Abstract

 Safety is an essential component of any healthy workplace. Mines in

particular are hazardous environments with a greater potential for large-scale
environmental damage and loss of life than for many other workspaces, thus
making mine safety an ever-present concern. As mines increase in size and
depth and mining companies become larger operations that include more
workers, safety becomes a new challenge that has been met by the
development of specialized practices and equipment designed specifically to
provide miners with the warning and protection. This device is mainly used to
detect the hazardous gases present in mines and caves, and gives the
information to humans whether the cave is safe to explore or not.

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 Introduction
In the hazardous working environment, human safety is an important concern.
Coal mines is a place inwhich human lives are more dangerous. A coal mine is
an underground tunnel system. There only a few pitheads on ground. If there are
some accidents, people are easily trapped in tunnel and often cannot escape from
it. It has dangerous accidents as collapse, gas explosion, CO2 poison gas, low
O2 content, high temperature, smoke, coal dust, fire, water, etc. All these
accidents can kill people easily. CH4 gas is intergrowth with coal. When coal is
mined, CH4 gas is released. Gas is pushed off by forced ventilating system. But
if the ventilating system is faulty or gas is leaked from coal layer, gas diffuses
throughout the tunnel.

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 Block Diagram

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 Existing System

• The previous collected data reveals that large number of accidents occurs in a
coal mine during and after a disaster. The main reasons being, gas accidents,
explosives, flood, caving, etc. It requires the development of a system that
can help minimize the human and material loss that happens during rescue
operations in coal mines. Thus sensors for detect the gas are mandatory in the
robot to be deployed.

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 Proposed System

• Based on the actual situation of the coal mine, the underground planning protection
scope is analyzed. Aiming at the problems of imperfect fire early warning detection
technology, management mechanism, high labor cost and low work efficiency in
underground protection, the intelligent inspection robot technology is proposed to
realize safety tour, underground intelligent management and early warning of
underground security, fire protection facilities construction, and intelligent early
warning system. This paper analyzes the key technology of intelligent inspection
robot in coal mine industrial heritage protection, introduces the composition, structure
and implementation method, and proposes its construction path and method.

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 Methodology
• The Node MCU is a main part of an system along with
sensors. A method for controlling a robot using Bluetooth and
an application built in the android Platform. We present a
review of Robots controlled by mobile phone via moving the
Robot upward, backward, left and right side by the android
application. The android phone and Node mcu board is
connected through Bluetooth. A signal is generated from the
android app and which will be received by the node mcu board
and the robot works according to predefined program.

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 Algorithm/Techniques/Tools Used
 IOT Platforms
 Wireless sensor network(WSN)
 Arduino
 Mobile Application
 Security measures

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 BATTERY
The battery is an essential component of almost all aircraft
electrical systems. Batteries are used to start engines and auxiliary
power units, to provide emergency backup power for essential
avionics equipment, to assure no-break power for navigation units
and fly-by-wire computers, and to provide ground power
capability for maintenance and preflight checkouts

VOLTS – 12V
AMPERE – 1.3 AMPS
TYPE - LEAD ACID
 REGULATOR 7805
 All voltage sources cannot able to give fixed output due to
fluctuations in the circuit. For getting constant and steady output,
the voltage regulators are implemented.
 The integrated circuits which are used for the regulation of
voltage are termed as voltage regulator ICs. Here, we can discuss
the IC 7805.
 MICRO CONTROLLER
(Node MCU)
ESP8266 offers a complete and self-contained Wi-Fi
networking solution, allowing it to either host the application or to
offload all Wi-Fi networking functions from another application
processor. When ESP8266 hosts the application, and when it is the
only application processor in the device, it is able to boot up
directly from an external flash. It has integrated cache to improve
the performance of the system in such applications, and to
minimize the memory requirements.
 Bluetooth Module
This module is an upgrade of hc05 kg036
High-performance wireless transceiver system.
Has a build-in 2.4GHz antenna; user needn’t test antenna.
3.3V and 5V output voltage to supply the programmed
controller.
This module is an Upgrade Of Hc05 Kg036
 Flame Sensor
A sensor which is most sensitive to a normal light is known as a flame sensor. That’s
why this sensor module is used in flame alarms. This sensor detects flame otherwise
wavelength within the range of 760 nm – 1100 nm from the light source. This sensor can
be easily damaged to high temperature. So this sensor can be placed at a certain distance
from the flame. The flame detection can be done from a 100cm distance and the
detection angle will be 600. The output of this sensor is an analog signal or digital signal.
These sensors are used in fire fighting robots like as a flame alarm.

Pin1 (VCC pin): Voltage supply rages from 3.3V to 5.3V

Pin2 (GND): This is a ground pin
Pin3 (AOUT): This is an analog output pin (MCU.IO)
Pin4 (DOUT): This is a digital output pin (MCU.IO)
 GAS SENSOR
Sensitive material of MQ-7 gas sensor is SnO2, which with lower
conductivity in clean air. It make detection by method of cycle high and low
temperature, and detect CO when low temperature (heated by 1.5V). The
sensor’s conductivity is more higher along with the gas concentration rising.
When high temperature (heated by 5.0V), it cleans the other gases adsorbed
under low temperature.

Character Configuration
*Good sensitivity to Combustible gas in wide range
* High sensitivity to Natural gas
* Long life and low cost
* Simple drive circuit
 L298N MOTOR DRIVER IC
This L298N Motor Driver Module is a high power motor driver
module for driving DC and Stepper Motors. This module consists
of an L298 motor driver IC and a 78M05 5V regulator. L298N
Module can control up to 4 DC motors, or 2 DC motors with
directional and speed control.
Features & Specifications
Driver Model: L298N 2A
Driver Chip: Double H Bridge L298N
Motor Supply Voltage (Maximum): 46V
Motor Supply Current (Maximum): 2A
 DC MOTOR
Almost every mechanical movement that we see around us is
accomplished by an electric motor. Electric machines are a means
of converting energy. Motors take electrical energy and produce
mechanical energy. Electric motors are used to power hundreds of
devices we use in everyday life. Motors come in various sizes.
Huge motors that can take loads of 1000’s of Horsepower are
typically used in the industry
 Expected Outcomes

Providing human safety for the rescue team in hazardous environments such as
coal mines .This is a prototype which can be implemented in real time by using
components with better range and efficiency. This robot enters into hazardous
environments and provides data like the content of gases after the explosion has
occurred and also the temperature based on which the rescue team will be sent
with necessary precautionary measures in order to make sure that the rescue
team does not come to any harm.

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 References
[1] Raguvaran. K, Mr. J. Thiyagarajan “Raspberry PI Based Global Industrial Process Monitoring
Through Wireless Communication” in International Conference on Robotics, Automation, Control
and Embedded Systems – RACE 2015.
[2] Shushan Hu1,2 ,Cunchen Tang1, Riji Yu1, Feng Liu1, Xiaojun Wang2 “Intelligent Coal Mine
Monitoring System based on the Internet of Things” in 978- 1- 4799-2860-6/13/$31.00 ©2013
IEEE.
[3] Chen Yan, Song Nan-nan “The Research of Coal Mine Security Monitoring System Based on
Wireless Sensors Network” in Jiangsu Province of China under Grant No.KC0919.
[4] Zeng Weixin, “Exploration for Human Factors in the Design of Coalmine Safety and Rescue
Devices", IEEE International Conference on Robotics, July 5, 2006.
[5] Zhu Jianguo, Gao Junyao, Li Kejie, Lin Wei, Bi Shengjun, “Embedded Control System Design
for Coal Mine Detect and Rescue Robot", IEEE, 2010

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