Telerescuer - reconnaissance mobile robot for underground coal mines

摘要

The paper describes conception of a reconnaissance mobile robot TELERESCUER for inspecting underground coal mine areas affected by catastrophic events. The introduction describes the whole project background and the following sections deal with the design of the control system and communication between individual subsystems. The subsystems described include the motion subsystem, the sensory subsystem (temperatures, gas concentration, air flow, navigation and cameras), the subsystem for 3D map data acquisition and the communication subsystem. Mentioned also is the ATEX implementation (where the robot can safely operate in an environment with dangerous concentrations of methane).