| 摘要 |
PURPOSE:To make abnormal state happing information in coal mine obtainable safely, by mounting various sensors on a mobile car provided with an unexplosive driving device, transmitting information by means of remote control, and sighting the actual condition, while detecting ambient temperature and gas content. CONSTITUTION:A control command is given to a transmitter-receiver unit 50 of a mobile robot 10 from a backup car via an optical fiber 46, and this command is transmitted to a control unit 36 and a driving device controller 40 whereby control over the movile robot takes place. And, the control unit 36 drives various sensors altogether and simultaneously a driving signal is inputted in to a GTO thyristor gate circuit, operating a thyristor, whereby a light 30 is lighted, and a universal-head 26 is operated, then a television camera 28 is directed to an optional direction. On the other hand, the controller 40 controls a solenoid valve, driving a gas motor, and makes a mobile car 12 go forward. And, the backup car goes forward when safety is made sure with various kinds of information out of the robot 10 and stops at a safety zone. And, inside a cover 24 is cooled by inert gas, and the inside is higher pressure than the outside so that dangerous gas is in no case penetrated into the cover. |
