파일럿 집광로봇, 미내로2의 전기-전자 시스템

Abstract

This paper introduces about electric-electronic system of KIOST pilot mining robot, MineRo-II manufactured in 2012. The electric-electronic system for measuring or control the robot is composed of underwater sensors, communication devices, DC power suppliers, pressure housings, etc. The robot is assembled by two unit modules, in which many of sensors for oil pressure, flow-rate, temperature, velocity, heading and attitude are installed. To efficiently acquire and process data from many of sensors, four pressure housings-one power housing, one camera housing, and two flow- pressure housings are essentially set up in the unit module. A vast amount of data from two modules, i.e., total eight pressure housings is sent into the main housing, and then transmitted up to on-board control room through F/O line. In the communication between pressure housings, LAN or serial communication are used. By adopting the PBOF connector, LAN communication between the pressure housings can be realized. The feasibility, reliability and stability of the electric- electronic system can be verified with the mechanical system of mining robot through the pre-pilot mining test of 2012.es, DC power suppliers, pressure housings, etc. The robot is assembled by two unit modules, in which many of sensors for oil pressure, flow-rate, temperature, velocity, heading and attitude are installed. To efficiently acquire and process data from many of sensors, four pressure housings-one power housing, one camera housing, and two flow- pressure housings are essentially set up in the unit module. A vast amount of data from two modules, i.e., total eight pressure housings is sent into the main housing, and then transmitted up to on-board control room through F/O line. In the communication between pressure housings, LAN or serial communication are used. By adopting the PBOF connector, LAN communication between the pressure housings can be realized. The feasibility, reliability and stability of the electric- electronic system can be verified with the mechanical system of mining robot through the pre-pilot mining test of 2012.