Design and simulation of a hybrid vehicle for exploration of risks in underground mining

This work presents the mechanical design and 3D simulation of an unmanned land-air hybrid vehicle capable of performing routine exploration tasks, remotely controlled by an operator. The vehicle is designed to assess the dangers present in underground mining, particularly focusing on the high accident rate associated with exploration projects. Routine inspections require capabilities such as detecting potential hazards, including poor ventilation indicated by low oxygen levels, high radiation levels caused by toxic gases such as radon, and the risk of landslides and collapses within the mine. The mechanical design comprises a terrestrial steering module, ground movement system, flight module, and the integration of these components. For the electronic system, sensors and actuators are selected for navigation in challenging environments and data acquisition. The control system includes a direction control strategy and a flight control loop.