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Terrainability of Mobile Robots in Underground Mining

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Terrainability of Mobile Robots in Underground Mining Asian Journal of Current Engineering and Maths 5:1 Janurary - February (2016) 4 – 8. Contents lists available at www.innovativejournal.in ASIAN JOURNAL OF CURRENT ENGINEERING AND MATHS Journal homepage:http://innovativejournal.in/ajcem/index.php/ajcem TERRAINABILITY OF MOBILE ROBOTS IN UNDERGROUND MINING Anil kumar Saw #1, Atanu Maity #2 # Advanced Design and Optimization, Central Mechanical Engineering Research Institute, Durgapur, West Bengal, India ARTICLE INFO ABSTRACT Corresponding Author Coal is conventional and cheapest source of energy and is being used as major P. Anbarsi Rodrigo energy resource in power plants, steel industries, cement industries and other Associate Professor, industries in India as well as in other coal rich countries of the world. To meet PG and Research Department of energy requirement of the industries, production of coal is increasing day by Mathematics, VOC College, day. For this reason the number of mine related accidents is also increasing. To Thoothukudi, TamilNadu increase production of coal with reduced risk, now-a-days mobile robots are India. being deployed to assist mining operations. Such robots are used for various [email protected] purposes, such as, exploration of geo-mining atmosphere, mine mapping, deployment of explosives, drilling and transportation of coal. While developing Key Words: Mobile Robot, a mobile robot for mine application, special attention has to be given to the Terrainability, Compliance, terrainability aspects as mine condition poses a serious challenge to the design Underground Coal Mine of such robot. Mobile robots cannot perform their works if they are not specially design to negotiate adverse condition of the mine floor. In this paper terrainability of mobile robots and their performance have been studied. This paper also describes one such mine robot developed by CSIR-CMERI for use in DOI:http://dx.doi.org/10.15520/aj hostile condition of Indian coal mine environment. cem.2016.vol5.iss1.44.pp4-8. ©2015, AJCEM, All Right Reserved. INTRODUCTION India has long history and regular development in coal mining. Since 1774, the British East India Company had been commercially exploiting the underground coal reserve of Raniganj area [1]. Statistical review shows that India has fifth rank in coal production and third rank in consumption of coal in the world [2] which is further depicted in Fig. 1. Nearly fifty-five percent of the India’s total energy requirements are met from coal [3] and coal mines play an important role in the development of India. Working environment of coal mines are generally hazardous due to causes like flooding, subsidence, roof collapse, leakage of noxious gases, explosion etc. Many miners had lost their lives worldwide in coalmine related accidents. A statistical analysis of mine related casualties is shown in Fig. 2. Fig. 2. Death Tolls (World -wide) in Coal Mine Disasters A few major coal mine related accidents are listed below [4]: • Benxihu coal mine disaster (1942) of China • Courrieres coal mine disaster (1906) of France • Mitsubishi Hojyo coal-mine disaster (1914) Japan • Chasnala mine disaster (1975) of India • Bagdigi colliery accidient (2001) of India Accidents in coal mines are not only a problem for India but also for other coal rich countries. Now-a-days robots are being deployed in mines for rescue operation and to minimize such type of accidents by inspection of working environment, especially after blasting. However Fig. 1. Graph showing production of coal by top five mine environment is extremely challenging and mine countries in different year, robots are specially designed to overcome such challenges. 4 Anil kumar Saw et.al/Terrainability of Mobile Robots in Underground Mining There are various problems exist in coal mines which are with a passive two DOF link which make it flexible. The related to condition of floor like wet and dry floor, rocky robot is capable of navigating around tight corners due to floor, slope, step, bump, ditch, muddy and sandy land and its smaller size and compact design. Comparatively better flood etc. To overcome such mine floor hurdles thorough terrainability of Gemini-Scout is achieved due to its understanding of mine terrainability is essential and design segmented body design and tracked wheel configuration. of such robots need special attention. This paper discusses some mine robots and their terrainability, adaptive nature and performance in underground mine environment. I. UNDERGROUND MINE ROBOT Fig. 5. Detection and Rescue Robot [7] C. Detection and Rescue Robot (DAR) It is a mine rescue robot with six-track system, which was developed by ‘School of Mecha-Electronic Engineering,’ Fig.3. Groundhog Robot in Florence Coal Mine near Beijing Institute of Technology [7]. Out of its six tracks two Pittsburgh [5] are drive tracks and two front and rear arms are used to Several mine robots have been developed so far for cross obstacles. It is designed adaptive to mine conditions various mine applications. Example of some underground by making it explosion proof, water and dust proof. The mine robots have been discussed here from the point of design claims to have better terrainability with shock view of their application and terrainability. absorption capability. It can climb slope up to 300 by A. Groundhog Mine Robot adjusting its arms and can move over rubbles. It is a mine mapping four-wheeled drive explosion- D. CMERI Subterranean Robot (SR) proof autonomous mobile robot which was developed by It is an amphibian subterranean exploring robot Carnegie Mellon University [5]. The design of its chassis developed by CSIR-CMERI and is capable of moving over and steering system is such that, it can work on very rough fairly rough terrain and also can swim as well as crawl over terrain of mine. Its chassis consists of the front halves of basin floor effortlessly due to its special system design [8], two all terrain vehicles, allowing all four of its wheels to be [9]. The Robot consists of two modular track-wheel both driven and steered. Two Ackerman steering columns arrangements and two thrusters on both of its sides. which are linked in opposition, reduces its turning radius Thrusters mounted on a single shaft make it capable of when it turns along a curve path. swimming against moderate current with 1 knot velocity. Two stabilizer fins are also mounted on same shaft to stabilize roll while in underwater operation. B. Gemini-Scout Robot Gemini-Scout is a remotely operated mine rescue robot, which was developed by Sandia robotics engineers at Sandia under National Institute for Occupational Safety and Health (NIOSH) sponsored program [6]. Fig. 4. Gemini-Scout Robot in different terrain Fig. 6(a). The CMERI Subterranean Robot, Fig. 6(b). Deployment of SR for Exploring a submerged mine tunnel at Satgram Project under ECL (West Bengal), India [8] Thrusters can be tilted to pitch-up or pitch-down while swimming. Track wheel arrangement provides more bearing area which helps to move over loose soil, sand and gravel. It can also perform its work in very narrow passages due to its smaller size and light weight (nearly 41.5 Kg). Amphibian characteristic provides it better working ability in adverse condition of partially or fully flooded mine tunnels. E. CMERI Mine Robot It is a six wheel mine robot which is being developed by conditions [6] CSIR-CMERI [10]. This system will find application in the It is a tracked wheel robot having good mobility to enable it survey, data collection and monitoring of the environment to overcome stair-like obstacles, slopes, sand, gravel, pits and 3D mapping of the mine tunnels. Essentially this will which are commonly found in mines. The robot is have wireless data communication between the command constructed in two segments. Both segments are connected computer (host) and the onboard vehicle computer (client). 5 Anil kumar Saw et.al/Terrainability of Mobile Robots in Underground Mining This system will have capability of autonomous navigation, F. Comparison of studied robots obstacle free path planning and intelligence to combat From the study of the above mine application robots, it unforeseen situation together with fault tolerant is evident that terrainability is an important issue which architecture in system design. demands special attention and needs to be addressed while designing a mobile robot for such applications. Apart from this, study also shows that usage of track belt mechanism has both merits and demerits. Some advantage and disadvantage of track belt robot over wheel robot are discussed below: Advantages: 1. It provides more traction as compare to wheel robot. Due to more bearing area it is able to move on loose soil, sand and gravel. It can also ascend and descend Fig.7. The CMERI Mine Robot stairs/steps, surmount obstacles or cross ditches easily. The robot has six wheels, mounted on rocker arm 2. It exerts less pressure on ground due to distribution of mechanism (fig.7). Six wheels provide it better load, so they are more suitable to soft surfaces like terrainability and stability (static and dynamic) over four snow. wheeled robots. The front and middle wheels are mounted 3. It has better terrainability over wheeled mobile robot. on a Y-shaped rocker-arm. The configuration of the arms 4. It has more static and dynamic stability. can be adjusted in an active fashion with the help of linear Disadvantages: actuators connected to them. The rocker arm helps the 1. It has law manoeuvrability and speed due to generation robot to cross an obstacle and climb stairs. Three wheels of of more friction and its complex traction system. each side are driven by a single motor and steering is 2. More power/torque is required to drive it. Design achieved by differential drive mechanism. becomes bulky. This robot has better terrainability, flexibility, and shock 3.
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