In order to rescue a trapped miner and clean out roadways quickly in a high gas mine shaft after a mining mishap, a special portable cold-cutting equipment is needed, the main technology parameters were calculated acc...In order to rescue a trapped miner and clean out roadways quickly in a high gas mine shaft after a mining mishap, a special portable cold-cutting equipment is needed, the main technology parameters were calculated according to the advanced cold-cutting technology of high pressure abrasive water jet and the portable mixed abrasive water jet equipment （PAWE） was designed to meet the needs of emergency rescue in high gas mine shafts. Tested the PAWE in a high gas environment, and the result shows that the maximum cutting depth of solid iron pipe is 18 mm and the recoilforce of the sprayer is 28.9 N under the conditions that actual cutting pressure is 29 MPa, starting target distance is 10 ram, cutting speed is 180 mm/min and concentration of abrasive is 32%. The course of the experiment in the high gas environment was smooth and continuous, without any explosion. The PAWE is easy to move and operate, but the nozzle which was worn badly in the sprayer should be changed every 8 minutes.展开更多
A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of ...A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.展开更多
文摘In order to rescue a trapped miner and clean out roadways quickly in a high gas mine shaft after a mining mishap, a special portable cold-cutting equipment is needed, the main technology parameters were calculated according to the advanced cold-cutting technology of high pressure abrasive water jet and the portable mixed abrasive water jet equipment （PAWE） was designed to meet the needs of emergency rescue in high gas mine shafts. Tested the PAWE in a high gas environment, and the result shows that the maximum cutting depth of solid iron pipe is 18 mm and the recoilforce of the sprayer is 28.9 N under the conditions that actual cutting pressure is 29 MPa, starting target distance is 10 ram, cutting speed is 180 mm/min and concentration of abrasive is 32%. The course of the experiment in the high gas environment was smooth and continuous, without any explosion. The PAWE is easy to move and operate, but the nozzle which was worn badly in the sprayer should be changed every 8 minutes.
基金supported by State Key Laboratory of Robotics and System of Harbin Institute of Technology(SKLRS-2009-MS-03)
文摘A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.
