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首页> 外文期刊>Mining Engineering >Groundhog robot vehicle maps an abandoned coal mine
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Groundhog robot vehicle maps an abandoned coal mine

机译：土拨鼠机器人车辆绘制了一个废弃煤矿的地图

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Carnegie Mellon University's Groundhog is an autonomous, four-wheel robot with big, heavy-duty tires. On May 30, 2003, it took a trip into the Mathies abandoned coal mine in southwestern Pennsylvania. The robotic unit was able to create accurate three-dimensional maps of its surroundings. The Robotics Institute's mobile-robot development class is taught by systems scientist Scott Thayer and Fredkin University professor William L. "Red" Whittaker. Students in the class developed the robot in response to an incident at the Quecreek Mine near Somerset, PA last July. Nine miners nearly drowned when they accidentally breached the wall of an adjacent flooded mine. Inaccurate maps were cited as a cause of the accident. Groundhog's goal was to explore and map a 1,067 m (3,500-ft) corridor of the Mathies mine. The Carnegie Mellon control team and officials from the Pennsylvania Department of Environmental Protection (DEP) and the U.S. Department of Labor's Mine Safety and Health Administration directed the project. The robot entered the mine portal and traveled at a speed of 1.6 km/h (1-mph). About 305 m (1,000 ft) into the mine, Groundhog encountered a fallen ceiling beam that crossed its path and made the appropriate decision to retreat.
机译：卡内基梅隆大学的“土拨鼠”是一款自动四轮机器人，带有大型重型轮胎。 2003年5月30日，它踏上了宾夕法尼亚州西南部Mathies废弃的煤矿的行程。机器人单元能够创建周围环境的精确三维地图。机器人学院的移动机器人开发课程由系统科学家Scott Thayer和Fredkin大学教授William L.“ Red” Whittaker教授。为了响应去年7月在宾夕法尼亚州萨默塞特附近Quecreek矿山发生的事故，班上的学生开发了机器人。九名矿工不小心冲破了相邻的水雷壁，几乎淹死了。引述不正确的地图是造成事故的原因。土拨鼠的目标是探索和绘制Mathies矿山的1,067 m（3,500英尺）走廊。卡耐基梅隆大学的控制团队以及宾夕法尼亚州环境保护局（DEP）和美国劳工部矿山安全与健康管理局的官员指导了该项目。机器人进入了地雷入口，以1.6 km / h（1 mph）的速度行驶。在进入矿井约305 m（1,000 ft）时，Groundhog遇到了一根落下的天花板横梁，该横梁横穿其路径并做出了适当的撤退决定。

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