Hazardous Gas Detection Rover For
Mines And Quarries
Vinoth T A P Jai Prakash Alan Raju
Mechatronics Engineering Mechatronics Engineering Mechatronics Engineering
Chennai Institute of Technology Chennai Institute of Technology Chennai Institute of Technology
Chennai,India. Chennai,India. Chennai, India.
[email protected] [email protected] [email protected] Chandra Babu R Kalaivani A
Sumirson K Mechatronics Engineering Electronics & Communication
Mechatronics Engineering
Chennai Institute of Technology Engineering
Chennai Institute of Technology
Chennai, India. Chennai Institute Of Technology
Chennai, India
[email protected] Chennai, India.
[email protected] [email protected] Abstract—Mining and industrial operations reliance on extensive infrastructure and lowering
are often fraught with the dangers posed by costs. Additionally, the rover’s ability to seamlessly
hazardous gases, which can accumulate in confined transmit data to operating system for analysis
spaces due to geological processes, equipment efficient decision-making. By focusing on worker
emissions, or chemical reactions. Gases such as safety, operational efficiency, and cost reduction,
carbon monoxide (CO), methane (CH₄) and this innovative solution is poised to transform
Hydrogen (H2) present significant risks to workers hazardous gas detection in mining and industrial
and operations. Acute exposure to these gases can operations.
result in respiratory distress, unconsciousness, or
even fatalities, while prolonged exposure leads to Keywords— Gas Monitor, Semi-Autonomous
chronic health issues, including lung damage and Rover, Enhanced Safety, Automated process.
neurological disorders. Additionally, flammable
gases like methane pose a constant risk of I. Introduction.
explosions, which can lead to catastrophic loss of
life and property. Beyond safety concerns, the Mining and quarrying operations expose workers to
presence of harmful gases can disrupt operations, hazardous gases that can pose serious health risks
cause downtime, and negatively impact the and even lead to fatal accidents. Toxic and
environment by contributing to pollution and combustible gases such as methane, carbon
ecosystem degradation. monoxide, and propane are common in such
environments, making early detection crucial for
Current gas detection systems, which rely on worker safety. Traditional gas monitoring methods
stationary sensors installed throughout operational require manual intervention, which increases the
areas, are not without their drawbacks. These risk of exposure. Therefore, an automated, real-time
systems are costly to install and maintain, gas detection system is essential for ensuring a safer
particularly in large or complex sites, and their fixed working environment.
nature limits their ability to monitor beyond specific
locations. To address these challenges, there is a To address this issue, we propose a semi-
growing need for a cost-effective, portable solution autonomous hazardous gas detection rover equipped
capable of dynamic monitoring. The development of with an MQ2 gas sensor, ultrasonic sensor, and
a semi-autonomous gas detection rover aims to infrared (IR) sensor. The rover is designed to
tackle these limitations by providing a mobile navigate through mines and quarries while detecting
platform equipped with advanced sensors to detect and classifying gases based on their concentration
hazardous gases. This rover offers enhanced safety levels. This real-time detection system enhances
through real-time monitoring and enabling swift
safety by alerting workers and preventing potential
action to mitigate risks. Its portability allows it to
hazards.
cover large and hard-to-reach areas, reducing
A. Problem Identification Solution Overview:
Mining and quarrying environments are highly Step 1: Start the System
prone to the presence of hazardous gases such as Step 2: Sensor starts up (MQ2)
methane, carbon monoxide, and propane, which can Step 3: Sensor Ready
lead to serious health risks, explosions, and even Step 4: Sensor Detects for gas
fatalities if not detected in time. Workers in these Step 5: Data Send to Arduino Uno
industries often face exposure to toxic gases, which Step 6: Sorting the Gases by PPM
can cause respiratory issues, poisoning, or long-term Conditions:
health problems. Additionally, combustible gases (i) PPM < 200
increase the risk of fires and explosions, making it (ii) 200 < PPM < 400
essential to have a reliable detection system in place. (iii) PPM > 400
Traditional gas monitoring methods require manual Step 7: Stop after the Sorting is done.
intervention, which not only puts workers at risk but Step 8: Looping of the process.
is also inefficient and time-consuming. Moreover,
the uneven and obstructed terrains of mines and
quarries make navigation difficult, further
complicating gas detection efforts. The absence of a
real-time monitoring system means that hazardous
gas leaks may go unnoticed until they reach
dangerous levels, leaving workers vulnerable. To
prevent accidents and improve workplace safety,
there is a critical need for an automated system that
can detect harmful gases, navigate challenging
environments, and provide immediate alerts,
reducing human exposure and ensuring a safer
mining and quarrying operation.
The core objective can be stated as follows:
(i) Gas Monitoring System using MQ2
(ii) Semi-autonomous Rover.
B. Proposed Solution
To address the risks posed by hazardous gases in
mines and quarries, we propose a semi-autonomous
hazardous gas detection rover equipped with an
MQ2 gas sensor, ultrasonic sensor, and infrared
sensor. The MQ2 sensor detects harmful gases and Fig 1 Process Flow Chart
categorizes them based on their concentration levels:
low (PPM < 200), moderate (200 < PPM < 400), and II. Methodology
high (PPM > 400), ensuring early detection of
potential dangers. The rover’s ultrasonic sensor A. Gas Sensor
helps in detecting and avoiding obstacles, allowing
smooth movement in rough and confined spaces,
The hazardous gas detection rover is equipped with
while the infrared (IR) sensor enhances
an MQ2 gas sensor, which plays a crucial role in
environmental awareness for improved navigation.
detecting the presence of harmful gases in mining
Designed for real-time monitoring, the system
and quarrying environments. The MQ2 sensor can
continuously scans the surroundings for hazardous
identify gases such as methane (CH₄), carbon
gases and transmits alerts wirelessly to a remote
monoxide (CO), and propane (C₃H₈) by measuring
station, enabling quick responses to dangerous
their concentration in parts per million (PPM).
conditions. By automating gas detection and
Based on the detected PPM levels, the gases are
obstacle avoidance, this solution significantly
classified into three categories: low (PPM < 200),
reduces human exposure to toxic environments,
moderate (200 < PPM < 400), and high (PPM >
enhances safety in mining operations, and provides
400). This classification allows for a clear
a cost-effective method for continuous air quality
understanding of gas concentration levels, enabling
monitoring in hazardous workplaces.
the system to trigger appropriate warnings. The
sensor provides real-time data that can be
transmitted wirelessly to a monitoring station, C. Equations
ensuring timely action is taken if gas levels reach
dangerous thresholds. The operation of the MQ2 gas sensor and the
obstacle detection system relies on fundamental
equations for gas concentration measurement,
ultrasonic distance calculation, and infrared sensor
detection. The gas concentration (PPM) detected
by the MQ2 sensor is determined using the equation:
PPM=A×VoutBPPM = A \times
V_{out}^BPPM=A×VoutB
where PPM represents the concentration of gas in
parts per million, V_out is the sensor’s output
voltage, and A and B are calibration constants
Fig 2 MQ2 Gas Sensor specific to the MQ2 sensor. This equation helps in
analyzing the gas levels and categorizing them into
A.1 Input/Output pins : different safety thresholds.
1: VCC (+5V)
2: Ground - GND No: Range Gas Detected Sensor Used
3: Digital Out - D0 1 PPM < CO, H2 MQ2
4: Analog Out - A0 200
2 200 < CO, H2, CH4 MQ2
B. Semi-Autonomous Rover – Obstacle Avoidance PPM <
400
The rover is designed to navigate through rugged 3 PPM > CO, H2, CH2, MQ2
mining and quarrying environments while avoiding 400 C2H6, C4H10
obstacles to ensure efficient gas detection. It is
equipped with an ultrasonic sensor that detects Fig 4 PPM Range
objects in its path by emitting ultrasonic waves and
measuring the time taken for the waves to reflect For obstacle detection, the ultrasonic sensor
back. If an obstacle is detected within a predefined calculates the distance to an object using the
range, the rover alters its path to avoid collisions. formula:
Additionally, an infrared (IR) sensor is integrated
to enhance environmental awareness and improve D=T×V2D = \frac{T \times V}{2}D=2T×V
navigation in low-visibility conditions. This
combination of sensors enables the rover to operate Sensor Data (m) Actual Data (m)
semi-autonomously, reducing the need for manual
intervention while ensuring safe and efficient 0 0.01
movement in complex terrains.
0 0.02
0.15 0.15
0.30 0.30
0.50 0.50
1.20 1.20
1.34 1.35
1.61 1.60
2.32 2.30
2.67 2.65
Fig 3 Semi-Autonomous Rover Fig 5 Ultrasonic Sensor Range Data
where D is the distance to the obstacle, T is the time IV. Conclusion
taken for the ultrasonic pulse to travel to the object
and back, and V is the speed of sound in air The development of a semi-autonomous hazardous
(approximately 343 m/s). This equation allows the gas detection rover provides a practical and efficient
rover to detect obstacles and adjust its path solution for ensuring safety in mines and quarries.
accordingly. By integrating gas sensors with real-time monitoring
and obstacle avoidance technology, the system
Additionally, the infrared (IR) sensor detects significantly reduces the risk of human exposure to
objects based on the intensity of reflected infrared toxic gases. The automated detection and
light using the equation: classification of gases allow for immediate action,
preventing potential health hazards and accidents.
I=PAI = \frac{P}{A}I=AP The rover's mobility ensures that even hard-to-reach
areas can be monitored effectively, enhancing
workplace safety. This project demonstrates the
where I is the intensity of the reflected IR light, P is
the power of the emitted IR light, and A is the area potential for robotic systems in hazardous
over which the light spreads. This equation helps the environments and paves the way for further
improvements in automated gas detection
rover to identify objects in its environment,
technology. With additional enhancements such as
improving navigation in low-visibility conditions.
improved battery life and integration with advanced
These equations are use in Arduino Uno program,
communication systems, the rover can become an
The PPM equation is used for Gas Sensor MQ2. The
Other equations, Distance of Ultrasonic Sensor and essential tool for mining safety operations.
the intensity of the Infrared Sensor are used for the
Semi-autonomous Rover. V. References
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Fig 6 Result
