선저 청소용 수중로봇의 청소 모듈 및 제어 시스템 개발
Development of Cleaning Module and Operating System of Underwater Robot for Ship Hull Cleaning
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초록
This paper presents development of ROV-type underwater robot capable of cleaning ship hull in automatic mode. The purpose of developing this robot is for underwater cleaning to secure the safety of divers who inspect and clean the ship hull. The robot consists of the cleaning system with rotating brush mechanism, a car-like driving mechanism, inspection system using video, and overall control system for underwater communication and operation. In this paper, we present overall design process of the cleaning system and operating system and technical contents of the overall control system for the underwater cleaning robot.
Abstract
This paper presents development of ROV-type underwater robot capable of cleaning ship hull in automatic mode. The purpose of developing this robot is for underwater cleaning to secure the safety of divers who inspect and clean the ship hull. The robot consists of the cleaning system with rotating brush mechanism, a car-like driving mechanism, inspection system using video, and overall control system for underwater communication and operation. In this paper, we present overall design process of the cleaning system and operating system and technical contents of the overall control system for the underwater cleaning robot.
참고문헌 (11)
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- Grzegorz Roznowski, "Control and driving of a robot for underwater ship hull operation", CADSM 2001 Proceedings, pp.179~182 (2001)
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- Grzegorz Roznowski, "Artificial neural network controller for underwater ship hull operation robot", CADSM`2003, pp.371~374 (2003)
- A.A. Carvalho, "On the reliability of an automated ultrasonic system for hull inspection in ship-based oil production units", Applied Ocean Research, 25, pp.235~241 (2003)
- 변승우, "수중작업용 Hovering AUV의 Test-bed 설계", 국방수중로봇 워크샵 2005, pp.44~49 (2005)
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