Field Experiment Report for Verification of Abandoned Lignite Mines by Robotic Exploration System

Hiroyasu Miura; Ayaka Watanabe; Masayuki Okugawa; Susumu Kurahashi; Masamitsu Kurisu; Takahiko Miura

doi:10.20965/jrm.2018.p1004

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JRM Vol.30 No.6 pp. 1004-1013

doi: 10.20965/jrm.2018.p1004

(2018)

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Field Experiment Report for Verification of Abandoned Lignite Mines by Robotic Exploration System

Hiroyasu Miura^1, Ayaka Watanabe^1, Masayuki Okugawa^1, Susumu Kurahashi^2, Masamitsu Kurisu^3, and Takahiko Miura^4

^*1Faculty of Engineering, Department of Mechanical Engineering, Aichi Institute of Technology
1247 Yachigusa, Yakusa-cho, Toyota-shi, Aichi 470-0392, Japan

^*2Faculty of Engineering, Department of Civil Engineering, Aichi Institute of Technology
1247 Yachigusa, Yakusa-cho, Toyota-shi, Aichi 470-0392, Japan

^*3Faculty of Engineering, Department of Mechanical Engineering, Tokyo Denki University
5 Senju-Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan

^*4Department of Solution, Sanritz Automation Co., Ltd.
7-47-1 Kotobuki-cho, Toyota-shi, Aichi 471-0834, Japan

Received:

February 28, 2018

Accepted:

October 2, 2018

Published:

December 20, 2018

Keywords:

abandoned lignite mines, field experiment report, robotic exploration system

Abstract

The risk of collapse and subsidence of abandoned lignite mines has been noted in the Tokai region of Japan. The cavity-filling process by local governments has been ongoing. There is no cavity map in the abandoned lignite mines, and it is necessary to understand and explore the underground space in order to estimate the amount of filling material needed. By request from Mitake-cho in Gifu Prefecture, we received the opportunity to explore the inside of an abandoned lignite mine using our robotic system. Prior to the exploration of the actual abandoned lignite mine, as a feasibility study, an experimental test field that simulated the elements of the abandoned lignite mine was prepared outdoors. Some experiments were performed and the robotic exploration system was evaluated in this study. This paper describes the lessons learned from the feasibility study.

Robotic exploration in abandoned lignite mine

Cite this article as:

H. Miura, A. Watanabe, M. Okugawa, S. Kurahashi, M. Kurisu, and T. Miura, “Field Experiment Report for Verification of Abandoned Lignite Mines by Robotic Exploration System,” J. Robot. Mechatron., Vol.30 No.6, pp. 1004-1013, 2018.

Data files:

References

[1] O. Aydan and H. Tano, “Sinkhole and subsidence above abandoned mines and quarries caused by the great east Japan earthquake on March 11, 2011 and their implications,” J. of Japan Association for Earthquake Engineering, Vol.12, No.4, pp. 220-248, 2012.
[2] A. Sakamoto et al., “Some Examples of Cavity Filling Along Transportation Routes Above Abandoned Room and Pillar Lignite Mines in Tokai Region,” Proc. Post-Mining Symp., 2005.
[3] A. Sakamoto et al., “An integrated cavity filling technique for abandoned underground room and pillar lignite mines and underground quarries,” Proc. Post-Mining Symp., 2005.
[4] H. Kuma et al., “Investigation Robots for Iwami Ginzan Silver Mine, UNESCO’s World Heritage,” J. of The Robotics Society of Japan, Vol.26, No.6, pp. 599-605, 2008 (in Japanese).
[5] J. Green, “Underground Mining Robot: a CSIR Project,” Proc. the 10th IEEE Int. Symp. on Safety Security and Rescue Robotics, No.66, 2012.
[6] D. N. Ray et al., “Sub-Terranean Robot: A Challenge for the Indian Coal Mines,” Online J. on Electronics and Electrical Engineering, Vol.2, No.2, pp. 217-222, 2014.
[7] H. Miura et al., “Field experiment report for tunnel disaster by investigation system with multiple robots,” Proc. the 14th IEEE Int. Symp. on Safety Security and Rescue Robotics, Paper WeA3T. 4, 2016.
[8] S. Suzuki et al., “Remote Control System of Disaster Response Robot with Passive Sub-Crawlers Considering Falling Down Avoidance,” Robomech J., Vol.1, Issue 1, p. 20, 2014.
[9] K. Nagai et al., “Application of Rover to Noise Measurement and Surveillance,” Proc. JSME Robotics and Mechatronics Conf., 2P2-D14, 2008 (in Japanese).
[10] S. Kobayashi et al., “Crawler type Rescue Robot Utility Mobile Robot for Search,” Proc. SICE the 49th Automatic Control Association Conf., 2006 (in Japanese).
[11] S. Kohlbrecher et al., “A Flexible and Scalable SLAM System with Full 3D Motion Estimation,” Proc. the 9th IEEE Int. Symp. on Safety Security and Rescue Robotics, pp. 155-160, 2011.
[12] H. Miura et al., “Field Experiment Report of Abandoned Lignite Mines by Explore Robot System,” Proc. JSME Robotics and Mechatronics Conf. 2017, 1P2-N05, 2017 (in Japanese).
[13] R. Yan et al., “RoboCup Rescue 2017 Team Description Paper Nubot,” Proc. Robocup Rescue 2017 TDP Collection, 2017.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] O. Aydan and H. Tano, “Sinkhole and subsidence above abandoned mines and quarries caused by the great east Japan earthquake on March 11, 2011 and their implications,” J. of Japan Association for Earthquake Engineering, Vol.12, No.4, pp. 220-248, 2012.

[2] [2] A. Sakamoto et al., “Some Examples of Cavity Filling Along Transportation Routes Above Abandoned Room and Pillar Lignite Mines in Tokai Region,” Proc. Post-Mining Symp., 2005.

[3] [3] A. Sakamoto et al., “An integrated cavity filling technique for abandoned underground room and pillar lignite mines and underground quarries,” Proc. Post-Mining Symp., 2005.

[4] [4] H. Kuma et al., “Investigation Robots for Iwami Ginzan Silver Mine, UNESCO’s World Heritage,” J. of The Robotics Society of Japan, Vol.26, No.6, pp. 599-605, 2008 (in Japanese).

[5] [5] J. Green, “Underground Mining Robot: a CSIR Project,” Proc. the 10th IEEE Int. Symp. on Safety Security and Rescue Robotics, No.66, 2012.

[6] [6] D. N. Ray et al., “Sub-Terranean Robot: A Challenge for the Indian Coal Mines,” Online J. on Electronics and Electrical Engineering, Vol.2, No.2, pp. 217-222, 2014.

[7] [7] H. Miura et al., “Field experiment report for tunnel disaster by investigation system with multiple robots,” Proc. the 14th IEEE Int. Symp. on Safety Security and Rescue Robotics, Paper WeA3T. 4, 2016.

[8] [8] S. Suzuki et al., “Remote Control System of Disaster Response Robot with Passive Sub-Crawlers Considering Falling Down Avoidance,” Robomech J., Vol.1, Issue 1, p. 20, 2014.

[9] [9] K. Nagai et al., “Application of Rover to Noise Measurement and Surveillance,” Proc. JSME Robotics and Mechatronics Conf., 2P2-D14, 2008 (in Japanese).

[10] [10] S. Kobayashi et al., “Crawler type Rescue Robot Utility Mobile Robot for Search,” Proc. SICE the 49th Automatic Control Association Conf., 2006 (in Japanese).

[11] [11] S. Kohlbrecher et al., “A Flexible and Scalable SLAM System with Full 3D Motion Estimation,” Proc. the 9th IEEE Int. Symp. on Safety Security and Rescue Robotics, pp. 155-160, 2011.

[12] [12] H. Miura et al., “Field Experiment Report of Abandoned Lignite Mines by Explore Robot System,” Proc. JSME Robotics and Mechatronics Conf. 2017, 1P2-N05, 2017 (in Japanese).

[13] [13] R. Yan et al., “RoboCup Rescue 2017 Team Description Paper Nubot,” Proc. Robocup Rescue 2017 TDP Collection, 2017.

Field Experiment Report for Verification of Abandoned Lignite Mines by Robotic Exploration System

Hiroyasu Miura*1, Ayaka Watanabe*1, Masayuki Okugawa*1, Susumu Kurahashi*2, Masamitsu Kurisu*3, and Takahiko Miura*4

Hiroyasu Miura^1, Ayaka Watanabe^1, Masayuki Okugawa^1, Susumu Kurahashi^2, Masamitsu Kurisu^3, and Takahiko Miura^4