achieved. Furthermore,through the intelligent upgrade of the robot,the environment perception ability of the CMRR is improved,and it has the ability of real-time positioning and autonomous walking. By further improving the combination of the above technologies,the detection,monitoring and rescue robots of coal mine environment can be developed to meet the needs of different applications.