KR20160034493A - Method for correcting pose, and underwater cleaning robot performing the same - Google Patents

Abstract

A method for correcting a posture and an underwater cleaning robot performing the same are disclosed. According to an embodiment of the present invention, the method for correcting a posture comprises: a step of calculating a roll value, a pitch value, and a yaw value for every set distance and calculating a normal vector for every set distance based on the same (a); a step of confirming flatness of a hull based on an angle change value of the normal vector (b); and a step of correcting a yaw angle to have a preset value based on the confirmed flatness (c). An embodiment of the present invention provides the method for correcting a posture enabling the underwater cleaning robot to normally travel by correcting the yaw angle of the underwater cleaning robot to have the preset value when it is determined that the underwater cleaning robot travels on a flat portion of an outer surface of the hull.

Description

METHOD FOR CORRECTING POSE, AND UNDERWATER CLEANING ROBOT PERFORMING THE SAME,

The present invention relates to a posture correction method and an underwater cleaning robot for performing the posture correction method.

Since the ship is operated with the lower side being immersed in water, aquatic organisms such as water moss, barnacle, etc. may be attached to the bottom or side of the water. As such, foreign matter adhering to the hulls acts as a resistance when the ship is operating, thereby lowering the speed and increasing the fuel consumption. Therefore, it is necessary to remove it through periodic cleaning.

Conventionally, in order to remove foreign matter adhered to the hull, the ship was moved to a dock on the land, and the operator then cleaned the hull by spraying high-pressure washing water on the outer surface of the hull. This method, however, not only took a long time due to the process of transferring the hull to the dock, but also had to mobilize a lot of personnel during the cleaning process.

Alternatively, the diver directly went into the water to operate the cleaning equipment and clean the hull. However, this method also requires a lot of work because the diver has to work in the water. Due to the foreign substances in the cleaning process, it is difficult to secure the watch in the work area, and there was a burden on the safety accident due to the poor sea environment.

In consideration of these points, recently, an underwater cleaning robot has been proposed which can perform cleaning of the outer surface of the hull while traveling along the hull in water. Such an underwater cleaning robot can refer to an example of Korean Patent Laid-Open No. 10-2011-0062248 (published on Jun. 10, 2011).

Conventional underwater cleaning robots use a gyro sensor to detect attitude information. However, as the underwater cleaning robot travels, the gyro sensor generates a drift error. This causes the underwater cleaning robot to run abnormally.

Korean Patent Laid-Open No. 10-2011-0062248 (Published on Jun. 10, 2011)

In the embodiment of the present invention, if the underwater cleaning robot is judged to be traveling on a flat part of the outer surface of the hull, the posture correcting method for correcting the yaw angle of the underwater cleaning robot to a predetermined value, And to provide a submersible cleaning robot to be operated.

According to an aspect of the present invention, there is provided a method of calculating a normal vector, the method comprising: (a) calculating a roll vector, a pitch, and a yaw value for each set distance, (b) confirming the flatness of the hull based on the angle change value of the normal vector; And (c) correcting the yaw angle to a preset value based on the determined flatness.

Wherein the step (b) comprises the steps of projecting each of the normal vectors onto a two-dimensional plane, calculating an angle of each of the projected normal vectors, and, if the angle change value is within the reference value range, It may be determined that the vehicle is traveling.

According to another aspect of the present invention, Two driving units each provided on both sides of the rear side of the frame and having a driving wheel attached to an upper surface of the work bench by a magnetic force and a driving driving part driving the driving wheel in a state tiltingly supported by the frame; A steering wheel provided in front of the frame and cooperating with each of the driving wheels to realize three-point support of the frame and attached to an upper surface of the work table by a magnetic force, and a steering driver for operating the steering wheel; And a yaw angle walking section for confirming the flatness of the hull and correcting the yaw angle to a preset value based on the determined flatness level.

Wherein the yaw angle walking unit includes a normal vector calculating unit for calculating roll, pitch, and yaw values at predetermined distances on the outer surface of the running hull and calculating a normal vector based on the roll, pitch, and yaw values, And a flatness degree determination unit for determining whether or not the normal vector is running on a flat outer surface of the hull, and the flatness degree determination unit includes a projection unit for projecting each of the normal vectors on a two-dimensional plane and calculating an angle of each of the projected normal vectors And determines that the vehicle travels on a flat part of the outer surface of the hull when the change value of the angle is within the reference value range.

Further comprising: a cleaning unit installed on the frame between the steering unit and the two drive units, the cleaning unit cleaning the upper surface of the work surface, wherein the cleaning unit includes a cleaning unit frame mounted to a lower portion of the frame, At least one cleaning motor installed on the cleaning unit frame, and at least one cleaning brush coupled to a shaft of the cleaning motor and rotating the top surface of the work table by rotation, .

The posture correction method and the underwater cleaning robot according to the embodiment of the present invention correct the yaw angle of the underwater cleaning robot to a preset value when it is determined that the underwater cleaning robot travels on the flat part of the outer surface of the ship, So that the vehicle can be normally driven.

In addition, when driving the upper surface of the workbench, the two driving wheels and the steering wheel implement three points of support, and the driving wheel is tilted corresponding to the inclination of the upper surface of the workbench, so that the upper surface of the workbench having a curved surface can be stably driven.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

FIG. 1 shows an example of cleaning foreign matter adhered to the outer surface of a ship using an underwater cleaning robot according to an embodiment of the present invention.
2 and 3 are perspective views showing the outline of an underwater cleaning robot according to an embodiment of the present invention, Fig. 2 is a top view, and Fig. 3 is a bottom surface configuration.
4 is an exploded perspective view showing the overall configuration of an underwater cleaning robot according to an embodiment of the present invention.
FIG. 5 is a perspective view illustrating main parts mounted on a frame of an underwater cleaning robot according to an embodiment of the present invention. FIG.
Fig. 6 is a side view of Fig. 5. Fig.
7 is a perspective view of a driving unit of an underwater cleaning robot according to an embodiment of the present invention.
8 is a perspective view of a steering unit of an underwater cleaning robot according to an embodiment of the present invention.
9 is a perspective view of a cleaning unit of an underwater cleaning robot according to an embodiment of the present invention.
10 is a perspective view of an elevating device of an underwater cleaning robot cleaning unit according to an embodiment of the present invention.
11 is a perspective view illustrating a foreign matter collecting apparatus of an underwater cleaning robot according to an embodiment of the present invention.
12 is a perspective view showing a configuration of a control unit and a pulling member of an underwater cleaning robot according to an embodiment of the present invention.
FIG. 13 is a block diagram showing the configuration of the yaw angle walking unit for the attitude correction of the underwater cleaning robot shown in FIG. 1. FIG.
14 is a conceptual diagram for calculating a normal vector at a predetermined distance on the outer surface of the hull by the yaw angle walking section shown in Fig.
FIG. 15 is a conceptual diagram illustrating a process of projecting the three-dimensional normal vector shown in FIG. 14 onto a two-dimensional plane and calculating an angle with respect to each of the projected normal vectors.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention is intended to fully convey the spirit of the present invention to those skilled in the art. The present invention is not limited to the embodiments shown, but may be embodied in other forms. In order to clarify the present invention, it is possible to omit the parts of the drawings that are not related to the description, and the size of the components may be slightly exaggerated to facilitate understanding.

FIG. 1 shows an example of cleaning foreign matters (moss, barn, etc.) attached to an outer surface of a ship using an underwater cleaning robot according to an embodiment of the present invention. As shown in the figure, the underwater cleaning robot 100 of the present embodiment can clean the outer surface of the hull 10 while traveling on the outer surface of the hull 10 immersed in water. FIG. 1 illustrates a case where an underwater cleaning robot cleans the outer surface of the hull 10, but the use range of the underwater cleaning robot 100 is not limited thereto. It can also be used to clean the outer surfaces of various offshore plants and floating structures that float on the sea.

Although not shown in the drawing, the underwater cleaning robot 100 may be connected to a cable 20 extending from a separate manipulation facility and a power supply facility. Maneuvering and power supply facilities may be operated on the ground or on decks of ships or in decks of other ships which are cleaned

2 to 4, the underwater cleaning robot 100 includes an upper cover 101 and a lower cover 102 covering the outer surface thereof. The upper cover 101 and the lower cover 102 are coupled to cover the outside of the underwater cleaning robot 100 at the upper part and the lower part, respectively, to thereby protect the built-in parts. The upper cover 101 and the lower cover 102 may be formed in a streamlined shape so that the resistance of the fluid can be minimized so as to stably travel in water as shown in the drawing.

3 to 6, the underwater cleaning robot 100 includes a frame 110 installed inside the upper cover 101 and the lower cover 102, and two frames installed on the rear sides of both sides of the frame 110, A driving unit 120, a steering unit 140 installed at the center of the front side of the frame 110, a cleaning unit 150 for cleaning the upper surface of the work surface, a foreign matter collecting device for collecting foreign substances, And a control unit 190 for operation control. Here, the expression " forward " means the direction in which the underwater cleaning robot 100 travels, and the rear means the opposite side.

The underwater cleaning robot 100 of the present embodiment may include a plurality of buoyant bodies 103a to 103e installed in the inner space of the upper cover 101 and the lower cover 102 to generate buoyancy. The plurality of buoyant bodies 103a to 103e can cause the cleaning robot to maintain neutral buoyancy at an appropriate depth.

5 and 6, the frame 110 may be provided in a partially cut flat plate shape for weight reduction and installation of parts. Here, the planar frame 110 is illustrated as an example, but the frame 110 is not limited thereto, and can be variously modified to easily support the devices and reduce the resistance of the fluid. The frame 110 may be made of a metal material such as steel or aluminum, or may be made of a composite resin material having high rigidity such as engineering plastic.

As shown in FIGS. 3 and 6, the two drive units 120 are mounted on both sides of the lower surface of the frame 110 in symmetry with each other. 6 and 7, each drive unit 120 may include a support bracket 121, a drive unit 122, and a drive wheel 123.

The support bracket 121 includes a fixed portion 121a fixed to the lower surface of the frame 110 and a front support portion 121b and a rear support portion 121c extending downward from the front end and the rear end of the fixing portion 121a do. The travel driving unit 122 includes a motor 122a for driving the driving wheels 123 and a tilting unit for tilting the front supporting part 121b and the rear supporting part 121c of the supporting bracket 121 while supporting the motor 122a. And a connecting bracket 122b connected to the connecting bracket 122b. The connection shaft 125 connecting the connection bracket 122b and the support bracket 121 is arranged in the direction in which the underwater cleaning robot 100 travels along the axis thereof so that the travel drive unit 122 moves around the connection shaft 125 It can rotate.

The driving wheel 123 is connected to the motor 122a of the traveling driving unit 122 while being positioned inside the supporting bracket 121 and is rotated by the operation of the motor 122a. Further, the drive wheel 123 can be attached to the upper surface of the work table by a magnetic force by incorporating a magnet. The magnet incorporated in the driving wheel 123 may be a permanent magnet or an electromagnet.

Since the driving unit 122 for driving the driving wheel 123 is rotatably connected to the supporting bracket 121 by the connecting shaft 125, the driving unit 120 of the driving unit 120 is connected to the driving wheel 122 123 can be tilted corresponding to the inclination or the curved surface change of the work surface. That is, even when the driving wheel 123 and the travel driving unit 122 rotate about the connecting shaft 125, the driving wheel 123 travels on the upper surface of the work table having a curved surface, .

Since the two drive units 120 are disposed symmetrically on both sides of the frame 110, rotation and turning of the underwater cleaning robot 100 can be realized in a manner that the rotation direction and rotation speed of the two side drive wheels 123 are different from each other have.

The tilting range limiting device for limiting the tilting of the travel driving part 122 to the set range is provided in the front supporting part 121b and the rear supporting part 121c of the supporting bracket 121 and the connecting bracket 122b of the traveling driving part 122 . The tilting range limiting device includes an arcuate tilting restricting hole 126a formed in the front supporting portion 121b and the rear supporting portion 121c and a locking tilting restricting hole 126b which is engaged with the connecting bracket 122b, (126b). This is to prevent excessive tilting of the travel driving part 122 by causing the engagement pin 126b to move within the range of the tilting restricting hole 126a.

3, 6, and 8, the steering unit 140 is installed at a front central portion of the frame 110 while being spaced apart from the driving wheels 123 of the two driving units 120. [ 8, the steering unit 140 includes two steering wheels 141 disposed adjacent to each other on the same axis, a steering wheel 141 that supports two steering wheels 141 and is rotatably supported on the frame 110, A shaft 142, and a steering driver 143 that rotates the steering shaft 142 to implement the steering. The steering driver 143 may include a steering motor 143a and a power transmitting portion 143b for transmitting the rotation of the steering motor 143a to the steering shaft 142. [

The steering unit 140 can control the moving direction by rotating the steering shaft 142 in the forward or reverse direction by the operation of the steering motor 143b. The two steering wheels 141, which are in contact with the upper surface of the work table, are mounted on both sides of the steering shaft 142, and operate in such a manner that the mutual rotational speed is changed instantaneously for steering or vice versa. Therefore, smooth steering can be realized in a state where friction and slip between the top surface of the work bench and the steering wheel are minimized.

The steering wheel 141 can perform rolling motion in a state of being attached to the upper surface of the work bench by the magnetic force of the built-in magnet, like the driving wheel 123. Therefore, it is possible to prevent the underwater cleaning robot 100 from being separated from the upper surface of the workbench during the work.

The steering unit 140 implements three-point support of the frame 110 together with two drive units 120 disposed on both sides of the rear side of the frame 110, as shown in Fig. That is, the steering wheel 141 is arranged in a triangle structure that maintains equidistance from each driving wheel 123, thereby realizing the three-point support of the frame 110. Such a configuration can keep the driving wheels 123 and the steering wheel 141 always attached to the upper surface of the work surface even when the upper surface of the working surface is curved like the outer surface of the hull 10. Therefore, the underwater cleaning robot 100 of the present embodiment can be stably attached to the upper surface of the workbench even when there is a curved surface or an irregular surface on the upper surface of the workbench.

The cleaning unit 150 is installed between the steering unit 140 and the two drive units 120, as shown in Figs. 3, 5 and 6. That is, the cleaning unit 150 is disposed at approximately the middle portion between the steering unit 140 and the two drive units 120, so that the underwater cleaning robot 100 can perform a cleaning operation while traveling in a balanced manner as a whole.

6 and 9, the cleaning unit 150 includes a cleaning unit frame 151, a lifting guide unit 152 for guiding the lifting and lowering of the cleaning unit frame 151, A lifting device 160 mounted on the frame 110 and lifting the cleaning unit frame 151, two cleaning motors 153 installed to be symmetrical on both sides of the cleaning unit frame 151, And two cleaning brushes 154 that are coupled to the axis of the work table and that clean the top surface of the work surface by rotation. Here, a cleaning unit 150 with two cleaning motors 153 and two cleaning brushes 154 arranged symmetrically on both sides is illustrated, but the cleaning motor 153 and the cleaning brush 154 associated therewith are one Or more.

The lifting guide unit 152 for guiding the lifting and lowering of the cleaning unit frame 151 includes a cylinder member 152a fixed to the frame 110 and a lifting and lowering guide coupled to the cylinder member 152a, 151 and a lifting rod 152b connected to the lifting rod 152b. The elevating guide unit 152 may be installed on both sides of the elevating device 160 so as to be symmetric with respect to each other to guide the stable lifting and lowering of the cleaning unit frame 151. Of course, the elevating guide unit 152 may be configured more than one in consideration of the number of the cleaning motors 153 installed in the cleaning unit frame 151 and the like.

The cleaning brush 154 includes a rotating plate 154a coupled to the shaft of each cleaning motor 153 and a brush 154b extending from the bottom surface of the rotating plate 154a toward the upper surface of the working table.

9 and 10, the elevating device 160 includes a gear box 161 mounted on the frame 110, a lower end connected to the cleaning unit frame 151, A plurality of raising and lowering members 163 which are supported by the support member 162 so as to be able to move up and down and have a rack gear portion 163a at a portion located in the gear box 161, A driven bevel gear 166 coupled to the gear shaft 164 and a driven gear 166 engaged with the driven bevel gear 166. The driven gear 166 is coupled to the gear shaft 164 by a plurality of pinion gears 165, A bevel gear 167 and an elevation driving unit 168 mounted on the gear box 161 to drive the driving bevel gear 167. The lifting drive portion 168 may include a lifting motor 168a and a power transmission portion 168b for transmitting the rotational force of the lifting motor 168a to the drive bevel gear 167. [

The gear shaft 164 is arranged in a direction crossing the plurality of elevating members 163 and both ends of the gear shaft 164 are rotatably supported on both sides of the gear box 161. [ The elevating device 160 employs a plurality of elevating members 163 and a plurality of pinion gears 165 so as to realize stable elevating and lowering. However, the elevating member 163 and the pinion gear 165 may have one or more Lt; / RTI >

The elevating device 160 rotates the driven bevel gear 167 by the operation of the elevating motor 168a and rotates the driven bevel gear 166 by the rotation of the driven bevel gear 167 and the driven bevel gear 166 The pinion gear 165 rotates. Therefore, when the pinion gear 165 is rotated forward or reverse due to the operation of the elevating motor 168a, the elevating member 163 is raised or lowered, and the cleaning unit frame 151 connected thereto is raised and lowered. When the cleaning unit frame 151 ascends and descends, the cleaning brush 154 connected to the cleaning motor 153 ascends and descends.

The cleaning unit 150 is operated by the cleaning motor 153 while the underwater cleaning robot 100 is running and the cleaning brush 154 is rotated to clean the foreign material on the upper surface of the work table. Also, since the lifting and lowering device 160 moves up and down the cleaning unit frame 151 in response to a change in curvature or inclination of the upper surface of the work bench during the cleaning process, the height of the two cleaning brushes 153 can be appropriately adjusted in accordance with the cleaning environment.

3, the two cleaning brushes 154 are disposed between the steering wheel 141 and the two driving wheels 123 so that when the underwater cleaning robot 100 travels, Can be cleaned in advance. That is, the maximum width (W, the distance from the outer end of one cleaning brush to the outer end of the other cleaning brush) formed by the two cleaning brushes 154 is the maximum separation distance L of the two driving wheels 123, The upper surface of the work bench on which the driving wheel 123 passes can be previously cleaned by the cleaning brush 154. [ Therefore, since the driving wheel 123 travels in a state of being attached to the upper surface of the workbench which has always been cleaned, the driving wheel 123 can be stably attached to the upper surface of the workbench, so that slip during driving can be minimized. That is, stable running is possible.

As shown in FIGS. 11 and 12, the dust collecting device includes a cover member (not shown) installed on the cleaning unit frame 151 so as to cover the upper surface and the periphery of the two cleaning brushes 154 and to move up and down together with the cleaning brushes 154 A foreign matter collection pump 172 mounted on the frame 110 for sucking and discharging the foreign matter inside the cover member 141 together with water and for discharging the foreign matter together with the water and connected to the outlet of the foreign matter collection pump 172, And at least one foreign matter collecting unit 173 for collecting foreign matter.

The cover member 171 includes an upper cover portion 171a that covers the upper side of the two cleaning brushes 154 and is fixed to the cleaning unit frame 151 and a lower cover portion 171b having an upper end connected to the upper cover portion 171a, And a skirt portion 171b covering the circumferential portion of the two cleaning brushes 154 so as to form an opening 171c in front of the direction in which the underwater cleaning robot 100 travels. The skirt portion 171b may be made of a rubber or a soft resin to prevent damage to the upper surface of the work surface.

As shown in Fig. 11, the foreign matter collecting pump 172 includes a pump section 172a for pumping fluid and a motor section 172b for driving an impeller in the pump section 172a. The suction side of the pump part 172a is connected to the inside of the cover member 171 through the suction pipe 172d and the discharge side of the pump part 172a is connected to the foreign matter collecting unit 173 through the discharge pipe 172e do. The suction pipe 172d may be a pipe that can be expanded and contracted so as to correspond to the lifting and lowering of the cover member 171 or a tube that can be adjusted in length by a telescopic method.

The foreign matter collecting unit 173 can be mounted inside the upper cover 101 on the upper part of the frame 110 as shown in Fig. That is, two of them may be disposed symmetrically on top of the frame 110. Each foreign object collecting unit 173 includes a collecting case 173a mounted on the frame 110 and a filtering unit 173b which is accommodated in the collecting case 173a and collects foreign substances contained in the fluid discharged from the foreign object collecting pump 172, (Not shown). The filtration member in the collecting case 173a separates the foreign matter in the process of discharging the fluid discharged together with the foreign matter through the inside thereof, thereby collecting the foreign matter and discharging only the water to the outside. Such a filtration member can be opened by opening the collection case 173a when foreign matter is accumulated.

Since the foreign matter collecting device collects the foreign substances separated from the upper surface of the work table when the cleaning unit 150 operates, the foreign matter collecting device collects the foreign substances separated from the upper surface of the workpiece together with the water and then collects them by the foreign substance collecting unit 173. can do. In addition, since the foreign object is collected while being cleaned, a clock can be secured in the working area, so that a smooth cleaning operation can be performed.

The control unit 190 includes two control boxes 191 mounted on both sides of the rear upper surface of the frame 110 and a cable connection block 192 provided between the two control boxes 191 . In the two control boxes 191, various control devices including a control panel for controlling the operation of the devices installed in the frame 110 are accommodated. The cable connection block 192 is connected to a cable 20 extending from an external steering facility and a power supply facility.

In addition, as shown in FIGS. 5 and 6, the underwater cleaning robot 100 of the present embodiment is provided with cameras for monitoring the front and rear conditions in the process of traveling on the work surface. A front camera 201 installed in front of the frame 110 and a rear camera 202 installed in the rear of the frame 110. [ The front and rear cameras 201 and 202 may be panoramic cameras capable of photographing wide angles. A plurality of illumination devices 205 are installed in front of and behind the frame 110 and a detection device 206 for detecting an obstacle ahead in the course of the underwater cleaning robot 100 is disposed in front of the frame 110 Is installed. A sonar system may be employed as the detection device 206.

6 and 12, at the rear end of the frame 110, a pulling member 180 for launching and recovering the underwater cleaning robot 100 is installed. The pulling member 180 includes an extension part 181 extending a predetermined length rearward in a state of being fixed to the rear end of the frame 110 and a circular hooking part 181 connected to the extension part 181, (182). Such a pulling member 180 can be used for connecting a connecting device of a lifting means such as a crane when entering or recovering the cleaning robot.

 Next, the operation and usage of the underwater cleaning robot will be described.

When cleaning foreign objects such as water moss, barnacle, etc. attached to the outer surface of the vessel, the vessel is moored at the dock. In this state, the underwater cleaning robot 100 is connected to the manipulating equipment and the power supply equipment provided on the ground or the deck of the ship by the cable 20. The length of the cable 20 can be adjusted to be longer or shorter depending on the position of the underwater cleaning robot 100 entering the water by keeping the state of being wound around the winding drum. After connecting the cable 20, the submersible cleaning robot 100 enters the water. In this case, the cleaning robot can be lifted by using lifting means such as a ship or a crane provided on the ground.

In the underwater cleaning robot 100, the two driving wheels 123 and the steering wheel 141 can be attached to the upper surface of the work surface by the magnetic force, and in this state, in accordance with the instruction of the manager using the program or the steering facility, So that the cleaning can be performed. At this time, traveling can be performed by the operation of the two drive units 120, and the traveling direction can be controlled by the operation of the steering unit 140. [ In addition, while the cleaning unit 150 is running, cleaning of the upper surface of the workbench is performed, and foreign substances that are separated in the cleaning process can be collected by the foreign material collecting device.

Since the driving wheels 123 and the steering wheel 141 implement three-point support in the traveling process, they can always be kept attached to the upper surface of the work table. Therefore, the underwater cleaning robot 100 can stably travel even when a curved surface or an uneven surface exists on the upper surface of the work surface. Also, since the height of the cleaning brush 154 is adjusted when the height or slope of the upper surface of the work table is changed due to the curved surface on the upper surface of the work surface, the best cleaning condition can be maintained at all times. In this case, since the driving wheel 123 also tilts in correspondence with the upper surface of the workbench, it can travel stably.

In the cleaning process, the manager who remotely controls the underwater cleaning robot 100 can determine the state before cleaning and the state after cleaning while viewing the images obtained through the front and rear cameras 201 and 202. If necessary, the traveling speed, (150) operation, and the like. Particularly, in this embodiment, since the foreign substances which are separated during the cleaning process are collected and collected by the suction method, it is easy to secure the watch area and the surrounding area. Therefore, the manager can easily confirm the traveling direction of the underwater cleaning robot 100, the cleaning state, and the like through the camera.

On the other hand, a conventional underwater cleaning robot uses a gyro sensor to detect attitude information, and this gyro sensor causes a drift error (integration error) when the underwater cleaning robot travels. This may interfere with the normal running of the underwater cleaning robot. Therefore, the posture of the underwater cleaning robot must be corrected after a predetermined time, and this can be done by correcting the yaw angle.

13 and 14, the underwater cleaning robot 100 may include a yaw angle walking unit 300 for this purpose. The yaw angle walk section 300 confirms the flatness of the hull and corrects the yaw angle to a predetermined value based on the determined flatness. That is, the yaw angle walking unit 300 corrects the yaw angle of the underwater cleaning robot 100 to a predetermined value when the underwater cleaning robot 100 travels on the flat portion S of the outer surface of the ship.

To this end, the yaw angle walking unit 300 includes a normal vector calculating unit 310 for calculating a roll vector, a pitch and a yaw value for each predetermined distance on the outer surface of the running hull and calculating a normal vector based on the roll, And a flatness determining unit 320 for determining whether the underwater cleaning robot is traveling on a flat outer surface of the hull.

The normal vector calculating unit 310 may include an inertial measurement unit (IMU), an attitude heading reference unit (AHRS), an acceleration sensor, a gyro sensor, a magnetic sensor, and the like. 100) can be detected. That is, the roll, pitch, and yaw values of the three-axis angular velocity vector information can be obtained from the detected attitude information of the underwater cleaning robot 100, and a normal vector is calculated based on the roll, pitch, and yaw values . For example, as shown in Fig. 14, when the underwater cleaning robot 100 travels in the direction D, a normal vector can be calculated for each of the set distances P1 to Pn. To this end, first, the coordinate system (Xg, Yg, Zg) is set around an arbitrary point of the forward or stern. Then, the normal vector calculating unit 310 obtains the roll, pitch, and yaw values for the distances (for example, P1 to Pn) set on the basis of this coordinate system, and calculates the normal vectors based on the roll, pitch, and yaw values.

The flatness determination unit 320 includes a projection unit 325. As shown in FIGS. 15A and 15B, the projection unit 325 projects each of the normal vectors calculated by the normal vector calculation unit 310 onto a two-dimensional plane, The angles? 1 to? N are calculated. This projection method is a technique of projecting a normal vector on a three-dimensional space onto a plane, and it can be defined as a value represented by the plane when one plane is set and each vertical vector is projected on the plane.

The flatness determining unit 320 determines that the underwater cleaning robot 100 travels on a flat portion of the outer surface of the hull when the change value of the normal vector angles? 1 to? N is within the reference value range. That is, the flat portion S of the outer surface of the hull (see Fig. 13) has almost no difference in angle, so there is almost no difference between adjacent normal vector angles.

The yaw angle walking unit 300 determines that the yaw angle of the underwater cleaning robot 100 is set in advance by the flatness determination unit 320 when it is determined that the underwater cleaning robot 100 travels on the flat portion S of the outer surface of the hull, Value. Accordingly, the attitude correction of the underwater cleaning robot 100 is performed. For example, the yaw angle walking unit 300 can correct the yaw angle to 0 degree when the underwater cleaning robot 100 is running on the bow side, and correct it to 180 degrees when running on the aft side.

The foregoing has shown and described specific embodiments. However, it is to be understood that the present invention is not limited to the above-described embodiment, and various changes and modifications may be made without departing from the scope of the technical idea of the present invention described in the following claims It will be possible.

100: underwater cleaning robot, 110: frame,
120: drive unit, 123: drive wheel,
140: Steering unit, 141: Steering wheel,
150: cleaning unit, 151: cleaning unit frame,
152: lift guide unit, 153: cleaning motor,
154: cleaning brush, 160: lifting device,
161: gear box, 163: lifting member,
164: gear shaft, 165: pinion gear,
166: driven bevel gear, 167: driven bevel gear,
168: lift moving part, 171: cover member,
172: foreign matter collecting pump, 173: foreign matter collecting unit,
180: pulling member, 182: hooking ring portion,
190: control unit, 192: cable connection block,
201: front camera, 202: rear camera,
206: detection device, 300: yaw angle walking government,
310: normal vector calculating unit, 320: flatness determining unit,
315: projection part.

Claims (5)

(a) calculating roll, pitch, and yaw values for each set distance and calculating a normal vector for each of the set distances based on the roll, pitch, and yaw values;
(b) confirming the flatness of the hull based on the angle change value of the normal vector; And
(c) correcting the yaw angle to a predetermined value based on the determined flatness. The method according to claim 1,
The step (b)
Projecting each of the normal vectors onto a two-dimensional plane;
Calculating an angle of each of the projected normal vectors,
And determining that the flat portion of the outer surface of the hull is traveling when the change value of the angle is within the reference value range. frame;
Two driving units each provided on both sides of the rear side of the frame and having a driving wheel attached to an upper surface of the work bench by a magnetic force and a driving driving part driving the driving wheel in a state tiltingly supported by the frame;
A steering wheel provided in front of the frame and cooperating with each of the driving wheels to realize three-point support of the frame and attached to an upper surface of the work table by a magnetic force, and a steering driver for operating the steering wheel; And
An underwater cleaning robot including a yaw angle walking unit for confirming the flatness of the hull and correcting the yaw angle to a preset value based on the determined flatness. The method of claim 3,
The yaw angle walking unit
A normal vector calculating unit for calculating a roll vector, a pitch and a yaw value for each set distance on the outer surface of the running hull and calculating a normal vector on the basis of the roll,
And a flatness degree determination unit for determining whether the underwater cleaning robot is traveling on a flat outer surface of the hull based on an angle change value of the normal vector,
The flatness determining unit
And a projection unit for projecting each of the normal vectors onto a two-dimensional plane and calculating an angle of each of the projected normal vectors. When the change value of the angle is included within a reference value range, it is determined to travel on a flat part of the outer surface of the hull Underwater cleaning robots. The method of claim 3,
Further comprising a cleaning unit installed in the frame between the steering unit and the two drive units, for cleaning an upper surface of the work table,
The cleaning unit
A cleaning unit frame installed under the frame so as to be able to move up and down;
A lifting device installed on the frame and lifting the cleaning unit frame;
At least one cleaning motor installed in the cleaning unit frame,
And at least one cleaning brush coupled to an axis of the cleaning motor for cleaning the upper surface of the workpiece by rotation.

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