unmanned vehicle robot for coal mines 1111111111111111

UNMANNED VEHICLE (ROBOT) FOR COAL MINES
JAYAWANTRAO SAWANT COLLEGE OF ENGINEERING, PUNE 28 Page | 1
CHAPTER 1
INTRODUCTION
This project helps to reduce fatal accidents in coal mines by using sensors for different
quantities like temperature, harmful gases, humidity and light. By using this project we can provide safety for
mine workers and avoide hazardus accidents.
CHAPTER 2
LITERATURE SURVEY
The Literature Review Reference Report provides background information and context to
the main project document. This are-
2.1 Underground Mine Communications
Mr. JOHN N. MURPHY, SENIOR MEMBER, IEEE, ANDJ HOWARD E.
PARKINSON Said, for real-time voice transmission, minimum frequencies are about 30 kHz-in the LF
range the higher the frequency the better the coupling efficiency; in the UHF band, the radiated wave
propagates in the "waveguide" formed by the mine opening. Hence, selection of optimum frequencies is
dependent on the relative efficiency of propagation and the noise level, which together give the optimum
signal-to-noise ratio.
2.2 RADIO FREQUENCY COMMUNICATION SYSTEMS IN UNDERGROUND MINES
Mr. L. K. Bandyopadhyay, Mr. P.K. Mishra, Sudhir Kumar and Mr. A. Narayan of Central
Mining Research Institute, Barwa Road, Dhanbad- 826001, India. Said, In underground mines, sometimes
due to fissured strata, the roof or side wall of a gallery collapse, miners gets trapped inside sealed area.
Many miners get trapped beneath the big chunk of fallen roof. A communication link between the trapped
miner [1, 6-7] and rescue team is essential to find out the actual location of trapped miner for rescue
operation. Studies revealed that attenuation of low frequency is comparatively lower through coal block.
The low frequency tone signal modulated over RF signal 457 kHz can be transmitted through large
thickness of coal block.
2.3 Rescue and protection system for underground mine workers based on Zigbee
By Tanmoy Maity, Assistant Professor, Department of Electrical Engineering Indian
School of Mines, Dhanbad, India. Partha sarathi Das, Assistant Professor, Department of Electrical
Engineering, Durgapur Institute of Advanced Technology and Management , Durgapur, INDIA and Mithu
Mukherjee, Assistant Professor, Department of Electrical Engineering, Birbhum Institute of Engineering
and Technology, Suri, WB, INDIA. Said, a wireless sensor network (WSNs) are usually low data rate, low

latency and self-organizing is an arbitrarily spaced collection of nodes. A wireless sensor network consist of
small devices, called sensor nodes that are equipped with sensors to monitor the physical and environmental
conditions such as pressure, temperature, humidity, motion, speed etc. Wireless sensor networks utilize
large numbers of wireless sensor nodes to collect information from their sensing terrain.
2.4 Wireless communication in Underground Mines RFID-Based Sensor Networking.
Mr. L.K. Bandyopadhyay, Mr. S. K. Chauliya and Mr. P.K. Mishra said that, A proper
and reliable wireless communication system in underground mines will save machine break down time, and
also help in immediate transfer of message from the vicinity of underground working area to surface for
speedy rescue operation. Different types of wireless communication system are developed, namely,
personnel emergency detector, mine tracking system, leaky feeder-based system, induction-based system,
very high frequency (VHF)/ultra-high-frequency (UHF) transceivers. Trapped miner locator, etc., and these
systems has to be integrated with the required IT system.
2.5 Proposed System
 Instead of using wired camera or bluetooth and wifi connecting system we are using wireless
camera which is useful for transmitting the video frames simultaneously send to the receiver
 The fatal explosion of the underground coal mine was caused by a mixture of gas and coal dust.
The underground fire exploded out of the mine shaft entrance. accident happens beacause of gas
leackage, Therefore we are using fire sensor and gas sensor for knowing the situation in the coal
mines. Accident happens due to fire and gas leakage:-
 Mitsubishi Hojyo Coal Mine Disaster (1914) - Japan
 Laobaidong Colliery Disaster (1960) - China
 Mitsui Miike Coal Mine Disaster (1963) - Japan
 We can using LM35 thus has an advantage over linear temperature sensors calibrated in ° Kelvin,
as the user is not required to subtract a large constant voltage from its output to obtain convenient
Centigrade scaling.
 By the use of this project we can reduced some of accident which are happen in coal mines.

CHAPTER 3
BLOCK DIAGRAM
TRANSRECEIVER

Fig 1: TX and RX Block Diagram Of Unmanned Vehicle For Coal Mines.
3.1 Block Diagram Description
3.1.1 CONTROL UNIT
Control unit is basically consists only joy stick.
3.1.1.1 2-Axis Joystick (#27800)
The 2-Axis Joystick can be used to add analog input to your next project. The 2-Axis Joystick
contains two independent potentiometers (one per axis) that can be used as dual adjustable voltage dividers,
providing 2-Axis analog input in a control stick form. The modular form-factor allows you to plug the 2-Axis
Joystick directly into a breadboard for easy prototyping. The 2-Axis Joystick includes spring autoreturn to
center and a comfortable cup-type knob which gives the feel of a thumb-stick.
 Features:-
-Easy breadboard connection
-Two independent potentiometers with common ground
-Spring auto-return to center position
-Comfortable cup-type knob
-Compatible with most microcontrollers
 Key Specifications:-

-Power capability: 0.01W; 10 VDC maximum working voltage
-Interface: Dual 10 kΩ potentiometers with common ground
-Operating temperature: 32 to 158 °F (0 to 70 °C)
- Dimensions: 1.64" H x 1.40" L x 1.10" W (41.67 mm H x 35.56 mm L x 27.94 mm W)
3.1.2 FIELD UNIT
3.1.2.1 Wireless Camera
Here system will continuously capture video frames using wireless camera .
Fig 2: Wireless Camera
 Features:-
-2.4GHz wireless transmission technology.
- Camera with max wide angle 170 degree view.
- Night vision effective view range: 5 meter.
- Wireless car rearview camera kit.
- Image sensor: color CMOS.
- Included Rearview camera, wireless transmitter, wireless receiver.
- 300000 Pixels camera, picture is stable and clear.
- Water-proof and dust-proof design.
- Real-time rear view while back up- suitable for vehicle, trucks, bus and trailer.
- Prevents accidents while driving in reverse or parking.
3.1.2.2 DC MOTOR
DC Motor has two leads. It has bidirectional motion. If we apply +ve to one lead and ground
to another motor will rotate in one direction, if we reverse the connection the motor will rotate in opposite
direction. If we keep both leads open and both leads ground it will not rotate (but some inertia will be there). If
we apply +ve voltage to both leads then braking will occur.

3.1.2.2.1 DC MOTOR DIRECTION CONTROL USING L293D:-
This is all about how to interface/control a simple DC motor using microcontrollers. Controlling
a DC motor is nothing, but controlling the direction and speed of a motor. It is very necessary to go through
motor controlling concept, if you are designing an autonomous robot.
3.1.2.2.2 MOTOR CONTROLLING USING MICROCONTROLLER:-
We are now familiar how to change the direction of DC motor. Now let us consider how to
control motor using Microcontroller provided.
1. Microcontroller provides us only digital logic (1 or a 0).
2. We can’t provide polarity from microcontroller.
3. We can’t connect motors to Controller as mostly motors runs on voltage higher than +5V, and motors
demands high current (depends).

Fig 3 :DC Motor
It is a circuit which allows motor rotation in both directions. From four terminals of H bridge
you can control a DC motor. Using L293d Dual half H Bridge. We can make our own H bridge using
transistors but it will be better if we use a ready made IC named as L293d, it’s a dual half H bridge IC. We can
drive a maximum of two DC motor and One stepper motor using one L293d.
Decision Table will look like
IN1 IN2 Motor1
0 1 Rotates in one direction
1 0 Rotates in another direction
Similar is true for another motor connected to Out3 and Out4 of L293d and can be controlled
through IN3 and IN4. This is all about controlling direction of DC motor using L293d and ATmega16.
To control the speed of DC motor one can use a Pulse Width Modulated signal on Enable1
and Enable2 pins of L293d, this will result in controlled power input on motor, so speed controlled.
3.1.2.3 Atmel Atmega328P
The ATmega328P chip is used in this project as the microcontroller. The significance of
the first two digits is to stipulate that the AVR core consists of variety of instruction set with 32 general
purpose working registers which are connected directly to the Arithmetic Logical Unit (ALU), tolerating two
independent registers to be retrieved in one single instruction executed in one clock cycle. The subsequent
architecture is more programmable efficient while attaining data transfer rates up to ten times quicker than
other CISC microcontrollers. The last digit is to indicate the 8 bit bi-directional port.
It is certainly the head of the system which is controlling the various modules. The AVR is
a modified Harvard architecture 8-bit RISC single chip microcontroller which was developed by Atmel in
1996. The AVR was one of the first microcontroller families to use on-chip flash memory for program storage,
as opposed to one-time programmable ROM, EPROM, or EEPROM used by other microcontrollers at the
time.
The high-performance Atmel pico Power 8-bit AVR RISC-based microcontroller combines
32KB ISP flash memory with read-while-write capabilities, 1024B EEPROM, 2KB SRAM, 23 general
purpose I/O lines, 32 general purpose working registers

Fig 4: Pin Diagram(Configuration)
3.1.2.4 HUMIDITY SENSORS
HYT271 Based on a unique capacitive cell, these relative humidity sensors are designed for
high volume, cost sensitive applications such as office automation, automotive cabin air control, home
appliances, and industrial process control systems. They are also useful in all applications where humidity
compensation is needed.
Fig 5: Humidity Sensor

Full interchange ability with no calibration required in standard conditions Instantaneous
desaturation after long periods in saturation phase Compatible with automatized assembly processes,
including wave soldering, reflow and water immersion High reliability and long term stability
Patented solid polymer structure Suitable for linear voltage or frequency output circuitry Fast response time
Individual marking for compliance to stringent traceability requirements soldering temperature profiles
available on request.
 Characteristic Features:
- Measuring range 0 … 100% rH, -40 … 125°C.
- Low drift.
- Stable at high humidity.
- I2C protocol for humidity and temperature (address 0x28 or alternative address).
- Accuracy ±1.8% rH, ±0.2°C.
- Temperature compensated.
 Features HYT 271:
- The powerful all-round talent of the HYGROCHIP product series.
- Mechanically robust, chemical resistant and dew formation resistant, the digital humidity sensor
with only 10.2 x 5.1 x 1.8mm size offers the widest application window.
- Precisely calibrated, the HYT 271 delivers an accuracy of ±1.8% rH and ±0.2°C - ideal
for sophisticated mass applications, industrial handheld devices and precise humidity
transmitters.
- Like all representatives of the HYGROCHIP family, the sensor combines the advantages of a
precise, capacitive polymer humidity sensor with the high integration density and functionality
of an ASIC.
- The signal processing integrated in the sensor completely processes the measured data and
directly delivers the physical parameters of relative humidity and temperature over the I²C
compatible interface as digital values.
3.1.2.5 TEMPERATURE SENSOR
The LM35 series are precision integrated-circuit temperature sensors, whose output voltage
is linearly proportional to the Celsius (Centigrade) temperature. The LM35 thus has an advantage over linear
temperature sensors calibrated in ° Kelvin, as the user is not required to subtract a large constant voltage from
its output to obtain convenient Centigrade scaling. The LM35 does not require any external calibration or
trimming to provide typical accuracies of ±1⁄4°C at room temperature and ±3⁄4°C over a full −55 to +150°C
temperature range.

Fig 6: LM35
Low cost is assured by trimming and calibration at the wafer level. The LM35’s low output
impedance, linear output, and precise inherent calibration make interfacing to readout or control circuitry
especially easy. It can be used with single power supplies, or with plus and minus supplies. As it draws only
60 μA from its supply. The LM35D is also available in an 8-lead surface mount small outline package and a
plastic TO-220 package.
3.1.2.6 MQ-6 Gas sensor
The MQ-6 of LPG gas sensors use a small heater inside with an electro-chemical sensor.
They are sensitive for a range of gasses and are most commonly used indoors at room temperature, due to the
small size of the sensor filaments. These sensors combined can detect the presence of Methane, Butane,
smoke, LPG, CNG, Carbon Monoxide, and flammable gasses. These are the most abundant, toxic and
flammable gasses.
Fig 7: MQ-6 Gas Sensor

 Features:
- High sensitivity to LPG, iso-butane, propane.
- Small sensitivity to alcohol, smoke.
- Fast response .
- Stable and long life.
- Simple drive circuit.
 Application:
- They are used in gas leakage detecting equipments in family and industry, are suitable for
detecting of LPG, iso-butane, propane, LNG, avoid the noise of alcohol and cooking fumes and
cigarette smoke.
 Sensitvity Adjustment:
Resistance value of MQ-6 is difference to various kinds and various concentration gases.
So, When using this components, sensitivity adjustment is very necessary. we recommend that you calibrate
the detector for 100 0ppm of LPG concentration in air and use value of Load resistance ( RL) about
20KΩ(10KΩ to 47KΩ). When accurately measuring, the proper alarm point for the gas detector should be
determined after considering the temperature and humidity influence.
3.1.2.7 Rf module-CC2500
RF Module-CC2500 is a transreceiver module which provides easy to use RF
communication at 2.4 Ghz. It can be used to transmit and receive data at 9600 baud rates from any standard
CMOS/TTL source.
This module is a direct line in replacement for your serial communication it requires no
extra hardware and no extra coding toIt works in Half Duplex mode i.e. it provides communication in both
directions, but only one direction at same time

Fig 8: RF Module-CC2500
 Key Features:
 RF Performance:
- High sensitivity (–104 dBm at 2.4 kBaud, 1% packet error rate) .
- Low current consumption (13.3 mA in RX, 250 kBaud, input well above sensitivity limit).
- Programmable output power up to +1 dBm.
- Excellent receiver selectivity and blocking performance.
- Programmable data rate from 1.2 to 500 kBaud.
- Frequency range: 2400 – 2483.5 MHz.
 Analog Features:
- OOK, 2-FSK, GFSK, and MSK supported.
- Suitable for frequency hopping and multichannel systems due to a fast settling frequency
synthesizer with 90 us settling time.
- Automatic Frequency Compensation (AFC) can be used to align the frequency synthesizer to
the received centre frequency.
- Integrated analog temperature sensor.
 Digital Features:
- Flexible support for packet oriented systems: On-chip support for sync word detection, address
check, flexible packet length, and automatic CRC handling.
- Efficient SPI interface: All registers can be programmed with one “burst” transfer.
- Digital RSSI output.
- Programmable channel filter bandwidth.
- Programmable Carrier Sense (CS) indicator.

3.1.2.8 BATTERY
Lithium battery of 12vot is used for this robotic platform. Fusion Lithium Batteries delivers
safe lithium phosphate energy storage solutions in standard lead-acid battery sizes for a wide variety of
applications. They are designed as a direct drop-in replacement for similar sized lead-acid batteries offering
twice the run-time and less than half the weight.
Fusion Lithium Ion Phosphate Batteries (also known as Lithium Iron Phosphate
Batteries) are an extremely light weight battery designed for deep-cycle (cyclic) applications and are a
completely dry battery making them spill-proof and leak- proof. They can sit unused for over a year without
losing charge and can also be charged extremely quickly without damaging the battery.
Unlike many other lithium batteries, Fusion Lithium Batteries are made using prismatic cells
making them not only safe to use, but also boasts better cyclic properties and have a longer life (over 10 year
design life). Other brands generally use cylindrical cells and while they may be cheaper due to lower
manufacturing costs, they are inferior and are not designed for 12V battery application.
CHAPTER 4
FLOWCHARTS
CONTROL UNIT

FIELD UNIT
Fig 9 : FLOWCHARTS OF CONTROL & FILD UNIT

CHAPTER 5
Working
A robot is usually an electro-mechanical machine that is guided by computer and electro
programming. Many projects have been built for manufacturing purpose and can be found in factories in
world. According to command received from controller the robot motion can be controlled. The wireless or
embedded system or technology will be used for design and development of project. The working process for
unmanned vehicle for coal mine (robot) is depend upon the controller kit ATMEGA328P.This controller kit
act as microcontroller in this vehicle (robot).
The AVR core consists of instruction set 32 general purpose working register which are
directly connected to the ALU. It is the head of the system which control the various modules. This controller
is 8 bit bidirectional port this control the both transmitter and receiver and work for both simultaneously this
controller kit contain 32Kb ISP flash memory with read while write capabilities. It contains 23 general
purpose i/o line.
A system contain two field
1) Control field
Basically consists only joystick
Joystick used to control the movement of robot by starting the robot control unit take input
from camera and joystick ,the two axis joystick can be to add analog input this joystick controller contain two
independent potentiometer that can be used as dual adjustable voltage provide two axis control stick. Joystick
contain easy breadboard connection so easy to use. After the control movement start or taking input from
joystick or camera.
This data then transfer to RF transmitter of RF module it provides RF communication to
2.4GH. It can be used for transmit and receive data at baud rate 9600 from any standard CMOS/TTL source.
This also works in both function or communication in both side but disadvantage is that it has only one
direction at time.
Then RF receiver come into the picture RF receiver having work only to check thus the data
send by controller is received or not if the data is received then it display it on the LCD otherwise it will go
back to the controller to for taking input from joystick or camera.

2) Field unit
At robot side the working is given below:-
Start the robot with some giving input and start the dc motor. The robot or vehicle move
according to the data input is like that move in forward direction. And simultaneously servo motor also work
for controlling the movement of hammer and other activity. The robot contain many sensors like humidity
sensor, temperature sensors, gas sensor all this sensor connected to robot according there work this sensors
will give information to the control room by using RF transmitter and having frequency of 2.4GH.
Then command is given to robot to move the robot in forward direction by using joystick.
Robot will send the message to control room if robot sense any data otherwise it move backward, right, left or
in forward direction.
Camera and hammer will work simultaneously by taking command from controller. The
movement of camera and hammer will depend upon the servo motor which handles both simultaneously. The
data captured by camera will store in flash memory of ATMEGA328P kit at control room. The camera will
work on command from control unit to move in clockwise or in anticlockwise direction. Then again this
command send to the robot and next forward step of robot will be work.

CHAPTER 6
APPLICATIONS
1] IT’s uses in the power utilities, power captives, steel industries, cement industries.
2] Robot’s are also being developed for peacekeeping operations, ground surveillance,
gatekeeper/checkpoint operations, urban street presence, and to enhance police and military raids.
3] Reducing military and police casualties.
Fig 10 : Structure Of Robot Used For Coal Mines
4] A hammer and camera can be mounted on this robot to use it as a coal mines robot thus minimizing
the risk on the life of human workers.
 Features:-
-Industrial Automation.
-Mining.
-Lifting goods.
-Construction works.
-Cleanup of hazardous waste.
-Industrial maintenance.
-Planetary Exploration. (Used by NASA).

CHAPTER 7
FUTURE SCOPE
 To eliminate risk of disasters and accidents in coal mines through detailed analysis of accidents and
dangerous occurrences using rescue techniques; A controlled automatic unmanned machine (robot)
designing for assisting rescuers.
 This system works even when a ZigBee, RF, Wi-Fi, Gi-Fi, 2G, 3G, 4G etc. Whenever any accident occurs,
the robot automatically detects the accident, finds the location and enters the coal mine tunnel well before
the arrival of rescuers.
 It finds the location of accident, searches for survivors to give them first aid treatment at right time and
informs the rescue team about environmental conditions and about the survivors inside the coal mine.
 The purpose of our research was to ascertain to what extent and in what ways USVs are likely to be
suitable for contributing to the fulfillment of U.S. Navy missions and supporting functions. This is a
qualitative study that aims to link U.S. Navy needs and considerations with the capabilities that USVs can
provide. In delineating the scope of this report, it is important to emphasize that it is not intended to be an
update to or replacement for The Navy Unmanned Surface Vehicle Master Plan (2007) or the USV
portions of The Unmanned Systems Integrated Roadmap FY2011–2036 (2011). In fact, one of our key
recommendations is that a new USV master plan, roadmap, or both be pursued. Rather, this report is
intended to provide insights to those seeking to understand how USVs can be employed xiv U.S. Navy
Employment Options for Unmanned Surface Vehicles (USVs) in U.S. Navy operations, to lay a foundation
for future roadmaps or master plans, and to offer a starting point for stakeholder community discussion of
how best to proceed with USV development.
 Analysis of the USV Marketplace We began our analysis by reviewing current and emerging USV
markets: what USVs are available or in development, the missions of those USVs, their capabilities, their
attributes, and the countries in which they are being developed.1 We found 63 USVs in what we deemed
to be the current market—i.e., they had been tested and demonstrated. The overwhelming majority of these
USVs were relatively small (11 meters or shorter), with correspondingly limited endurance, power output,
and payload capacity.
 While several of these ROBOT’s are capable of multiple missions, most ROBOT capabilities are directed
toward only a handful of mission categories: observation and collection, characterization of the physical
environment, mine countermeasures (MCM), security against small boat threats, and testing or training
platforms. We also found an additional 22 USVs in a less advanced state of development. These are
primarily small, low-endurance, low-payload platforms and are likewise manufactured in the United States
or countries with which the United States has close ties.

CHAPTER 8
CONCLUTONS
The experience of doing this project was extremely rewarding, the years spent in learning the
theory was put to use. This felt fulfilling and self-reliant. , From a personal outlook the project can be
classified success for this reason. It could also be said successful in a professional point of view because of
achieving most of the objectives required by the University.
Some limitations and lack of validity in some areas have been discussed in previous chapters.
This leaves a lot of room for improvement. The Robot itself is capable of getting the data, transmitting it and
moving around unmanned.The project was done in Fragments; this has an impact in every aspect of this
project. Looking at the hardware it can be deduced that instead of creating 1 PCB to accommodate everything,
different layers of circuits where used.

CHAPTER 9
REFERENCES
1] M.A. Subham and A.S.Bhinde, “Study of Unmanned Vehicles(Robot) for Coal Mines”, proceedings
of the NOV 2014 IJIRAE. International Journal of Innovative Research in Advanced Engineering.
2] M.A. Subham and A.S.Bhinde, “Unmanned Ground Vehicle(UGVs) for Coal Mines”, International
Journal of Innovative Research in Advanced Engineering(IJIRAE),JAN 2015.
3] John Maloa and Basil Beamish , “Remote Monitoring of Subsurface Heating’s in Open cut
Coal Mines”, The University of Wollongong,2013 Coal Operators Conference.
4] Johannes B. Stoll, “Unmanned Aircraft System For Rapid Near Surface Geophysical Measurements”,
International Archives of The Remote Sensing and Spatin Information Sciencesm, SEP2013,
Rostock,Germany.
5] Pathi Venkat Rao, Pavani,M.Jyothirmai, "A Tactical Information Management System For Unmanned
Vehicles Using Zig-bee Technology”, International Journal of Innovative Technologies, JUL 2005.

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