Electric-electronic system of pilot mining robot, MineRo-II

Abstract

This paper introduces about the electric-electronic system of KIOST pilot mining robot, MineRo-II developed in 2012. The electric-electronic system for measurement and control of 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 sensors for oil pressure, flow-rate, temperature, velocity, heading and attitude are installed. To efficiently acquire and process a massive data from the sensors, four pressure housings - one power housing, one camera housing, and two flow-pressure housings for measuring state of hydraulic system - Are set up in the unit module (Fig. 4). 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 the control room through F/O line. LAN or serial communications through PBOF connectors are used for data transmission between pressure housings. The feasibility, reliability and stability of the electric-electronic system are verified through the prepilot mining test of MineRo-II in 2012. Copyright ？ 2013 by The International Society of Offshore and Polar Engineers (ISOPE).