Development of Autonomous Driving Patrol Robot for Improving Underground Mine Safety

To improve the working conditions in underground mines and eliminate risk of human casualties, patrol robots that can operate autonomously are necessary. This study developed an autonomous robot for conducted field experiments at mine sites. The driving estimated its own location operated via encoders, IMUs, LiDAR sensors; it measured hazards using gas sensors, dust particle thermal imaging cameras. perform waypoint-based path planning. It also automatically return to starting point after along waypoints sequentially. In addition, acquires concentration levels with images then combines them data create environmental map. results experiment limestone Korea as follows. O2 was maintained a constant level 15.7%; toxic gases such H2S, CO, LEL were not detected; showed humans could be detected. maximum experimental area about 0.01 mg/m3, highly distributed 25–35 m section on is expected safety work by exploring areas dangerous access productivity automating exploration tasks.