KR20150076537A - Driving apparatus of clean-up robot in hull and Driving method thereof - Google Patents

Abstract

An apparatus for driving a cleaning robot for a hull and a driving method thereof are provided. The apparatus for driving a cleaning robot for a hull comprises: a drive pattern detecting unit detecting current drive pattern information when the apparatus cleans by being driven on a side of hull to a portion adjacent to a bilge keel; a drive pattern determining unit determining whether the apparatus is driven for the current drive pattern information to correspond to preset standard drive pattern information by receiving the current drive pattern information detected by the drive pattern detecting unit; and a drive pattern correcting unit correcting the current pattern information for the apparatus to drive according to the standard drive pattern information if the drive pattern determining unit determines that the current drive pattern information is out of the standard drive pattern information in the drive pattern determining unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a cleaning robot driving device for a hull,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning robot traveling device for a ship and a traveling 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 method and apparatus for traveling on a side of a hull to a neighboring part of a bilge keel, The present traveling pattern information is corrected so that the efficiency of cleaning can be improved, and a traveling method of the same.

It is a further object of the present invention to provide a method and system for estimating a traveling direction of a hull by using the hull curvature information according to the present invention when traveling on a side of a hull to a neighboring part of a bilge keel and cleaning, The traveling pattern information of the current hull curved surface information is corrected so that the traveling pattern information of the hull curved surface information travels in accordance with the traveling pattern information of the reference hull curved surface information so that the cleaning efficiency of the hull can be further improved, Method.

It is a further object of the present invention to provide a navigation system and a navigation system in which when a side of a hull is driven to a neighboring part of a bilge keel and is cleaned and current navigation pattern information per surrounding object information is determined to be out of traveling pattern information per reference surrounding object information, The traveling pattern information for the current surrounding object information is corrected so that the current traveling pattern information for the surrounding object information is driven in accordance with the traveling pattern information for the reference surrounding object information, To provide a driving method.

It is a further object of the present invention to provide a navigation system and a navigation system in which when a side of a hull is driven to a neighboring part of a bilge keel and is cleaned and it is determined that the current traveling pattern information for each current information is out of traveling pattern information for each reference information, The traveling pattern information of the current I / O information is corrected so that the current traveling pattern information of the current I / O information is run in accordance with the traveling pattern information of the current I / O information, so that the efficiency of cleaning can be further improved. To provide a driving method.

It is a further object of the present invention to provide a method and a system for detecting an abnormal traveling pattern when current traveling pattern information is abnormal traveling pattern information when the side of the hull is traveled to a neighboring part of a bilge keel, It is possible to easily recognize whether the current traveling pattern information is traveling in accordance with the reference traveling pattern information so that the convenience of the work and the cleaning efficiency can be further improved. Method.

In order to achieve the above object, the present invention provides a traveling pattern detecting apparatus comprising: a traveling pattern detecting unit for detecting current traveling pattern information when traveling to a nearby portion of a bilge keel; A traveling pattern determination unit for receiving current traveling pattern information detected by the traveling pattern detection unit and determining whether the current traveling pattern information is traveling in accordance with preset reference traveling pattern information; And a traveling pattern correcting unit for correcting the current traveling pattern information so as to travel the current traveling pattern information according to the reference traveling pattern information when the traveling pattern determining unit determines that the current traveling pattern information deviates from the reference traveling pattern information.

According to another aspect of the present invention, the traveling pattern determination unit determines that the at least one of the current traveling speed information, the current traveling time information, the current traveling distance information, and the current traveling line information corresponding to the current traveling pattern information corresponds to the already set reference traveling pattern information Based on the reference running speed information, the reference running time information, the reference running distance information, and the reference running line information.

According to another aspect of the present invention, when starting from at least one of a fore end of a ship side and a stern of a side of a hull and returning from a center portion of a bilge keel and returning, And a hull surface information sensing unit for sensing at least one current hull surface information among the information and the aft surface information of the hull side surface; The traveling pattern determination unit receives the current traveling pattern information detected by the traveling pattern detection unit based on at least one current hull curved surface information sensed by the hull curved surface information sensing unit and determines that the traveling pattern information according to the current hull surface information corresponds to the reference traveling pattern information Further determining whether the vehicle is traveling in accordance with the traveling pattern information of the reference hull surface information; If the travel pattern correction unit determines that the travel pattern information of the current hull curved surface information is out of the travel pattern information of the reference hull surface information, the travel pattern correction unit corrects the travel pattern information of the current hull surface information by the travel pattern information of the reference hull surface information The traveling pattern information for the current hull curved surface information is further corrected.

According to another aspect of the present invention, there is further provided a peripheral object detection unit for detecting current surrounding object information when the side of the hull is driven to a nearby portion of a bilge keel to be cleaned; The driving pattern determination unit receives the current driving pattern information sensed by the driving pattern sensing unit based on the current surrounding object information sensed by the surrounding object sensing unit, and determines that the driving pattern information of the current surrounding object information matches the reference driving pattern information Further determining whether the vehicle is traveling in accordance with travel pattern information for each object information; If the travel pattern correction unit determines that the travel pattern information of the current surrounding object information is out of the travel pattern information of the current surrounding object information, the travel pattern correction unit corrects the current travel pattern information of the surrounding object information according to the current surrounding pattern object information The traveling pattern information for the current surrounding object information is further corrected.

According to another aspect of the present invention, there is provided a hull of a hull and a hull of a hull starting from at least one portion of a stern of a side of the hull and a stern of a side of the hull and being turned around a central portion of a bilge keel, To detect the current yaw angle information at a point for moving to the center portion of the bilge keel in the same direction as the bilge keel Further comprising a yaw angle sensing portion; The driving pattern determination unit receives the current driving pattern information detected by the driving pattern detection unit based on the current io angle information detected by the io angle sensing unit, and determines that the driving pattern information for each current io information is the reference yaw angle Further determining whether the vehicle is traveling in accordance with travel pattern information for each information; If the travel pattern correction unit determines that the travel pattern information for each current io information is out of the travel pattern information for each reference io information, the travel pattern correction unit corrects the current travel pattern information for each io information according to the travel pattern information The traveling pattern information for each current io information is corrected.

According to another aspect of the present invention, the driving pattern determination unit further includes an identification unit that identifies that the current driving pattern information is abnormal driving pattern information when it is determined that the current driving pattern information is out of the reference driving pattern information .

The present invention also relates to a traveling pattern detecting step of detecting the current traveling pattern information from the traveling pattern sensing unit when the side of the ship is moved to a nearby portion of the bilge keel and cleaned; A travel pattern determination step of determining whether the current travel pattern information received from the current travel pattern information detected by the travel pattern detection unit is traveling in accordance with the reference travel pattern information set in the travel pattern determination unit; And a travel pattern correction unit that corrects the present travel pattern information so that the current travel pattern information travels in accordance with the reference travel pattern information when it is determined in the travel pattern determination unit that the current travel pattern information is out of the reference travel pattern information, .

According to another aspect of the present invention, a driving pattern determination step may include determining at least one of current driving speed information, current driving time information, current driving distance information, and current driving line information corresponding to current driving pattern information, The travel pattern determination unit determines whether the vehicle is traveling in accordance with at least one of reference travel speed information, reference travel time information, reference travel distance information, and reference travel route information corresponding to the travel pattern information.

According to another aspect of the present invention, the driving pattern determination step may include starting from at least one of a bow on the side of the hull and a stern of the side of the hull, in the reference travel pattern information, and moving the bilge keel in the same direction as the bilge keel Bilge keel and the center of the bilge keel. When the center of the bilge keel reaches the center of the bilge keel, the bilge keel is moved in a direction opposite to the bilge keel. A third step of returning to at least one of a bow on the side of the hull and a stern of the side of the hull if the bellie keel is moved a certain distance in a direction facing the bilge keel; When at least one of the fore and aft side sterns is returned to at least one of the stern side, at least one of the stern of the side of the hull and the stern of the side of the hull, A fourth step of shifting in a viewing direction by a predetermined distance; and a fourth step of shifting a direction opposite to the bottom surface of the hull, moving from a predetermined distance, and starting from at least one of the fore- and a fifth step of moving to the central part of the bilge keel in the same direction as the bilge keel. After the fifth step, the second step to the fourth step are repeated in order to form a bilge keel ) To the nearest part of the hull and to the bilge keel and to the bilge keel if it is close to the hull bottom.

According to another aspect of the present invention, the traveling pattern sensing step is started from at least one portion of the fore and aft sides of the hull side and returns to the center of the bilge keel, At least one current hull curved surface information of the hull curvature information on the side of the hull and the aft curved surface information on the side of the hull are further detected by the hull curved surface information sensing unit; The traveling pattern determination step may include receiving current traveling pattern information sensed by the traveling pattern sensing unit based on at least one current hull curved surface information sensed by the hull surface information sensing unit, The traveling pattern determination unit further determines whether the vehicle travels in accordance with the traveling pattern information for each reference hull surface information set in the traveling hull; In the traveling pattern correction step, when the traveling pattern determination unit determines that the traveling pattern information of the current hull curved surface information is out of the traveling pattern information of the reference hull surface information, the traveling pattern information of the current hull curved surface information is compared with the traveling pattern of the reference hull surface information The running pattern correcting unit corrects the running pattern information for each hull curved surface information so as to run in accordance with the information.

According to another aspect of the present invention, in the traveling pattern sensing step, the surrounding object information is further sensed by the surrounding object sensing unit when the side of the hull is driven to the vicinity of the bilge keel and is cleaned; The driving pattern determination step may include receiving current driving pattern information sensed by the driving pattern sensing unit based on the current surrounding object information sensed by the surrounding object sensing unit, receiving current driving pattern information per surrounding object information as a reference The traveling pattern determination unit further determines whether the vehicle travels in accordance with the traveling pattern information per surrounding object information; In the traveling pattern correction step, when the traveling pattern determination unit determines that the traveling pattern information of the current surrounding object information is out of the traveling pattern information of the reference surrounding object information, the traveling pattern information of the current surrounding object information is calculated as the traveling pattern The traveling pattern correcting unit corrects the traveling pattern information for the current surrounding object information so as to run in accordance with the information.

According to another aspect of the present invention, the traveling pattern sensing step may include starting from at least one portion of the aft side of the hull side and the stern side of the hull side and returning from the center portion of the bilge keel, Yaw angle at the point to move to the center of the bilge keel in the same direction as the bilge keel by turning around at least one part of the aft of the hull, ) Information is further sensed by the io angular sensing unit; The driving pattern determination step may include receiving current driving pattern information sensed by the driving pattern sensing unit based on the current io angle information sensed by the io angle sensing unit, determining whether the current driving pattern information for each current io information is set in the reference driving pattern information The driving pattern determination unit further determines whether the vehicle is traveling in accordance with the traveling pattern information for each io-specific information; In the traveling pattern correction step, when the traveling pattern determination unit determines that the traveling pattern information for each current io information deviates from the traveling pattern information for each reference io information, the current traveling pattern information for each current io information is compared with the traveling pattern The driving pattern correcting unit corrects the traveling pattern information for each current io information so as to run in accordance with the information.

According to another aspect of the present invention, when the driving pattern determination unit determines that the current driving pattern information is out of the reference driving pattern information after the driving pattern determination step, the current driving pattern information is abnormal driving pattern information And further performs an identification step for identifying the identification part.

According to the cleaning robot moving device for a hull of the present invention and the traveling method of the present invention as described above, the following effects can be obtained.

First, when traveling to the vicinity of the bilge keel to clean the hull, the current traveling pattern information is set to the current traveling pattern information so as to run in accordance with the reference traveling pattern information when the current traveling pattern information is abnormal traveling pattern information. So that the efficiency of cleaning can be improved.

Secondly, when traveling to the vicinity of the bilge keel and cleaning, it is determined that the traveling pattern information of the current hull curved surface information is out of the traveling pattern information of the reference hull curved surface information, The traveling pattern information for the current hull curved surface information is corrected so as to run the pattern information in accordance with the traveling pattern information for each reference hull curved surface information, thereby further improving the cleaning efficiency.

Thirdly, when traveling to the vicinity of the bilge keel and cleaning the hull side, if it is determined that the current traveling pattern information per surrounding object information is out of the traveling pattern information per reference surrounding object information, The traveling pattern information of the current surrounding object information is corrected so that the pattern information travels in accordance with the traveling pattern information of the reference surrounding object information, thereby further improving the cleaning efficiency.

Fourth, when traveling to the vicinity of the bilge keel and cleaning the side of the hull, it is judged that the traveling pattern information of the current io information is out of the traveling pattern information of each of the reference io information, The traveling pattern information for each current io information is corrected so that the pattern information travels in accordance with the traveling pattern information for each reference io information, thereby further improving the cleaning efficiency.

Fifth, when the side of the hull is moved to the vicinity of the bilge keel and cleaned, when the current traveling pattern information is abnormal traveling pattern information, it is identified that the current traveling pattern information is abnormal traveling pattern information, The operator can easily recognize whether the current travel pattern information is traveling in accordance with the reference travel pattern information, thereby further improving the convenience of operation and the efficiency of cleaning.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing a cleaning robot traveling device for a ship according to a first embodiment of the present invention; Fig.
FIG. 2 is a view showing a traveling process of the ship cleaning robot traveling apparatus shown in FIG. 1. FIG.
FIG. 3 is a flowchart showing a method for traveling a cleaning robot for a ship in the ship cleaning robot traveling apparatus according to the first embodiment of the present invention. FIG.
4 is a flowchart showing an example of a method for traveling a cleaning robot for a hull of a cleaning robot traveling device for a hull according to a first embodiment of the present invention.
FIG. 5 is a block diagram showing a navigation apparatus for a ship cleaning robot according to a second embodiment of the present invention. FIG.
FIG. 6 is a view showing a running process of the ship cleaning robot traveling apparatus shown in FIG. 5; FIG.
FIG. 7 is a flowchart showing a method of traveling a cleaning robot for a ship in a ship cleaning robot traveling apparatus according to a second embodiment of the present invention. FIG.
FIG. 8 is a flowchart showing an example of a method for traveling a cleaning robot for a hull of a cleaning robot traveling device for a ship according to a second embodiment of the present invention. FIG.
9 is a block diagram showing a navigation apparatus for a ship cleaning robot according to a third embodiment of the present invention.
FIG. 10 is a view showing a traveling process of the ship cleaning robot traveling device shown in FIG. 9; FIG.
11 is a flowchart showing a method of traveling a cleaning robot for a hull of a cleaning robot traveling device for a hull according to a third embodiment of the present invention.
12 is a flowchart showing an example of a method for traveling a cleaning robot for a hull of a cleaning robot traveling device for a hull according to a third embodiment of the present invention.
13 is a block diagram showing a navigation apparatus for a ship cleaning robot according to a fourth embodiment of the present invention.
FIG. 14 is a view for showing a traveling process of the ship cleaning robot traveling device shown in FIG. 13; FIG.
FIG. 15 is a flowchart showing a method of traveling a cleaning robot for a hull of a cleaning robot traveling device for a ship according to a fourth embodiment of the present invention. FIG.
16 is a flowchart showing an example of a cleaning robot traveling method for a hull of a cleaning robot traveling system for a hull according to a fourth embodiment of the present invention.
17 is a block diagram showing a navigation apparatus for a ship cleaning robot according to a fifth embodiment of the present invention.
FIG. 18 is a flowchart showing a method of traveling a cleaning robot for a ship in a ship cleaning robot traveling system according to a fifth embodiment of the present invention. FIG.
19 is a flowchart showing an example of a method for traveling a cleaning robot for a hull of a cleaning robot traveling device for a hull according to a fifth 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 navigation apparatus for a ship cleaning robot according to a first embodiment of the present invention, and FIG. 2 is a diagram illustrating a navigation process of the navigation apparatus for a ship cleaning robot shown in FIG.

1 and 2, a navigation apparatus 100 for a hull according to a first embodiment of the present invention includes a traveling pattern sensing unit 102, a traveling pattern determination unit 104, and a traveling pattern correction unit 106 ).

The traveling pattern detecting unit 102 is provided to detect the current traveling pattern information when the side of the hull A travels to the vicinity of the bilge keel B and is cleaned.

At this time, although not shown, the travel pattern detecting unit 102 may include a travel pattern detecting sensor (not shown) to detect current travel pattern information based on depth information obtained from a depth sensor (depth sensor, not shown) have.

The driving pattern determination unit 104 is provided to determine whether the current driving pattern information is supplied according to the current driving pattern information sensed by the driving pattern sensing unit 102 and in accordance with the already set reference driving pattern information S.

For example, the driving pattern determination unit 104 determines whether the current driving speed information corresponding to the current driving pattern information, the current driving time information, the current driving distance information, The reference running distance information, and the reference running line information corresponding to the reference running speed information, the reference running time information, the reference running distance information, and the reference running line information.

The reference travel pattern information S includes a first process S1, a second process S2, a third process S3, a fourth process S4 and a fifth process S5, After the process (S5), the first process (S1) to the fourth process (S4) are sequentially repeated to travel to the vicinity of the bilge keel (B).

The first process S1 starts from at least one of the bow A1 on the side of the hull A and the stern A2 on the side of the hull A and starts in the same direction as the bilge keel B To the center of the bilge keel (B).

After the second process S2 reaches the central portion of the bilge keel B, a bilge keel B is formed on the basis of the central portion of the bilge keel B, And moves by a certain distance.

Thereafter, the third process S3 moves the bow A1 on the side of the hull A and the stern A2 on the side of the hull A, when the third stage S3 is moved by a certain distance in the direction opposite to the bilge keel B, To the at least one portion.

After that, the fourth process S4 is carried out in such a manner that when the bow A1 of the side of the hull A is returned to at least one of the stern A2 of the side of the hull A, And the stern (A2) on the side of the hull (A), and moves by a certain distance.

Thereafter, the fifth process (S5) is shifted in a direction opposite to the bottom surface of the hull (A) Starting from at least one portion of the bilge keel (B) and moving to the central portion of the bilge keel (B) in the same direction as the bilge keel (B).

Thereafter, the reference travel pattern information S is sequentially repeated from the second process (S2) to the fourth process (S4) after the fifth process (S5), so that the neighboring process of the bilge keel (B) (B) and Bilge keel (B) when approaching the bottom of the hull (A).

The travel pattern correcting unit 106 corrects the current travel pattern information to match the reference travel pattern information S when the travel pattern determining unit 104 determines that the current travel pattern information is out of the reference travel pattern information S, The current traveling pattern information is corrected.

At this time, the travel pattern determiner 104 and the travel pattern corrector 106 are equipped with a processor, a memory, and an input / output device in a single chip, and a conventional microcontroller (MCU) However, the present invention is not limited thereto, and may be any judging means and a correcting means capable of judging and correcting the traveling pattern.

Here, the travel pattern determining unit 104 and the travel pattern correcting unit 106 may be integrally provided as an MCU (Micro Control Unit) (not shown) and may be provided as a separate MCU (Micro Control Unit) have.

A method of traveling a cleaning robot for a ship using the ship cleaning robot traveling apparatus 100 according to the first embodiment of the present invention will be described with reference to FIGS. 3 and 4. FIG.

FIG. 3 is a flowchart showing a method of traveling a cleaning robot for a hull of a cleaning robot traveling device for a hull according to a first embodiment of the present invention. 1 is a flowchart showing an example of a cleaning robot traveling method.

Referring to FIGS. 3 and 4, a method 300 of driving a robots for a hull of a cleaning robot traveling system for a hull (100 in FIG. 1) according to a first embodiment of the present invention includes steps S302, S402), a traveling pattern determination step (S304, S404), and a traveling pattern correction step (S306, S406).

First, in the traveling pattern sensing step S302 and S402, when the side of the hull (A in FIG. 2) is moved to the vicinity of the bilge keel B to clean the traveling pattern information, 1 < / RTI >

Thereafter, the driving pattern determination step (S304, S404) receives the current driving pattern information sensed by the driving pattern sensing unit (102 in FIG. 1) and the current driving pattern information is set in the driving pattern determination unit (104 in FIG. 1) (104 in Fig. 1) determines whether the vehicle is traveling in accordance with the reference travel pattern information (S in Fig. 2).

For example, the driving pattern determination step (S304, S404) may include at least one of the present driving speed information, current driving time information, current driving distance information, and current driving line information corresponding to the current driving pattern information, (S in Fig. 2), the reference travel time information, the reference travel distance information, and the reference travel route information corresponding to the reference travel pattern information (S in Fig. 2) (104 in Fig. 1).

2), the second process (S2 in Fig. 2), and the third process (Fig. 2B) are added to the reference running pattern information (S in Fig. 2) 2) of the first process (S5 in FIG. 2) after the fifth process (S5 in FIG. 2) (FIG. 2B) and the hull (FIG. 2B) while traveling to the vicinity of the bilge keel (FIG. 2B) (B in FIG. 2) if it comes close to the bottom surface.

2) of at least one of a bow (A1 in Fig. 2) on the side of the hull (A in Fig. 2) and a stern (A2 in Fig. 2) And moves to the center portion of the bilge keel (B in Fig. 2) in the same direction as the bilge keel (Fig. 2B).

Then, the second process (S2 in FIG. 2) arrives at the center portion of the bilge keel (B in FIG. 2), and then, based on the central portion of the bilge keel It moves in a direction opposite to the bilge keel (B in Fig. 2) and moves by a certain distance.

Thereafter, when the third process (S3 in FIG. 2) is moved by a certain distance in the direction opposite to the bilge keel (B in FIG. 2) A1) and the stern of the side of the hull (A in Fig. 2) (A2 in Fig. 2).

2) of the side of the hull (Fig. 2), and the stern of the side of the hull (Fig. 2, A) (Refer to Fig. 2B) of the hull (refer to Fig. 2B) on the basis of at least one of the bow (A1 in Fig. 2) on the side of the hull A) in the direction opposite to the bottom surface and moves by a certain distance.

Thereafter, the fifth process (S5 in FIG. 2) is switched to a direction opposite to the bottom surface of the ship (A in FIG. 2) Starting from at least one of the stern (A1 in FIG. 2) and the stern (A2 in FIG. 2) of the side of the hull (FIG. 2 A) and starting from a bilge keel 2B). ≪ / RTI >

Subsequently, the reference travel pattern information (S in FIG. 2) is sequentially repeated after the fifth process (S5 in FIG. 2), the second process (S1 in FIG. 2) to the fourth process (B) of the bilge keel (FIG. 2B) and the bottom of the hull (FIG. 2A) while traveling to the vicinity of the bilge keel (FIG. 2B) keel (Fig. 2B).

Lastly, in the traveling pattern correction step (S306, S406), when it is determined in the traveling pattern determination unit 104 in FIG. 1 that the current traveling pattern information is out of the reference traveling pattern information (S in FIG. 2) (S in Fig. 2) to correct the current traveling pattern information in the traveling pattern correcting section (106 in Fig. 1).

The navigation apparatus 100 for a ship and the navigation methods 300 and 400 according to the first embodiment of the present invention are provided with a travel pattern detection unit 102, a travel pattern determination unit 104, S402, S402, S404, and S404, and S406 and S406, including the steps S302, S404, and S406.

Therefore, in the cleaning robot traveling device 100 for a ship and the traveling methods 300 and 400 according to the first embodiment of the present invention, the side of the hull A is moved to the vicinity of the bilge keel B, The current traveling pattern information is corrected so as to run in accordance with the reference traveling pattern information S when the current traveling pattern information is abnormal traveling pattern information so that the cleaning efficiency can be improved do.

≪ Embodiment 2 >

FIG. 5 is a block diagram showing a navigation apparatus for a ship cleaning robot according to a second embodiment of the present invention, and FIG. 6 is a diagram for illustrating a traveling process of the navigation apparatus for a ship cleaning robot shown in FIG.

Referring to FIGS. 5 and 6, the ship cleaning robot moving apparatus 500 according to the second embodiment of the present invention is similar to the traveling apparatus for a ship cleaning robot 100 (FIG. 1) A pattern detection unit 102, a travel pattern determination unit 504, and a travel pattern correction unit 506. [

The function of each component corresponding to the hull cleaning robot moving apparatus 500 according to the second embodiment of the present invention and the organic connection relation between them are identical to those of the cleaning robot traveling for hull according to the first embodiment The functions of the respective components corresponding to the apparatus (100 in FIG. 1) and the organic connection relation between them are the same as those of the apparatus (each of which is indicated by reference numeral 100 in FIG. 1).

Here, the ship cleaning robot traveling device 500 according to the second embodiment of the present invention further includes a hull curved surface information sensing unit 503.

That is, the hull curved surface information sensing unit 503 starts from at least one of the bow A1 of the side of the hull A and the stern A2 of the side of the hull A, And is provided to sense at least one current hull surface information of the hull (A) side surface and the aft hull surface information of the side of the hull (A) when the hull is turned around based on the central portion.

Although not shown, the hull curved surface information sensing unit 503 uses an inertial measurement unit (IMU) sensor (not shown), which is an attitude sensor of the cleaning robot 100, May be provided to sense information.

At this time, the traveling pattern determination unit 504 of the navigation apparatus 500 for a hull of a ship according to the second embodiment of the present invention determines the traveling pattern based on at least one current hull curved surface information sensed by the hull curved surface information sensing unit 503 The traveling pattern information of the current hull curved surface information is supplied in accordance with the traveling pattern information C of the reference hull curved surface information set in the reference traveling pattern information S, To determine whether or not the user is doing well.

In the traveling pattern correcting unit 506 of the navigation apparatus 500 for a hull for a ship according to the second embodiment of the present invention, the driving pattern information for the current hull curved surface information is stored in the traveling pattern determining unit 504, The traveling pattern information for the current hull curved surface information is further corrected so that the traveling pattern information for the current hull curved surface information is run in accordance with the traveling pattern information C for each reference hull curved surface information / RTI >

At this time, the travel pattern determiner 504 and the travel pattern corrector 506 are equipped with a processor, a memory, and an input / output device in a single chip, and a conventional MCU (micro control unit However, the present invention is not limited thereto, and may be any judging means and a correcting means capable of judging and correcting the traveling pattern.

Here, the travel pattern determining unit 504 and the travel pattern correcting unit 506 may be integrally provided as an MCU (Micro Control Unit) (not shown), and may be provided as a separate MCU (Micro Control Unit) have.

FIG. 7 is a flowchart showing a method of traveling a cleaning robot for a hull of a cleaning robot traveling device for a hull according to a second embodiment of the present invention. 1 is a flowchart showing an example of a cleaning robot traveling method.

Referring to FIGS. 7 and 8, a method 700 for moving a cleaning robot for a hull of a cleaning robot moving device for a hull (500 in FIG. 5) according to a second embodiment of the present invention, (S702, S802) and a traveling pattern determination step (S704, S804) are performed in the same manner as the navigation robot cleaning method (300, 400 in FIG. 3 and FIG. 4) And a travel pattern correction step (S706, S806).

The functions for the respective steps corresponding to the method 700 for moving the cleaning robot for the hull of the cleaning robot moving device for a hull (500 in Fig. 5) according to the second embodiment of the present invention, 3 and 4) of the cleaning robot moving device for a hull (100 in Fig. 1) according to the first embodiment, And the same is the same as the organic connection relationship therebetween, so that respective further explanations thereof will be omitted below.

Here, the traveling pattern sensing step (S702, S802) of the navigation robot cleaning method (700, 800) of the ship cleaning robot traveling apparatus (500 of FIG. 5) 6), starting from at least one of the bow (A1 in Fig. 6) of the side of the hull (Fig. 6A) and the stern (A2 of Fig. 6) (A) side of the hull (Fig. 6A) and the aft surface information of the side of the hull (Fig. 6A) to the hull curved surface information (503 in Fig. 5).

Thereafter, the traveling pattern determination step (S704, S804) of the navigation method (700, 800) for the ship's sweeping robot traveling device (500 of FIG. 5) according to the second embodiment of the present invention determines 5), based on at least one current hull curved surface information sensed by the sensing unit (503 in Fig. 5), and receives driving pattern information for the current hull curved surface information The traveling pattern determination unit (504 in Fig. 5) further determines whether the vehicle is traveling in accordance with the traveling pattern information (C in Fig. 6) for each reference hull surface information set in the reference traveling pattern information (S in Fig. 6).

Thereafter, the travel pattern correction step (S706, S806) of the method 700 for traveling the robots for hulls of the ship cleaning robot moving apparatus (500 of FIG. 5) according to the second embodiment of the present invention determines the travel pattern (504 in FIG. 5) determines that the traveling pattern information of the current hull curved surface information is out of the traveling pattern information of the reference hull curved surface information, the traveling pattern information of the current hull curved surface information is divided into the traveling pattern information of the reference hull curved surface information The traveling pattern information (506 in Fig. 5) is further corrected for traveling pattern information of the current hull curved surface information so as to run in accordance with C in Fig.

The navigation robot 500 for a hull and the traveling methods 700 and 800 according to the second embodiment of the present invention include the traveling pattern sensing unit 102, the hull curved surface information sensing unit 503, (S702, S802), a travel pattern determination step (S704, S804), and a travel pattern correction step (S706, S806) including the determination unit (504) and the travel pattern correction unit (506).

Therefore, the ship cleaning robot traveling device 500 and the traveling methods 700 and 800 according to the second embodiment of the present invention are configured such that the side of the ship A is moved to the vicinity of the bilge keel B, The current traveling pattern information is corrected so as to run in accordance with the reference traveling pattern information S when the current traveling pattern information is abnormal traveling pattern information so that the cleaning efficiency can be improved do.

The cleaning robot moving device 500 for a hull and the traveling methods 700 and 800 according to the second embodiment of the present invention are configured such that the side of the hull A is moved to the vicinity of the bilge keel B, When it is determined that the traveling pattern information of the current hull curved surface information is out of the traveling pattern information of the reference hull curved surface information, the traveling pattern information of the current hull curved surface information is matched with the traveling pattern information C of the reference hull curved surface information The traveling pattern information for the current hull curved surface information is corrected so as to travel, so that the cleaning efficiency can be further improved.

≪ Third Embodiment >

FIG. 9 is a block diagram showing a navigation apparatus for a ship cleaning robot according to a third embodiment of the present invention, and FIG. 10 is a diagram for illustrating a traveling process of the navigation apparatus for a ship cleaning robot shown in FIG.

9 and 10, the ship cleaning device 900 for a ship according to the third embodiment of the present invention is similar to the ship cleaning device for traveling ship 100 (FIG. 1) according to the first embodiment, A pattern detection unit 102, a travel pattern determination unit 904, and a travel pattern correction unit 906. [

The function of each component corresponding to the ship cleaning robot moving apparatus 900 according to the third embodiment of the present invention and the organic connection relation between them are the same as those of the first embodiment, The functions of the respective components corresponding to the apparatus (100 in FIG. 1) and the organic connection relation between them are the same as those of the apparatus (each of which is indicated by reference numeral 100 in FIG. 1).

Here, the ship cleaning robot traveling device 900 according to the third embodiment of the present invention further includes a peripheral object detection unit 903.

That is, the peripheral object detection unit 903 is provided to sense the surrounding object information P1 and P2 when the side of the hull A travels to the vicinity of the bilge keel B and is cleaned.

Here, the peripheral object sensing unit 903 may include at least one of an ultrasonic sensor (not shown) and an optical camera (not shown) although it is not shown to sense the surrounding object information P1 or P2.

The traveling pattern determination unit 904 of the navigation system for a ship cleaning robot 900 according to the third embodiment of the present invention determines the current surrounding object information P1 and P2 detected by the surrounding object detection unit 903 (D1, D2) of the current surrounding pattern information by the current surrounding pattern information and the current running pattern information of the current surrounding object information is supplied to the reference running pattern information (S) To determine whether the vehicle is traveling in accordance with the vehicle speed.

In the traveling pattern correcting unit 906 of the navigation apparatus for a ship 9 for cleaning a hull of a ship according to the third embodiment of the present invention, the driving pattern information for the current surrounding object information is stored in the traveling pattern determining unit 904, The driving pattern information for the current surrounding object information is set to match the driving pattern information D1 and D2 for the reference surrounding object information when it is determined that the current driving pattern information D1 and D2 is out of the current driving pattern information D1 and D2, Lt; / RTI >

At this time, the travel pattern determining unit 904 and the travel pattern correcting unit 906 are equipped with a processor, a memory, and an input / output device in a single chip, and a conventional MCU (Micro Control Unit However, the present invention is not limited thereto, and may be any judging means and a correcting means capable of judging and correcting the traveling pattern.

Here, the travel pattern determining unit 904 and the travel pattern correcting unit 906 may be integrally provided as an MCU (Micro Control Unit) (not shown), and may be provided as a separate MCU (Micro Control Unit) have.

A method of traveling a cleaning robot for a ship using the ship cleaning robot moving apparatus 900 according to a third embodiment of the present invention will be described with reference to FIGS. 11 and 12. FIG.

FIG. 11 is a flowchart showing a method of traveling a cleaning robot for a hull of a cleaning robot traveling device for a hull according to a third embodiment of the present invention. 1 is a flowchart showing an example of a cleaning robot traveling method.

Referring to Figs. 11 and 12, the method for traveling the cleaning robot for hulls 1100 and 1200 of the cleaning robot moving device for a hull (900 of Fig. 9) according to the third embodiment of the present invention, (S1102, S1202) and a travel pattern determination step (S1104, S1204) are performed in the same manner as the method for traveling the cleaning robot for a ship (300, 400 in FIG. 3 and FIG. 4) And a travel pattern correction step (S1106, S1206).

The function for each step corresponding to the method 1100, 1200 of the cleaning operation for the hull of the cleaning robot moving device for a hull (900 in Fig. 9) according to the third embodiment of the present invention, 3 and 4) of the cleaning robot moving device for a hull (100 in Fig. 1) according to the first embodiment, And the same is the same as the organic connection relationship therebetween, so that respective further explanations thereof will be omitted below.

Here, the driving pattern sensing step (S1102, S1202) of the cleaning method for moving the robots for a ship 1100, 1200 of the cleaning apparatus for a ship for a ship (900 of FIG. 9) according to the third embodiment of the present invention, 10), the surrounding object information (P1 and P2 in FIG. 10) is detected by the surrounding object detection unit (903 in FIG. 9) when the vehicle travels to the vicinity of the bilge keel And more.

Thereafter, the driving pattern determination step (S1104, S1204) of the cleaning method for moving the robots for a hull (1100, 1200) of the ship cleaning robot moving device (900 of FIG. 9) according to the third embodiment of the present invention detects surrounding objects 9) based on the current surrounding object information (P1 and P2 in FIG. 10) sensed by the current surrounding object information (903 in FIG. 9) It is determined whether the traveling pattern information is traveling in accordance with the traveling pattern information (D1, D2 in Fig. 10) for the reference surrounding object information further set in the reference traveling pattern information (S in Fig. 10) I judge more.

Thereafter, the travel pattern correcting step (S1106, S1206) of the ship cleaning robot traveling method 1100, 1200 of the ship cleaning robot moving apparatus (900 of FIG. 9) according to the third embodiment of the present invention determines the travel pattern (904 in FIG. 9) determines that the current traveling pattern information per surrounding object information deviates from the traveling pattern information (D1, D2 in FIG. 10) for each reference surrounding object information, The traveling pattern information (904 in Fig. 9) is further corrected for the current traveling pattern information per surrounding object information so as to run in accordance with traveling pattern information (D1, D2 in Fig. 10) per surrounding object information.

The navigation apparatus for a ship 900 and the navigation methods 1100 and 1200 according to the third embodiment of the present invention are configured to detect the traveling pattern detection unit 102, the surrounding object detection unit 903, (Step S1102, step S1202), a travel pattern determination step (steps S1104 and S1204), and a travel pattern correction step (steps S1106 and S1206), including the travel pattern correction unit 904 and the travel pattern correction unit 906.

Accordingly, the ship cleaning robot traveling device 900 and the traveling methods 1100 and 1200 according to the third embodiment of the present invention are configured such that the side of the hull A is moved to the vicinity of the bilge keel B, The current traveling pattern information is corrected so as to run in accordance with the reference traveling pattern information S when the current traveling pattern information is abnormal traveling pattern information so that the cleaning efficiency can be improved do.

The cleaning robot moving device 900 for a hull and the traveling methods 1100 and 1200 according to the third embodiment of the present invention are arranged such that the side of the hull A is moved to the vicinity of the bilge keel B, When it is determined that the traveling pattern information of the current surrounding object information deviates from the traveling pattern information (D1, D2) of the surrounding object information at the time of cleaning, the traveling pattern information of the current surrounding object information is classified into traveling pattern information The driving pattern information for the current surrounding object information is corrected so as to run along the roads D1 and D2, so that the cleaning efficiency can be further improved.

<Fourth Embodiment>

FIG. 13 is a block diagram showing a navigation apparatus for a ship cleaning robot according to a fourth embodiment of the present invention, and FIG. 14 is a diagram for showing a traveling process of the navigation apparatus for a ship cleaning robot shown in FIG.

Referring to Figs. 13 and 14, the ship cleaning robot moving apparatus 1300 according to the fourth embodiment of the present invention is similar to the cleaning robot traveling apparatus for a hull (100 of Fig. 1) A pattern detection unit 102, a travel pattern determination unit 104, and a travel pattern correction unit 106. [

The function of each component corresponding to the hull cleaning robot moving device 1300 according to the fourth embodiment of the present invention and the organic connection relation between them are the same as those of the first embodiment, The functions of the respective components corresponding to the apparatus (100 in FIG. 1) and the organic connection relation between them are the same as those of the apparatus (each of which is indicated by reference numeral 100 in FIG. 1).

Here, the ship cleaning robot traveling apparatus 1300 according to the fourth embodiment of the present invention further includes a yaw angle sensing unit 1303.

That is, the io angle sensing unit 1303 starts from at least one of the bow A1 of the side of the hull A and the stern A2 of the side of the hull A, and the center of the bilge keel B Of the hull (A) and the stern (A2) of the hull (A) are turned on the basis of at least one of the points (P1, P2) yaw angle information at the points P3 and P4 for moving to the center portion of the bilge keel B in the same direction as the keel (keel) (B).

Here, although not shown, the io angle sensing unit 1303 may include an io angle sensing sensor (not shown) to sense current yaw angle information.

The travel pattern determination unit 1304 of the navigation system for a ship cleaning robot 1300 according to the fourth embodiment of the present invention determines the travel pattern based on the current yaw angle information sensed by the yaw angle sensing unit 1303, It is determined whether or not the current traveling pattern information detected by the current traveling pattern information received by the current traveling pattern information receiving unit 102 is traveled in accordance with the traveling pattern information E for each reference I / O information set in the reference traveling pattern information S .

In the traveling pattern correcting unit 1306 of the navigation apparatus for a ship 1300 according to the fourth embodiment of the present invention, travel pattern information for each current io information is stored in the travel pattern determining unit 1304, The travel pattern information for each current io information is further corrected so as to travel in accordance with the travel pattern information E for each of the reference io information, when it is determined that the current travel pattern information E is out of the current travel pattern information E / RTI &gt;

At this time, the travel pattern determiner 1304 and the travel pattern corrector 1306 are equipped with a processor, a memory, and an input / output device in a single chip, and a conventional microcontroller (MCU) However, the present invention is not limited thereto, and may be any judging means and a correcting means capable of judging and correcting the traveling pattern.

Here, the travel pattern determining unit 1304 and the travel pattern correcting unit 1306 may be integrally provided as an MCU (Micro Control Unit) (not shown) and may be provided as a separate MCU (Micro Control Unit) have.

A traveling method of the ship cleaning robot using the ship cleaning robot moving apparatus 1300 according to the fourth embodiment of the present invention will be described with reference to FIGS. 15 and 16. FIG.

FIG. 15 is a flow chart showing a method of traveling a cleaning robot for a hull of a cleaning robot traveling system for a hull according to a fourth embodiment of the present invention. 1 is a flowchart showing an example of a cleaning robot traveling method.

Referring to FIGS. 15 and 16, a method 1500 for moving the sweeping robot for a ship in the sweeping robot moving apparatus for a ship (1300 in FIG. 13) according to a fourth embodiment of the present invention, (S1502, S1602) and a traveling pattern determination step (S1504, S1604) are performed in the same manner as the navigation robot cleaning method (300, 400 in FIG. 3 and FIG. 4) And a traveling pattern correction step (S1506, S1606).

The function for each step corresponding to the method 1500 for moving the sweeping robot for the hull of the sweeping robot for hull (1300 in Fig. 13) according to the fourth embodiment of the present invention, 3 and 4) of the cleaning robot moving device for a hull (100 in Fig. 1) according to the first embodiment, And the same is the same as the organic connection relationship therebetween, so that respective further explanations thereof will be omitted below.

Here, the traveling pattern sensing step (S1502, S1602) of the ship cleaning robot traveling method (1500, 1600) of the ship cleaning robot traveling apparatus (1300 of FIG. 13) 14) from a portion of at least one of a bow (A1 in Fig. 14) and a stern (A2 in Fig. 14) of the side of the hull (Fig. 14A) 14) of the hull (Fig. 14A) and the stern of the hull (Fig. 14A) of the hull (Fig. 14A) A) to move to the center portion of the bilge keel (B in Fig. 14) in the same direction as the bilge keel (B in Fig. 14) The current yaw angle information at P3 and P4 in FIG. 14 is further sensed by the io angular sensing unit (1303 in FIG. 13).

Thereafter, the traveling pattern determining step (S1504, S1604) of the navigation method (1500, 1600) for the ship's sweeping robot traveling apparatus (1300 of Fig. 13) according to the fourth embodiment of the present invention determines (1303 in FIG. 13), the current traveling pattern information received by the traveling pattern sensing unit (1304 in FIG. 13) is received based on the current I / O angle information detected by the current traveling direction information sensing unit (Fig. 14E) to determine whether the vehicle is traveling in accordance with the travel pattern information (E in Fig. 14) for each of the reference yaw angle information further set in the travel pattern determination section (S in Fig. 14).

Thereafter, the travel pattern correcting step (S1506, S1606) of the ship cleaning robot traveling method (1500, 1600) of the ship cleaning robot moving apparatus (1300 of FIG. 13) according to the fourth embodiment of the present invention determines 13), when it is determined that the travel pattern information for each current io information is out of the travel pattern information for each reference information (E in Fig. 14), the travel pattern information for each current io information is compared with the reference io angle The travel pattern information for each current io information is further corrected by the travel pattern correcting unit (1306 in Fig. 13) so as to run in accordance with the information-based travel pattern information (E in Fig. 14).

The navigation apparatus for a ship 1300 and the navigation methods 1500 and 1600 according to the fourth embodiment of the present invention may include a travel pattern detection unit 102, an io angle sensing unit 1303, A driving pattern detection step S1502 and S1602, a driving pattern determination step S1504 and S1604, and a traveling pattern correction step S1506 and S1606 are performed including the driving pattern correction unit 1304 and the traveling pattern correction unit 1306. [

Accordingly, the ship cleaning robot traveling device 1300 and the traveling methods 1500 and 1600 according to the fourth embodiment of the present invention are configured such that the side of the hull A is moved to the vicinity of the bilge keel B, The current traveling pattern information is corrected so as to run in accordance with the reference traveling pattern information S when the current traveling pattern information is abnormal traveling pattern information so that the cleaning efficiency can be improved do.

The cleaning robot moving device 1300 for a hull and the traveling methods 1500 and 1600 according to the fourth embodiment of the present invention are configured such that the side of the hull A is moved to the vicinity of the bilge keel B, When it is determined that the current travel pattern information for each io information is out of the travel pattern information E for each reference information, the travel pattern information for each current io information is compared with the travel pattern information E The traveling pattern information for each current io information is corrected so that the cleaning efficiency can be further improved.

<Fifth Embodiment>

FIG. 17 is a block diagram showing a navigation system for a ship cleaning robot according to a fifth embodiment of the present invention. FIG.

Referring to FIG. 17, the ship cleaning robot moving apparatus 1700 according to the fifth embodiment of the present invention includes a travel pattern detecting unit 1700, A traveling pattern determiner 104, and a traveling pattern corrector 106. The traveling pattern determiner 106 determines the traveling pattern,

The function of each component corresponding to the hull cleaning robot moving device 1700 according to the fifth embodiment of the present invention and the organic connection relation between them are the same as those of the first embodiment, The functions of the respective components corresponding to the apparatus (100 in FIG. 1) and the organic connection relation between them are the same as those of the apparatus (each of which is indicated by reference numeral 100 in FIG. 1).

Here, the hull cleaning robot moving device 1700 according to the fifth embodiment of the present invention further includes an identification unit 1708. [

That is, when the travel pattern determining unit 104 determines that the current travel pattern information is out of the reference travel pattern information (S in FIG. 2), the identifying unit 1708 determines that the current travel pattern information is abnormal travel pattern information Is provided.

At this time, although not shown, the identification unit 1708 may include at least one of an alarm (not shown), a speaker (not shown), and a light emitting member (not shown) provided to identify the current travel pattern information as abnormal travel pattern information A HMI (Human Machine Interface) module (not shown) and a HUD (Head-Up Display) module (not shown), which are installed to interface with the user and the machine to identify the current travel pattern information as abnormal travel pattern information (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 (not shown) The present travel pattern information is an abnormal travel pattern through at least one operation of a human-machine interface (HMI) message display operation and a HUD (Head-Up Display) message display operation of a HUD When identifying information Can.

A traveling method of the ship cleaning robot using the ship cleaning robot moving device 1700 according to the fifth embodiment of the present invention will be described with reference to FIGS. 18 and 19. FIG.

FIG. 18 is a flowchart showing a method of traveling a cleaning robot for a hull of a cleaning robot traveling device for a hull according to a fifth embodiment of the present invention. 1 is a flowchart showing an example of a cleaning robot traveling method.

Referring to Figs. 18 and 19, a method 1800 and 1900 of driving a cleaning robot for a hull of a hull cleaning robot moving device (1700 of Fig. 17) according to a fifth embodiment of the present invention, (S302, S402) and a traveling pattern determination step (S304, S404) are performed in the same manner as the navigation method (300, 400 in FIG. 3 and FIG. 4) And a traveling pattern correction step (S306, S406).

The functions for the respective steps corresponding to the method 1800, 1900 for hull cleaning operation of the hull cleaning robot moving apparatus (1700 in Fig. 17) according to the fifth embodiment of the present invention and the functions 3 and 4) of the cleaning robot moving device for a hull (100 in Fig. 1) according to the first embodiment, And the same is the same as the organic connection relationship therebetween, so that respective further explanations thereof will be omitted below.

Here, the navigation method for a ship cleaning robot 1800, 1900 of the navigation apparatus for a ship cleaning robot 1700 according to the fifth embodiment of the present invention is characterized in that after the travel pattern determination step (S304, S404) Steps S1805 and S1905 are further performed.

For example, a method 1800 and 1900 for a ship's sweeping robot for a hull cleaning robot moving apparatus (1700 in FIG. 17) according to a fifth embodiment of the present invention includes a traveling pattern determination step (S304, S404) The identification step (S1805, S1905) can be further performed before the correction steps (S306, S406).

17) of the cleaning robot moving apparatus for a hull according to the fifth embodiment of the present invention includes a traveling pattern correction step (S306, S406) (Step S1805 and step S1905).

That is, in the discrimination step S1805 and S1905, when it is determined in the traveling pattern determination unit 104 in Fig. 17 that the current traveling pattern information is out of the reference traveling pattern information (S in Fig. 2) abnormal) traveling pattern information (1708 in Fig. 17).

The hull cleaning robot moving device 1700 and the traveling methods 1800 and 1900 according to the fifth embodiment of the present invention are provided with a traveling pattern detection unit 102, a traveling pattern determination unit 104, S302 and S402, the driving pattern determination steps S304 and S404, the identification steps S1805 and S1905, and the traveling pattern correction steps S306 and S406, including the steps of the controller 106 and the identification unit 1708, .

Therefore, the ship cleaning robot traveling device 1700 and the traveling methods 1800 and 1900 according to the fifth embodiment of the present invention are constructed such that the side of the ship (A in Fig. 2) is connected to a bilge keel The present running pattern information is corrected so as to run in accordance with the reference running pattern information (S in FIG. 2), when the current running pattern information is abnormal running pattern information , The cleaning efficiency can be improved.

2, the side of the hull (A in FIG. 2) is connected to a bilge keel (B in FIG. 2) The present traveling pattern information is abnormal driving pattern information. Therefore, when the current traveling pattern information is the abnormal traveling pattern information, the current traveling pattern information is the abnormal traveling pattern information, The operator can easily recognize whether the vehicle is traveling in accordance with S in FIG. 2, thereby making it possible to further improve the convenience of operation and the efficiency of cleaning.

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 (13)

A traveling pattern detecting unit for detecting the current traveling pattern information when traveling to a nearby portion of the bilge keel and cleaning the side of the ship;
A travel pattern determiner for receiving current travel pattern information detected by the travel pattern detector and determining whether the current travel pattern information is traveling in accordance with preset reference travel pattern information; And
A driving pattern correction unit that corrects the current driving pattern information so as to run the current driving pattern information according to the reference driving pattern information when the driving pattern determining unit determines that the current driving pattern information is out of the reference driving pattern information, A cleaning robot moving device for a hull,
The method according to claim 1,
The traveling pattern determination unit may determine,
At least one of the current running speed information, the current running time information, the current running distance information, and the current running line information corresponding to the current running pattern information corresponds to the already set reference running pattern information, the reference running time information, And determines whether or not the vehicle travels in accordance with at least one of the reference travel distance information and the reference travel route information.
The method according to claim 1,
Wherein the hull side curvature information of the hull side surface and the hull side surface side of the hull side surface of the hull side surface of the hull side surface Further comprising: a hull surface information sensing unit sensing at least one current hull surface information among the aft hull surface information of the hull;
The traveling pattern determination unit may determine,
Wherein the control unit receives the current driving pattern information sensed by the driving pattern sensing unit based on at least one current hull curved surface information sensed by the hull curved surface information sensing unit and generates driving pattern information for the current hull curved surface information based on the reference driving pattern information Further determining whether the vehicle is traveling in accordance with the traveling pattern information of the reference hull surface information;
Wherein the travel pattern correcting unit comprises:
When the traveling pattern determining unit determines that the traveling pattern information of the current hull curved surface information deviates from the traveling pattern information of the reference hull surface information by comparing the traveling pattern information of the current hull curved surface information with the traveling pattern information of the reference hull surface information, And corrects the traveling pattern information of the current hull curved surface information so as to run in accordance with the information.
The method according to claim 1,
Further comprising a peripheral object sensing unit for sensing current surrounding object information when the side of the hull is driven to the vicinity of the bilge keel and cleaned;
The traveling pattern determination unit may determine,
Wherein the current driving pattern information received by the driving pattern sensing unit based on the current surrounding object information sensed by the surrounding object sensing unit and the current driving pattern information for the current surrounding object information is supplied to the reference periphery Further determining whether the vehicle is traveling in accordance with travel pattern information for each object information;
Wherein the travel pattern correcting unit comprises:
When the driving pattern determining unit determines that the traveling pattern information for each current surrounding object information is out of the traveling pattern information for each reference surrounding object information, And corrects the traveling pattern information for the current surrounding object information so as to run in accordance with the information.
The method according to claim 1,
At least one of a bow of the hull and a stern of the hull starting from at least one of a bow on the side of the hull and a stern of the side of the hull and returning to turn around the central part of the bilge keel, A yaw angle sensor for sensing current yaw angle information at a point for redirecting with respect to one portion and moving to the center portion of the bilge keel in the same direction as the bilge keel, Further comprising a sensing unit;
The traveling pattern determination unit may determine,
Wherein the current driving pattern information received by the driving pattern sensing unit based on the current yaw angle information sensed by the yaw angle sensing unit is used as driving pattern information for the current yaw angle information, Further determining whether the vehicle is traveling in accordance with travel pattern information for each information;
Wherein the travel pattern correcting unit comprises:
When the driving pattern determination unit determines that the driving pattern information for each current io angular information is out of the driving pattern information for each reference io angular information, the driving pattern information for each current io angular information, And further corrects the traveling pattern information for each current io information so as to run in accordance with the information.
The method according to claim 1,
Further comprising an identification unit that identifies that the current traveling pattern information is abnormal traveling pattern information when the traveling pattern determination unit determines that the current traveling pattern information is out of the reference traveling pattern information, Device.
A traveling pattern detection step of detecting the current traveling pattern information from the traveling pattern detection unit when traveling to a nearby part of the bilge keel to clean the side of the ship;
A traveling pattern determination step of determining, by the traveling pattern determination unit, whether the current traveling pattern information received from the current traveling pattern information detected by the traveling pattern detection unit is traveling in accordance with the reference traveling pattern information set in the traveling pattern determination unit; And
When the driving pattern determining unit determines that the current driving pattern information is out of the reference driving pattern information, the traveling pattern correcting unit corrects the current driving pattern information so that the current driving pattern information travels in accordance with the reference driving pattern information And a traveling pattern correcting step for correcting the traveling pattern.
8. The method of claim 7,
The driving pattern determination step may include:
Wherein at least one of the current running speed information, the current running time information, the current running distance information, and the current running line information corresponding to the current running pattern information corresponds to the reference running speed information corresponding to the reference running pattern information set in the running pattern determining unit, Wherein the travel pattern determination unit determines whether the vehicle travels in accordance with at least one of reference travel time information, reference travel distance information, and reference travel route information.
8. The method of claim 7,
The driving pattern determination step may include:
In the reference travel pattern information,
A first process starting from at least one of a bow of the side of the hull and a stern of a side of the hull and moving to a central portion of the bilge keel in the same direction as the bilge keel;
A second step of shifting a direction opposite to the bilge keel with respect to a center portion of the bilge keel when the center portion of the bilge keel reaches the center of the bilge keel,
A third step of returning to at least one of a bow on a side of the hull and a stern of a side of the hull when the bellows are moved a certain distance in a direction opposite to the bilge keel;
And the stern of the side of the hull, when it is returned to at least one of the fore end of the hull and the stern of the side of the hull, A fourth step of moving by a distance,
And when a predetermined distance is shifted in a direction opposite to the bottom surface of the hull, starting from at least one of a fore end of the side of the hull and a stern of a side of the hull, to a central portion of the bilge keel,
After the fifth process, the second process to the fourth process are sequentially repeated to travel to the vicinity of the bilge keel so as to be close to the bilge keel and the bottom surface of the hull The method comprising the step of exiting the bilge keel when the cleaning robot is in operation.
8. The method of claim 7,
The traveling pattern sensing step may include:
Wherein the hull side curvature information of the hull side surface and the hull side surface side of the hull side surface of the hull side surface of the hull side surface At least one of the current hull curved surface information among the aft curved surface information of the hull curved surface information sensing unit;
The driving pattern determination step may include:
Wherein the control unit receives the current driving pattern information sensed by the driving pattern sensing unit based on at least one current hull curved surface information sensed by the hull curved surface information sensing unit and generates driving pattern information for the current hull curved surface information based on the reference driving pattern information The traveling pattern determination unit further determines whether the vehicle travels in accordance with the traveling pattern information of the reference hull surface information set;
The traveling pattern correcting step includes:
When the traveling pattern determining unit determines that the traveling pattern information of the current hull curved surface information deviates from the traveling pattern information of the reference hull surface information by comparing the traveling pattern information of the current hull curved surface information with the traveling pattern information of the reference hull surface information, And corrects the travel pattern information of the current hull curved surface information by the travel pattern correcting unit so as to run in accordance with the information.
8. The method of claim 7,
The traveling pattern sensing step may include:
When the side of the hull is moved to the vicinity of the bilge keel and is cleaned, the surrounding object information is further detected by the surrounding object detection unit;
The driving pattern determination step may include:
Wherein the current driving pattern information received by the driving pattern sensing unit based on the current surrounding object information sensed by the surrounding object sensing unit and the current driving pattern information for the current surrounding object information is supplied to the reference periphery The travel pattern determination unit further determines whether the vehicle travels in accordance with the travel pattern information for each object information;
The traveling pattern correcting step includes:
When the driving pattern determining unit determines that the traveling pattern information for each current surrounding object information is out of the traveling pattern information for each reference surrounding object information, And the traveling pattern correcting unit further corrects the traveling pattern information for the current surrounding object information so as to run in accordance with the information.
8. The method of claim 7,
The traveling pattern sensing step may include:
At least one of a bow of the hull and a stern of the hull starting from at least one of a bow on the side of the hull and a stern of the side of the hull and returning to turn around the central part of the bilge keel, The current yaw angle information at a point for moving to a center portion of the bilge keel in the same direction as the bilge keel is changed to a yaw angle sensing portion Further detection in;
The driving pattern determination step may include:
Wherein the current driving pattern information received by the driving pattern sensing unit based on the current yaw angle information sensed by the yaw angle sensing unit is used as driving pattern information for the current yaw angle information, The travel pattern determination unit further determines whether the vehicle is traveling in accordance with travel pattern information for each information;
The traveling pattern correcting step includes:
When the driving pattern determination unit determines that the driving pattern information for each current io angular information is out of the driving pattern information for each reference io angular information, the driving pattern information for each current io angular information, And the traveling pattern correcting unit corrects the traveling pattern information for each current io individual information so as to run in accordance with the information.
8. The method of claim 7,
After the driving pattern determination step,
And an identification step of identifying in the identification unit that the current driving pattern information is abnormal driving pattern information when the driving pattern determining unit determines that the current driving pattern information is out of the reference driving pattern information, How to drive a cleaning robot.

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