WO2011059197A3 - 다자유도 무인 수상 로봇 기반의 수중 작업 로봇 - Google Patents

다자유도 무인 수상 로봇 기반의 수중 작업 로봇 Download PDF

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Publication number
WO2011059197A3
WO2011059197A3 PCT/KR2010/007640 KR2010007640W WO2011059197A3 WO 2011059197 A3 WO2011059197 A3 WO 2011059197A3 KR 2010007640 W KR2010007640 W KR 2010007640W WO 2011059197 A3 WO2011059197 A3 WO 2011059197A3
Authority
WO
WIPO (PCT)
Prior art keywords
rov
remotely operated
operated vehicle
underwater robot
unmanned
Prior art date
Application number
PCT/KR2010/007640
Other languages
English (en)
French (fr)
Other versions
WO2011059197A9 (ko
WO2011059197A2 (ko
Inventor
박용헌
Original Assignee
한국해양대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국해양대학교 산학협력단 filed Critical 한국해양대학교 산학협력단
Publication of WO2011059197A2 publication Critical patent/WO2011059197A2/ko
Publication of WO2011059197A9 publication Critical patent/WO2011059197A9/ko
Publication of WO2011059197A3 publication Critical patent/WO2011059197A3/ko

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48—Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

본 발명은 수중 작업 로봇에 관한 것으로서, 보다 상세하게는 비용이 저렴하고 설치 및 운반이 간편하며 안정적인 원격 제어와 정확한 위치 제어 및 자세 유지가 가능하여 수중 구조물의 보수 유지와 생태계의 감시 및 조사가 가능한 다자유도 무인 수상 로봇 기반의 수중 작업 로봇에 관한 것이다. 본 발명에 따르면, 저가의 센서를 이용하더라도 수중 작업 로봇의 정밀 위치 제어가 가능하게 되며, 비용이 높고 저속이며 항해 및 위치 제어가 어려운 수중 작업 로봇의 이송을 저가의 수상 로봇을 이용하여 고속 정밀하게 제어할 수 있게 된다.
PCT/KR2010/007640 2009-11-12 2010-11-02 다자유도 무인 수상 로봇 기반의 수중 작업 로봇 WO2011059197A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020090109013A KR101128032B1 (ko) 2009-11-12 2009-11-12 다자유도 무인 수상 로봇 기반의 수중 작업 로봇
KR10-2009-0109013 2009-11-12

Publications (3)

Publication Number Publication Date
WO2011059197A2 WO2011059197A2 (ko) 2011-05-19
WO2011059197A9 WO2011059197A9 (ko) 2011-09-29
WO2011059197A3 true WO2011059197A3 (ko) 2011-11-17

Family

ID=43992185

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/007640 WO2011059197A2 (ko) 2009-11-12 2010-11-02 다자유도 무인 수상 로봇 기반의 수중 작업 로봇

Country Status (2)

Country Link
KR (1) KR101128032B1 (ko)
WO (1) WO2011059197A2 (ko)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101291150B1 (ko) * 2011-07-15 2013-07-31 삼성중공업 주식회사 선체 벽면 작업용 로봇 및 그 제어방법
KR101381105B1 (ko) * 2012-04-30 2014-04-02 삼성중공업 주식회사 로봇조종시스템 및 이를 이용하는 로봇조종방법
KR101358547B1 (ko) * 2012-05-22 2014-02-07 영남대학교 산학협력단 수중운항 플랫폼
KR101422693B1 (ko) * 2012-07-20 2014-07-28 삼성중공업 주식회사 해저 시설물, 수중 작업 시스템 및 수중 작업 방법
KR101625922B1 (ko) * 2013-03-22 2016-05-31 삼성중공업 주식회사 라이저의 위치 제어장치
KR101516556B1 (ko) * 2013-11-22 2015-05-04 삼성중공업 주식회사 선체용 케이블 길이 제어 장치 및 그 제어 방법
ES2544007B2 (es) * 2014-02-25 2016-02-19 Universidad Politécnica de Madrid Robot submarino humanoide transformable
KR101645646B1 (ko) * 2014-08-19 2016-08-12 엘아이지넥스원 주식회사 수중운동체 동작 상태 확인 시스템 및 방법
CN104843156A (zh) * 2015-05-22 2015-08-19 云南卡索实业有限公司 一种智能水下物证打捞机器人
CN106428479B (zh) * 2015-08-06 2018-05-25 欧舶智能科技（上海）有限公司 一种无人遥控水下机器人及其控制方法
EP3168704B1 (en) 2015-11-12 2021-02-24 Hexagon Technology Center GmbH 3d surveying of a surface by mobile vehicles
CN107344604A (zh) * 2016-05-06 2017-11-14 中国科学院烟台海岸带研究所 一种海洋环境生态修复水下观测机器人
EP3257740B1 (en) 2016-06-13 2019-08-14 Korea Institute of Ocean Science and Technology A glass sphere type pressure housing including titanium band and a multi-joint underwater robot system for deep sea exploration using the same
KR101693199B1 (ko) * 2016-06-13 2017-01-06 한국해양과학기술원 티타늄 밴드를 포함하는 유리구 내압 용기
KR102172257B1 (ko) * 2017-12-14 2020-10-30 한국원자력연구원 사용후핵연료 검사를 위한 수상 로봇 및 검사 방법
KR102075229B1 (ko) * 2018-01-05 2020-02-07 한국해양대학교 산학협력단 해양구조물의 벽면 검사가 가능한 해양 작업 로봇
KR101978288B1 (ko) * 2018-11-13 2019-05-14 주식회사 글로비트 해상 가두리 양식장의 소나 장치
CN109470281B (zh) * 2019-01-11 2020-04-03 中国海洋大学 一种仿生侧线流传感器
CN111351908A (zh) * 2020-03-04 2020-06-30 深圳市宇驰检测技术股份有限公司 基于机器人的水生生态调查方法、水下机器人及存储介质
KR102356671B1 (ko) * 2020-07-24 2022-02-07 대양전기공업 주식회사 수중로봇용 태양광 충전시스템
KR102365084B1 (ko) 2021-01-21 2022-02-23 주식회사 로보스텍 수중구조물 진단용 수중드론 시스템
KR102580716B1 (ko) * 2021-12-17 2023-09-19 한국로봇융합연구원 로봇 부이
CN114899769B (zh) * 2022-07-13 2022-12-20 上海临希智能科技有限公司 一种水下强电智能连接导向系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6463492A (en) * 1987-09-02 1989-03-09 Mitsui Shipbuilding Eng Attitude control device for unmanned underwater craft
JPH03169796A (ja) * 1989-11-29 1991-07-23 Kansai Electric Power Co Inc:The 水質測定用ロボット装置
KR200322262Y1 (ko) * 2003-05-19 2003-08-06 주식회사 육송 무인 원격 구명선의 수중 카메라 구조

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6463492A (en) * 1987-09-02 1989-03-09 Mitsui Shipbuilding Eng Attitude control device for unmanned underwater craft
JPH03169796A (ja) * 1989-11-29 1991-07-23 Kansai Electric Power Co Inc:The 水質測定用ロボット装置
KR200322262Y1 (ko) * 2003-05-19 2003-08-06 주식회사 육송 무인 원격 구명선의 수중 카메라 구조

Also Published As

Publication number Publication date
WO2011059197A9 (ko) 2011-09-29
KR20110052102A (ko) 2011-05-18
KR101128032B1 (ko) 2012-03-29
WO2011059197A2 (ko) 2011-05-19

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