外文翻译---位置自动测量矿山机械.docx

附录一英文文献Position Measurement for Automated Mining MachineryAnthony Stentz, Mark Ollis, Steve Scheding, Herman Herman, Chris Fromme,Jorgen Pedersen, Tim Hegadorn, Robert McCall, John Bares, and Rich Moore.Robotics InstituteCarnegie Mellon UniversityPittsburgh PA 15213Abstract Underground coal mining is an industry well suited for robotic automation. Human operators are severely hampered in dark, dusty, and cramped mines, and productivity suffers. Even a slight improvement in productivity can amount to thousands of dollars of additional revenue per machine per day. Automation to date has relied on infrastructure to guide the equipment. The industry finds this approach unsuitable, and it has not taken root. Our approach uses machine-mounted video cameras to guide the equipment. It utilizes natural infrastructure and equipment com-monly used in mines. We have demonstrated that our approach meets the requirements for cutting straight entries and mining the proper amount of coal per cycle. The technology is rapidly approaching beta form and will be deployed in several mines in the coming months. 1. Introduction The mining of soft materials, such as coal, is a largeindustry. Worldwide, a total of 435 million tons of coal areproduced per year. Much of the coal is deposited in seamsunderground, located too deep to remove from the surface.The two primary processes for mining coal undergroundare longwall mining and room and pillar mining. Longwallmining employs a system of rail-mounted shearers thatrapidly cuts the coal and deposits it on a conveyer forremoval from the mine. Hydraulic roof supports protectthe shearers as they move along the rail. After a completepass along the face, the shearer, rails, conveyer, and roofsupports are advanced, and the roof collapses behind.Room and pillar mining uses an ensemble ofmachines to cut a lattice network (Figure 1). Unlike inlongwall mining, only some of the coal is removed; thesquare pillars are left behind to support the roof. The co