无人采煤机器人的发展和远程作业系统外文文献翻译、中英文翻译.docxVIP

英文原文 Development of an Unmanned Coal Mining Robot and a Tele-Operation System Sungsik Huh , Unghui Lee, Hyunchul Shim, Jong-Beom Park and Jong-Ho Noh Abstract: The typical underground coal mine in Korea is an extremely harsh environment for workers due to high temperature, humidity, and harmful dusts. 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, 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 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 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-operation 1 Introduction As 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 electricity 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