실해역 시험에서의 파일럿 채광로봇 운용 시스템

Abstract

This paper introduces about an operating system of KIOST pilot mining robot in inshore test of 2012. The pilot mining robot is assembled by two unit modules having an identical mechanical structure and hydraulic system. The operating system consists of subsystems installed on surface vessel such as A-frame, umbilical cable and traction winch, power generator and remote control system. This paper focuses on the remote control system composed of three VANs and operating S/W of the mining robot for the inshore test. To supply high-voltage into each module of the robot, two VANs for electric power supply are manufactured. To control and monitoring the robot in water, one control VAN is set up on board. A computer system in the control VAN is composed of two PXI controllers of National Instruments and several industrial PCs. The two PXIs are charged on control of the robot to commands from operator and handling of the transferred data from the mining robot, respectively. The remote control S/W is based on LabVIEW with FPGA module and real-time module. Particularly, for efficient observation of the working mining robot, the monitoring function on board is drastically departmentalized. consists of subsystems installed on surface vessel such as A-frame, umbilical cable and traction winch, power generator and remote control system. This paper focuses on the remote control system composed of three VANs and operating S/W of the mining robot for the inshore test. To supply high-voltage into each module of the robot, two VANs for electric power supply are manufactured. To control and monitoring the robot in water, one control VAN is set up on board. A computer system in the control VAN is composed of two PXI controllers of National Instruments and several industrial PCs. The two PXIs are charged on control of the robot to commands from operator and handling of the transferred data from the mining robot, respectively. The remote control S/W is based on LabVIEW with FPGA module and real-time module. Particularly, for efficient observation of the working mining robot, the monitoring function on board is drastically departmentalized.