{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T18:23:14Z","timestamp":1790706194596,"version":"4.1.0"},"reference-count":49,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52504178"],"award-info":[{"award-number":["52504178"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52304183"],"award-info":[{"award-number":["52304183"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"award":["52504178"],"award-info":[{"award-number":["52504178"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]},{"award":["52304183"],"award-info":[{"award-number":["52304183"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002855","name":"Ministry of Science and Technology of the People's Republic of China","doi-asserted-by":"publisher","award":["2024YFB2908801"],"award-info":[{"award-number":["2024YFB2908801"]}],"id":[{"id":"10.13039\/501100002855","id-type":"DOI","asserted-by":"publisher"}]},{"award":["2024YFB2908801"],"award-info":[{"award-number":["2024YFB2908801"]}],"id":[{"id":"https:\/\/ror.org\/027s68j25","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Mine disasters require urgent lifeline setup in confined tunnels, but manual rescue in unstable accident zones carries huge safety risks. Coal mine rescue robots (CMRRs) have become key equipment to replace manual rescue. However, traditional remote-controlled CMRRs suffer from low autonomy and weak environmental perception capability, which have become critical bottlenecks for field application. As an emerging technology in the mining field, digital twin enables high-precision virtual-real mapping and on-site operation guidance, providing a novel solution to the above problems. To realize autonomous navigation and digital twin visualization of the CMRR, this paper first carries out targeted hardware retrofits on the CMRR platform, upgrades environmental perception, communication transmission and motion control modules, and lays a solid hardware foundation for subsequent algorithm design and system implementation. Aiming at the complex post-disaster underground environment, a digital twin-integrated CMRR system is constructed. For intelligent autonomous navigation, this study investigates a 3D point cloud\u2013based autonomous navigation framework and proposes a slope-fitting method as well as a maximum arrival probability obstacle avoidance method based on B\u00e9zier curve trajectories. For environmental visualization, a digital twin interactive interface is built to monitor gas and other environmental parameters in real time, and accurately reconstruct underground roadway structures based on point cloud data. This design not only ensures the robot\u2019s autonomous obstacle avoidance but also helps rescuers grasp underground conditions in advance. Field tests in a simulated post-disaster mine with complex terrain show that the system can stably complete autonomous navigation tasks, maintain stable motion control under dynamic interference, and provide accurate and reliable environmental data for rescue decisions, verifying its feasibility and effectiveness in harsh mine rescue scenarios.<\/jats:p>","DOI":"10.3390\/s26092840","type":"journal-article","created":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T16:54:07Z","timestamp":1777654447000},"page":"2840","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Digital Twin of Coal Mine Rescue Robot\u2014Research on Intelligence and Visualization"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0488-0012","authenticated-orcid":false,"given":"Shaoze","family":"You","sequence":"first","affiliation":[{"name":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China"},{"name":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou 221008, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2395-9543","authenticated-orcid":false,"given":"Menggang","family":"Li","sequence":"additional","affiliation":[{"name":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou 221008, China"},{"name":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Baolei","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chaoquan","family":"Tang","sequence":"additional","affiliation":[{"name":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou 221008, China"},{"name":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,5,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"6945","DOI":"10.1109\/ACCESS.2025.3526881","article-title":"Digital twins and enabling technology applications in mining: Research trends, opportunities, and challenges","volume":"13","author":"Don","year":"2025","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"466","DOI":"10.1002\/rob.21920","article-title":"Development and applications of rescue robots for explosion accidents in coal mines","volume":"37","author":"Li","year":"2020","journal-title":"J. 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