파일럿 채광로봇 미내로 개발 및 성능 실증시험

Abstract

This paper concern about the development of pilot mining robot, MineRo, and the sea performance tests of MineRo. The MineRo has been developed in scale of 1/5 of the commercial capacity. MineRo crawls on the seafloor by four tracks and sweeps the nodules from seafloor by nodule pick-up device. Simulation Based Design(SBD) and Multi-disciplinary design optimization (MDO) were applied for the development of MineRo. The weight and size are 28 tons in air (9 tons in water) and 6.5m(L)×5m(W)×3m(H),respectively. It is operated electro-hydraulically in real-time via umbilical cable. Softwares for real-time remote control, monitoring and database systems were developed as well. The main parts of MineRo are track system, nodule pick-up device, posture control link system, nodule disposing part, hydraulic power-pack, hydraulic valve assemblage, buoyancy modules, sensors and electric-electronic system. The navigation in the sea test was conducted by DGPS for the vessel and USBL and vehicle sensors for MineRo. Sea tests were performed for validation of mining capacity and control algorithm of path tracking.ps the nodules from seafloor by nodule pick-up device. Simulation Based Design(SBD) and Multi-disciplinary design optimization (MDO) were applied for the development of MineRo. The weight and size are 28 tons in air (9 tons in water) and 6.5m(L)×5m(W)×3m(H),respectively. It is operated electro-hydraulically in real-time via umbilical cable. Softwares for real-time remote control, monitoring and database systems were developed as well. The main parts of MineRo are track system, nodule pick-up device, posture control link system, nodule disposing part, hydraulic power-pack, hydraulic valve assemblage, buoyancy modules, sensors and electric-electronic system. The navigation in the sea test was conducted by DGPS for the vessel and USBL and vehicle sensors for MineRo. Sea tests were performed for validation of mining capacity and control algorithm of path tracking.