Open Access Te Herenga Waka-Victoria University of Wellington
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Development of an Underground Mine Scout Robot

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posted on 2021-11-15, 21:12 authored by Molyneaux, Lance

Despite increased safety and improved technology in the mining industry, fatal disasters still occur. Robots have the potential to be an invaluable resource for search and rescue teams to scout dangerous or difficult situations. Existing underground mine search and rescue robots have demonstrated limited success. Identified through literature, the two primary concerns are unreliable locomotion systems and a lack of underground mine environment consideration. HADES, an underground mine disaster scout, addresses these issues with a unique chassis and novel locomotion.  A system level design is carried out, addressing the difficulties of underground mine environments. To operate in an explosive atmosphere, a purge and pressurisation system is applied to a fibre glass chassis, with intrinsic safety incorporated into the sensor design. To prevent dust, dirt and water damaging the electronics, ingress protection is applied through sealing. The chassis is invertible, with a low centre of gravity and a roll-axis pivot. This chassis design, in combination with spoked-wheels allows traversal of the debris and rubble of a disaster site. Electrochemical gas sensors are incorporated, along with RGB-D cameras, two-way audio and various other environment sensors. A communication system combining a tether and mesh network is designed, with wireless nodes to increase wireless range and reliability. Electronic hardware and software control are implemented to produce an operational scout robot.  HADES is 0.7 × 0.6 × 0.4 m, with a sealed IP65 chassis. The locomotion system is robust and effective, able to traverse most debris and rubble, as tested on the university grounds and at a clean landfill. Bottoming out is the only problem encountered, but can be avoided by approaching obstacles correctly. The motor drive system is able to drive HADES at walking speed (1.4 m/s) and it provides more torque than traction allows. Six Lithium-Polymer batteries enable 2 hours 28 minutes of continuous operation. At 20 kg and ~$7000, HADES is a portable, inexpensive scout robot for underground mine disasters.

History

Copyright Date

2016-01-01

Date of Award

2016-01-01

Publisher

Te Herenga Waka—Victoria University of Wellington

Rights License

Author Retains Copyright

Degree Discipline

Electronic and Computer System Engineering

Degree Grantor

Te Herenga Waka—Victoria University of Wellington

Degree Level

Masters

Degree Name

Master of Engineering

Victoria University of Wellington Item Type

Awarded Research Masters Thesis

Language

en_NZ

Alternative Language

en

Victoria University of Wellington School

School of Engineering and Computer Science

Advisors

Carnegie, Dale