KR101516556B1 - Apparatus for controlling length of cable in hull and method for controlling thereof - Google Patents

Apparatus for controlling length of cable in hull and method for controlling thereof Download PDF

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Publication number
KR101516556B1
KR101516556B1 KR1020130142846A KR20130142846A KR101516556B1 KR 101516556 B1 KR101516556 B1 KR 101516556B1 KR 1020130142846 A KR1020130142846 A KR 1020130142846A KR 20130142846 A KR20130142846 A KR 20130142846A KR 101516556 B1 KR101516556 B1 KR 101516556B1
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South Korea
Prior art keywords
cable
current
information
length
hull
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KR1020130142846A
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Korean (ko)
Inventor
윤지원
박중태
백상훈
안수용
정희용
최종웅
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삼성중공업 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention relates to an apparatus to control a cable length in a hull, and a method to control thereof; and the invention is positioned in a corresponding position to a clean-up robot provided on one side of a hull. The present invention comprises: an annealing/wrap part, adjusting the cable length connected to the clean-up robot with the cable; a detection part detecting either the current location information, corresponding to the clean-up robot and the annealing/wrap part or the current location information of the clean-up robot, moving on the side of the hull; and a controlling part which controls the annealing/wrap to adjust the cable length in accordance with the cable annealing/wrap information of each standard location based on the current location information, and annealing/wrap information for each standard movement information based on the current movement information, which is preset by receiving either the current movement information or the current location information, detected by the detection part.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable length control apparatus for a hull,

The present invention relates to a cable length control device for a hull and a control method thereof.

Generally, in the conventional method for cleaning the hull, a plurality of workers cleaned the hull by hand using a cleaning tool.

The conventional method for cleaning the hull has a problem in that a plurality of workers must manually clean the hull while thoroughly checking the hull so that the efficiency of cleaning due to fatigue of a plurality of workers is low.

Therefore, recently, researches on cleaning the hull using a cleaning robot have been continuously carried out.

That is, in recent years, there has been a continuous research on an improved cleaning method capable of improving the efficiency of cleaning by improving the traveling efficiency of the cleaning robot.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cable length control device for a hull and a control method thereof, which can improve the efficiency of traveling when the cleaning robot cleans the hull, thereby improving the cleaning efficiency.

It is another object of the present invention to provide a cable length control device for a hull and a control method thereof, which can prevent a careless safety accident beforehand because the operator can be informed that the current cable length is to be adjusted.

It is still another object of the present invention to provide a cable length control device for a ship and a control method thereof, which enable the operator to recognize that the length of the current cable is fully adjusted, thereby preventing inadvertent safety accidents.

In order to accomplish the above object, the present invention provides a cleaning robot comprising: a loosening / winding unit provided at a position corresponding to a cleaning robot provided at one side of a hull and connected to a cleaning robot by a cable to adjust a length of the cable; A sensing unit for sensing at least one of current movement information of the cleaning robot moving on one side of the hull and current position information corresponding to the loosening / winding unit and the cleaning robot; And at least one of current movement information and current position information sensed by the sensing unit and receiving cable release / rewind information for each reference movement information according to already set current movement information and cable release / rewind information for reference position information according to current position information And a control unit controlling the loosening / winding unit so as to adjust the length of the cable.

According to another aspect of the present invention, the sensing unit senses at least one of a current movement distance corresponding to current movement information of the cleaning robot, a current movement speed, and a current movement time.

According to another aspect of the present invention, in accordance with the control of the control unit, in accordance with the cable release / rewind information according to the reference movement information according to the current movement information and the cable release / rewind information according to the reference position information according to the current position information, When the length of the cable is adjusted, a first identification unit for identifying that the length of the current cable is to be adjusted.

According to another aspect of the present invention, in accordance with the control of the control unit, in accordance with the cable release / rewind information according to the reference movement information according to the current movement information and the cable release / rewind information according to the reference position information according to the current position information, And a second identification unit for identifying that the length of the current cable is in a state of being adjusted when the length of the cable is adjusted.

According to another aspect of the present invention, the unwinding / winding portion is a winch.

According to another aspect of the present invention, the cable is characterized by being a thether cable.

According to another aspect of the present invention, there is provided a cleaning apparatus comprising: a cleaning preparation step of providing a cleaning / winding unit connected to a cleaning robot at a position corresponding to a cleaning robot provided at one side of a hull; A sensing step of sensing at least one of current movement information of a cleaning robot moving on one side of the hull and current position information corresponding to a loosening / winding section and a cleaning robot; And a control unit for receiving cable release / rewind information for each reference movement information according to current movement information already set in the control unit and at least one of cable release / rewind information for each reference position information according to current position information, And a cable length adjusting step of controlling the unwinding / winding unit in the control unit so as to adjust the length of the cable in accordance with the wrap information.

According to another aspect of the present invention, the detecting step detects at least one of a current moving distance corresponding to the current moving information of the cleaning robot, a current moving speed, and a current moving time.

According to another aspect of the present invention, before the cable length adjustment step, the control unit controls the cable release / rewind information according to the reference movement information according to the current movement information and the reference position information according to the current position information And a first identification step of identifying, by the first identification unit, that the length of the current cable is to be adjusted when the length of the cable is adjusted in accordance with the cable release / rewind information.

According to another aspect of the present invention, there is provided a method of controlling a cable length adjusting method, comprising the steps of: after a cable length adjusting step, a cable release / rewind information according to current movement information in a release / And a second identifying step of identifying, by the second identifying unit, that the length of the current cable is adjusted when the length of the cable is adjusted in accordance with the cable pull-down information.

According to the cable length control apparatus for a hull of the present invention and the control method therefor, the following effects can be obtained.

First, when the cleaning robot cleans the hull, the efficiency of the traveling can be improved, thereby improving the cleaning efficiency.

Secondly, it is possible to recognize that the length of the cable is currently adjusted to the operator, and thus there is another effect that a careless safety accident can be prevented in advance.

Thirdly, it is possible to recognize that the length of the cable is now adjusted to the operator, and thus there is another effect that a careless safety accident can be prevented in advance.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a state where a cable length control device for a hull according to a first embodiment of the present invention is connected to a cleaning robot. FIG.
Fig. 2 is a block diagram showing an example of a cable length control device for a hull shown in Fig. 1. Fig.
Fig. 3 is a partial cut-away view of a state in which the length of the cable is controlled by the cable length control device for hull shown in Fig. 2;
4 is a flowchart showing a cable length control method for a hull of a hull cable length control apparatus according to a first embodiment of the present invention.
5 is a flowchart showing an example of a cable length control method for a hull of a hull cable length control apparatus according to a first embodiment of the present invention.
6 is a block diagram showing an example of a cable length control apparatus for a hull according to a second embodiment of the present invention;
7 is a flowchart showing a cable length control method for a hull of a hull cable length control apparatus according to a second embodiment of the present invention.
8 is a flowchart showing an example of a cable length control method for a hull of a hull cable length control apparatus according to a second embodiment of the present invention.
9 is a block diagram showing an example of a cable length control apparatus for a hull according to a third embodiment of the present invention.
10 is a flowchart showing a cable length control method for a hull of a hull cable length control apparatus according to a third embodiment of the present invention.
11 is a flowchart showing an example of a cable length control method for a hull of a hull cable length control apparatus according to a third embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

≪ Embodiment 1 >

FIG. 1 is a block diagram showing a state where a cable length control device for a hull according to a first embodiment of the present invention is connected to a cleaning robot, FIG. 2 is a block diagram showing an example of a cable length control device for a hull shown in FIG. FIG.

3 is a view showing a state in which the cable length control device for hull shown in Fig. 2 adjusts the length of the cable.

1 to 3, a hull cable length control apparatus 100 according to a first embodiment of the present invention includes a sensing unit 102, a control unit 104, and a loosening / winding unit 106.

The loosening / winding portion 106 is provided at a position corresponding to the cleaning robot 10 provided at one side of the hull A and connected to the cleaning robot 10 through a cable 100a to adjust the length of the cable 100a Lt; / RTI >

Here, the unwinding / winding portion 106 may be a winch, and the cable 100a may be a thether cable.

The sensing unit 102 senses the current movement information L2 of the cleaning robot 10 moving on one side of the ship A and the current position information L1 corresponding to the loosening / winding unit 106 and the cleaning robot 10 ≪ / RTI >

Here, the sensing unit 102 may sense at least one of the current moving distance corresponding to the current moving information L2 of the cleaning robot 10, the current moving speed, and the current moving time.

The sensing unit 102 may include a Global Positioning System (GPS) module (not shown), although not shown in the drawing. The present invention is not limited thereto, All sensing means for sensing at least one of distance, current travel speed and current travel time.

The control unit 104 receives at least one of the current movement information L2 and the current position information L1 sensed by the sensing unit 102 and receives a cable release / And controls the loosening / winding unit 106 to adjust the length of the cable 100a in accordance with the cable release / rewind information according to the reference position information according to the information and the current position information L1.

Although not shown, the control unit 104 may be provided with a conventional microcontroller (MCU) (not shown) for controlling the overall operation by having a processor, a memory, and an input / output device in a single chip. It is possible to use any control means capable of controlling the overall operation.

A method for controlling the length of a hull cable for controlling the length of the hull cable 100a using the hull cable length control apparatus 100 according to the first embodiment of the present invention will be described with reference to FIGS. 4 and 5 same.

4 is a flowchart showing a cable length control method for a hull of a hull cable length control apparatus according to a first embodiment of the present invention. Fig. 2 is a flowchart showing an example of a cable length control method for a cable.

Referring to FIGS. 4 and 5, the cable length control method 400, 500 of the hull cable length control apparatus (100 of FIGS. 1 and 2) according to the first embodiment of the present invention includes a cleaning preparation step S402, S502, sensing steps S404, S504, and cable length adjustment steps S406, S506.

3). The cleaning preparation steps (S402 and S502) include cleaning robots (10 in Fig. 3) and cables (100a in Fig. 3) at positions corresponding to the cleaning robots (10 in Fig. 3) provided on one side of the hull (106 in Fig. 3) connected thereto.

Thereafter, the sensing steps S404 and S504 are carried out based on the current movement information (L2 in Fig. 3) of the cleaning robot (10 in Figs. 2 and 3) moving on one side of the hull (102 in FIG. 2) of at least one of current position information (106 in FIGS. 2 and 3) and current position information (L1 in FIG. 3) corresponding to the cleaning robot (FIG. 2 and FIG.

At this time, the sensing steps S404 and S504 detect at least one of the current movement distance corresponding to the current movement information (L2 in Fig. 3), the current movement velocity and the current movement time of the cleaning robot 10 (102 in Fig. 2).

Lastly, the cable length adjustment step (S406, S506) receives at least one of the current movement information (L2 in FIG. 3) and current position information (L1 in FIG. 3) sensed by the sensing unit (L2 in FIG. 3) already set in the current position information (104 in FIG. 2) and cable release / rewind information according to the current position information (L1 in FIG. 3) (106 in Fig. 2) in the control section (104 in Fig. 2) so as to adjust the length of the cable (100a in Fig.

The cable length control apparatus 100 and the control methods 400 and 500 according to the first embodiment of the present invention may include a sensing unit 102, a control unit 104, and a loosening / winding unit 106 The cleaning preparation steps S402 and S502, the sensing steps S404 and S504, and the cable length adjustment steps S406 and S506 are performed.

Accordingly, the cable length control apparatus 100 for a hull according to the first embodiment of the present invention and the control methods 400 and 500 of the present invention can calculate cable loosening / wrapping information according to the reference movement information according to the current movement information L2, The length of the cable 100a can be adjusted in accordance with the cable release / retraction information according to the reference position information according to the information L1 so that the cleaning robot 10 can improve the traveling efficiency when cleaning the hull A The cleaning efficiency can be improved.

≪ Embodiment 2 >

6 is a block diagram showing an example of a cable length control apparatus for a hull according to a second embodiment of the present invention.

6, a cable length controller 600 for a hull according to a second embodiment of the present invention includes a sensing unit 102 and a control unit 100, (104) and a loosening / winding portion (106).

The function of each component corresponding to the cable length control device 600 for a hull according to the second embodiment of the present invention and the organic connection relation therebetween are the same as those of the cable length control for hull according to the first embodiment The functions of the respective components corresponding to the apparatus (100 of FIG. 1 and FIG. 2) and the organic connection relation therebetween are the same, and respective further explanations thereof will be omitted below.

Here, the hull cable length control apparatus 600 according to the second embodiment of the present invention further includes a first identification unit 608. [

That is, under the control of the control unit 104, the first identifying unit 608 determines whether the cable release / wrapping information for the reference movement information according to the current movement information (L2 in FIG. 3) (100a in Fig. 3) is adjusted in accordance with the cable release / rewind information according to the reference position information according to the reference position information (L1 in Fig. 3), the length of the current cable / RTI >

Although not shown, the first identifying unit 608 may include an alarm (not shown), a speaker (not shown), and a light emitting member (not shown) provided to identify a current cable (100a in FIG. 3) A HMI (Human Machine Interface) module (not shown) and a HUD (Head-To-Head) module, which are mounted to interfere with the user and understand the current cable (100a in FIG. 3) (Not shown), a voice operation of a speaker (not shown), a light emitting operation of a light emitting member (not shown), and an operation of an HMI (Human Machine Interface) module 3) through at least one of an operation of displaying an HMI (Human Machine Interface) message of the HUD (not shown) and an operation of displaying a HUD (Head-UP Display) message of a HUD 100a can be identified.

A cable length control method for a hull according to a second embodiment of the present invention for controlling the length of a hull cable (100a in Fig. 3) using the hull cable length control apparatus 600 will now be described. As shown in FIG.

7 is a flowchart showing a cable length control method for a hull of a hull cable length control apparatus according to a second embodiment of the present invention. Fig. 2 is a flowchart showing an example of a cable length control method for a cable.

Referring to Figs. 7 and 8, the method 700, 800 of controlling the cable length for hull of the hull cable length control apparatus (600 in Fig. 6) according to the second embodiment of the present invention, (S402, S502), the sensing steps (S404, S504), and the cable preparation step (400, 500 in FIG. 4 and FIG. 5) And a length adjustment step (S406, S506).

The functions of the respective steps corresponding to the cable length control method 700, 800 of the hull of the hull cable length control apparatus 600 (FIG. 6) according to the second embodiment of the present invention and the functions The connection relationship is the function for each step corresponding to the cable length control method for the ship hull (400, 500 in Fig. 4 and 5) of the cable length control device for hull (100 in Fig. 1) according to the first embodiment and And the same is the same as the organic connection relationship therebetween, so that respective further explanations thereof will be omitted below.

Here, the method for controlling cable length 700 for a hull of a hull cable length control apparatus (600 in Fig. 6) according to the second embodiment of the present invention is characterized in that before the cable length adjustment step (S406, S506) 1 identification step (S705, S805).

That is, the first identification step (S705, S805) is performed in accordance with the control of the controller (104 in Fig. 6) When adjusting the length of the cable (100a in Fig. 3) in accordance with the release / rewind information and the cable release / rewind information according to the reference position information according to the current position information (L1 in Fig. 3) (608 in Fig. 6) that the status is to be adjusted.

The cable length controller 600 and the control methods 700 and 800 according to the second embodiment of the present invention include the sensing unit 102, the control unit 104, the loosening / winding unit 106, Steps S402 and S502, a sensing step S404 and S504, a first identifying step S705 and S805, and a cable length adjusting step S406 and S506 are performed, including the first identifying unit 608. [

Therefore, the cable length control apparatus 600 and the control methods 700 and 800 according to the second embodiment of the present invention can calculate the cable release / rewind information for the reference movement information according to the current movement information L2, The length of the cable 100a can be adjusted in accordance with the cable release / retraction information according to the reference position information according to the information L1 so that the cleaning robot 10 can improve the traveling efficiency when cleaning the hull A The cleaning efficiency can be improved.

The cable length control device 600 and the control methods 700 and 800 according to the second embodiment of the present invention may further include cable release / rewind information for the reference movement information according to the current movement information L2, It is possible to identify that the length of the current cable 100a is to be adjusted when the length of the cable 100a is adjusted in accordance with the cable release / rewind information according to the reference position information according to the information L1, Can be recognized as a situation in which the length of the vehicle can be controlled, thereby making it possible to prevent inadvertent safety accidents.

≪ Third Embodiment >

9 is a block diagram showing an example of a cable length control apparatus for a hull according to a third embodiment of the present invention.

9, a hull cable length control apparatus 900 according to a third embodiment of the present invention includes a sensing unit 102 and a control unit 103. The hull cable length control apparatus 900 includes a sensing unit 102, (104) and a loosening / winding portion (106).

The function of each component corresponding to the cable length control device 900 for a hull according to the third embodiment of the present invention and the organic connection relation therebetween are the same as those of the cable length control for hull according to the first embodiment The functions of the respective components corresponding to the apparatus (100 of FIG. 1 and FIG. 2) and the organic connection relation therebetween are the same, and respective further explanations thereof will be omitted below.

The hull cable length control apparatus 900 according to the third embodiment of the present invention further includes a second identification unit 910. [

That is, under the control of the control unit 104, the second identification unit 910 determines whether the cable release / wrapping information for each reference movement information according to the current movement information (L2 in FIG. 3) When the length of the cable (100a in Fig. 3) is adjusted in accordance with the cable release / rewind information according to the reference position information according to the reference position information (L1 in Fig. 3), the length of the current cable (100a in Fig. 3) .

Although not shown, the second identification unit 910 may include an alarm (not shown), a speaker (not shown), and a light emitting member (not shown) provided to identify that the cable (100a in FIG. 3) A HMI (Human Machine Interface) module (not shown) and a HUD (Head-To-Head) module, which are mounted to interfere with the user and the machine to recognize that the current cable (100a in FIG. 3) (Not shown), a voice operation of a speaker (not shown), a light emitting operation of a light emitting member (not shown), and an operation of an HMI (Human Machine Interface) module 3) through at least one of an operation of displaying an HMI (Human Machine Interface) message of the HUD (not shown) and an operation of displaying a HUD (Head-UP Display) message of a HUD 100a) is in an adjusted state Can.

A cable length control method for a hull for controlling the length of the hull cable (100a in Fig. 3) using the hull cable length control apparatus 900 according to the third embodiment of the present invention will be described next. 11.

FIG. 10 is a flowchart showing a method of controlling a length of a cable for a hull of a hull cable length control apparatus according to a third embodiment of the present invention. Fig. 2 is a flowchart showing an example of a cable length control method for a cable.

Referring to Figs. 10 and 11, the method 1000, 1100 for controlling the cable length for hull of a hull cable length control apparatus (900 of Fig. 9) according to the third embodiment of the present invention, (S402, S502) and a sensing step (S404, S504) in the same manner as the cable length control method (400, 500 in FIG. 4 and FIG. 5) And a cable length adjustment step (S406, S506).

The function for each step corresponding to the cable length control method 1000, 1100 of the hull cable length control apparatus (900 of FIG. 9) according to the third embodiment of the present invention and the function The connection relationship is the same as that in the respective steps corresponding to the cable length control method (400 and 500 in FIG. 4 and FIG. 5) of the hull cable length control apparatus (100 of FIGS. 1 and 2) And the organic connections between them are the same, and therefore, the respective further descriptions thereof will be omitted below.

The method for controlling cable lengths 1000 and 1100 of a hull cable length control apparatus (900 of FIG. 9) according to a third embodiment of the present invention is characterized in that after the cable length adjustment steps (S406 and S506) 2 identification step (S1007, S1107).

In other words, the second identification step (S1007, S1107) is performed in accordance with the control of the controller (104 in Fig. 9) When the length of the cable (100a in Fig. 3) is adjusted in accordance with the release / rewind information and the cable release / rewind information according to the reference position information according to the current position information (L1 in Fig. 3) (910 in Fig. 9) that the length of the first and second frames is adjusted.

The cable length control device 900 and the control methods 1000 and 1100 according to the third embodiment of the present invention may include a sensing unit 102, a control unit 104, a loosening / winding unit 106, (S402, S502), a sensing step (S404, S504), a cable length adjusting step (S406, S506), and a second identifying step (S1007, S1107) are performed including the second identifying section (910).

Therefore, the cable length control apparatus 900 for a hull according to the third embodiment of the present invention and the control methods 1000 and 1100 of the present invention can calculate cable release / rewind information for each reference movement information according to the current movement information L2, The length of the cable 100a can be adjusted in accordance with the cable release / retraction information according to the reference position information according to the information L1 so that the cleaning robot 10 can improve the traveling efficiency when cleaning the hull A The cleaning efficiency can be improved.

The cable length control apparatus 900 for a hull according to the third embodiment of the present invention and control methods 1000 and 1100 according to the third embodiment of the present invention include cable release / When the length of the cable 100a is adjusted in accordance with the cable release / rewind information according to the reference position information according to the information L1, it is possible to identify that the length of the current cable 100a is already adjusted, It is possible to recognize that the length of the seat 100a is adjusted, thereby preventing an accidental accident.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

Claims (10)

A loosening / winding part provided at a position corresponding to the cleaning robot provided at one side of the hull and connected with the cleaning robot to adjust the length of the cable;
A sensing unit for sensing at least one of current movement information of the cleaning robot moving on one side of the hull and current position information corresponding to the loosening / winding unit and the cleaning robot; And
And a controller for receiving at least one of current movement information and current position information sensed by the sensing unit, cable release / rewind information for each reference movement information according to the already set current movement information, and cable release / And a control unit for controlling the loosening / winding unit to adjust the length of the cable according to the length of the cable.
The method according to claim 1,
The sensing unit includes:
Wherein the controller detects at least one of a current movement distance corresponding to the current movement information of the cleaning robot, a current movement speed, and a current movement time.
The method according to claim 1,
The control unit controls the cable release / rewind unit according to the reference movement information according to the current movement information and the cable release / rewind information according to the reference position information according to the current position information, Further comprising a first identifying unit for identifying a situation where the length of the current cable is to be adjusted when adjusting the cable length.
The method according to claim 1,
The length of the cable is adjusted according to the cable release / rewind information according to the reference movement information according to the current movement information and the cable release / rewind information according to the reference position information according to the current position information under the control of the control unit Further comprising a second identification unit for identifying that the length of the current cable is adjusted when the adjustment is completed.
The method according to claim 1,
Wherein the loosening / winding portion is a winch.
The method according to claim 1,
Characterized in that the cable is a thether cable.
A cleaning preparation step of providing a loosening / winding part connected to the cleaning robot at a position corresponding to the cleaning robot provided at one side of the hull to adjust the length of the cable;
Sensing at least one of current movement information of the cleaning robot moving on one side of the hull and current position information corresponding to the loosening / winding section and the cleaning robot; And
A cable release / rewind information for each reference movement information according to the current movement information already set in the controller, and a cable release / rewind information for each reference position information according to the current position information, And controlling the loosening / winding unit in the control unit to adjust the length of the cable in accordance with the wrap information.
8. The method of claim 7,
In the sensing step,
Wherein the sensing unit detects at least one of a current movement distance, a current movement speed, and a current movement time corresponding to the current movement information of the cleaning robot.
8. The method of claim 7,
Before the cable length adjustment step,
The control unit controls the cable release / rewind unit according to the reference movement information according to the current movement information and the cable release / rewind information according to the reference position information according to the current position information, Further comprising a first identifying step of identifying, by the first identification unit, that the current cable length is to be adjusted when the cable length is adjusted.
8. The method of claim 7,
After the cable length adjustment step,
The length of the cable is adjusted according to the cable release / rewind information according to the reference movement information according to the current movement information and the cable release / rewind information according to the reference position information according to the current position information under the control of the control unit And a second identification step of identifying, by the second identification unit, that the length of the current cable is adjusted when the adjustment is completed.
KR1020130142846A 2013-11-22 2013-11-22 Apparatus for controlling length of cable in hull and method for controlling thereof KR101516556B1 (en)

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KR101812027B1 (en) * 2015-12-23 2017-12-27 포항공과대학교 산학협력단 Method and system for estimating location of a plurality of underwater robot connercted by cable

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