1、翻译部分英文原文Development of an Unmanned Coal Mining Robot and a Tele-Operation SystemSungsik Huh , Unghui Lee, Hyunchul Shim, Jong-Beom Park and Jong-Ho NohAbstract: The typical underground coal mine in Korea is an extremely harsh environment for workers due to high temperature, humidity, and harmful dus
2、ts. In such environment, a remotely operated robot can be of great help to alleviate the work load of miners. As a joint effort, KAIST, Hydraumatics Co., and Korea Coal Corporation have developed a mining robot and a tele-operation system to operate the robot from a safe remote place. In this paper,
3、 we present the design of the robot mechanism and the sensing algorithms for localization and elevation mapping. The robot is hydraulically powered to drive the track and the cylinders in the excavation mechanism. The robot is equipped with two cameras, two laser scanners, and many other sensors so
4、that the human operator can perform various tasks such as shoveling and breaking at a remotely located console. The data from various sensors are fused together to provide the human operators with enhanced visual cues as well as the pose information of the robot and its boom/arm/bucket linkage. The
5、robot has been recently deployed in an active coal mine to evaluate its effectiveness in the real environment and demonstrated its feasibility as a viable aid to assist mining workers.Keywords: Field Robot, Unmanned Coal Mining, Monte Carlo Localization, Elevation mapping, Tele-operation1 Introducti
6、onAs the world is faced with the depletion of petroleum, the energy from coal has received a renewed attention. Coal is more abundant than petroleum throughout the world and, among the few natural resources found in Korea, coal is the only energy source that is readily available in our nation for el
7、ectricity generation or heating. However, coal mining in Korea is heavily relying on manual labors and therefore it is a typical example of difficult and dangerous industries. Coal mine workers are exposed to harsh working environment with high temperature (30 degrees Celsius), high humidity (90100%
8、), noise, and dust. The workers may get injured by explosion or machineries such as chain conveyors, railroad cars, and powered breakers or drills. They can be also trapped in collapsed mine shafts at hundreds of meters deep down in the ground. As a result, the total number of coal mine workers is d
9、ecreasing while the average age of the mining workers is increasing every year. Therefore, it has been suggested to delegate some of the hardest works to unmanned coal mining robots to alleviate the work load of mine workers while increasing the productivity.The primary objective of the robot develo
10、ped in our research is to assist human workers by reducing their workload. Our mining robot is conceived to be operated both manually and autonomously under the supervision of remote operators in real-time. Also, in order to enhance the operators perception of the work area, three dimensional synthe
11、tic visual cues are generated by combining the information from the laser range finders and attitude sensors.In the following, we present the overall system of the coal mining robot being developed for impending deployment in active mining shafts various locations in Korea.2 ROBOT MECHANICAL SYSTEM2
12、.1 Robot Mechanism Design The coal mining robot system consists of a mechanical part, a sensing part, and a remote control station. Firstly, the mechanical part is described in this section. The exterior view of the robot is shown in Fig. 1 and 2. The robots width is narrower than other excavators w
13、ith similar ratings since it has to move around in narrow mine shafts in Korea (3.0 meters wide). The steel tracks are actuated individually to move on rough, muddy and rocky ground. The robot manipulator has 5 degree of freedom from the tracks to the bucket, so that the robot can perform various ta
14、sks such as digging and sweeping using its bucket attached at the end of the arm and boom assembly.The hydraulic system consists of two hydraulic motors, cylinders, a pump, a filter, a reservoir, an electric motor, solenoid valves, and a valve controller. The hydraulic motor and cylinder transform t
15、he hydraulic pressure into angular and linear motion for locomotion and manipulation through tracks, boom, arm, bucket, and dozer. The hydraulic pump maintains hydraulic pressure, and the solenoid valves are actuated by the valve controller. The control inputs of joysticks in remote place are sent t
16、o valve controller either directly or through the computer for more autonomous operations. Table 1 shows the mechanical specification of the robotFig. 1 The front and top view of the robot CAD model Fig. 2 The coal mining robotTable 1 Mechanical specification of the robotDimension(Length/Width/Height)1.78x0.75x1.36 mWeight2500 kgMax. Driving Torque300 kgf.mHydraulic Pressure200 barEl
