WO2013012218A1 - 수중 이동체 위치측정장치 및 그 방법 - Google Patents
수중 이동체 위치측정장치 및 그 방법 Download PDFInfo
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- WO2013012218A1 WO2013012218A1 PCT/KR2012/005624 KR2012005624W WO2013012218A1 WO 2013012218 A1 WO2013012218 A1 WO 2013012218A1 KR 2012005624 W KR2012005624 W KR 2012005624W WO 2013012218 A1 WO2013012218 A1 WO 2013012218A1
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- information
- zone
- depth
- hull
- normal vector
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
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- 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
-
- 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
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- 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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Definitions
- the present invention relates to an underwater mobile positioning device and a method thereof.
- Corrosion occurs on the hull surface of large ships and deposits of suspended solids at sea. Divers work passively on the seabed to recoat the corroded hull surface or to remove suspended solids from the hull surface. In addition, the above manual work is necessary to determine the abnormality of the hull surface. However, the inspection or repair of very large hull surfaces is time consuming and risks are always present in that they are under the sea.
- the position of the underwater robot working by attaching to the lower surface of the hull is determined in various ways.
- Representative methods for locating underwater robots include long base line (LBL), short base line (SBL), and ultra short base line (USBL).
- LBL long base line
- SBL short base line
- USBL ultra short base line
- the apparatus for transmitting the ultrasonic waves is installed in the lower part of the hull to detect the waves reflected by the ultrasonic waves and to calculate the position of the underwater robot by synthesizing the positional relationship with each ultrasonic transmitter.
- this method is time consuming due to the variety of devices installed underwater.
- Another method of calculating the position of an underwater robot working under the hull is to compare features using a vision or ultrasound scanner.
- this method is also difficult to extract the singularity when the hull surface is clean, it is not possible to calculate the exact position.
- One embodiment of the present invention provides an apparatus and a method for accurately and easily determining the position information of the underwater mobile body to be attached to the hull work.
- the hull information generating unit for dividing the hull surface into a plurality of zones, and generating level information which is information about the normal vector information and the depth of the submerged in each zone;
- a mobile body information receiver configured to receive posture information and depth information of the mobile body attached to the hull surface;
- a position discriminating unit comparing the attitude information of the mobile body with the normal vector information of the zone, comparing the depth information of the mobile body with the level information of the zone, and determining the position of the mobile body.
- a measuring device is provided.
- the position discriminating unit may determine a region where the attitude information of the movable body and the normal vector information of the zone coincide, and the depth information of the movable body and the level information of the zone coincide.
- the posture information and the normal vector information include a roll that is an angle rotated about an x axis with respect to the earth coordinate system, a pitch that is an angle rotated about an y axis, and an yaw that is rotated about an z axis ( yaw) value may include one or more pieces of information.
- the hull information generation unit comprises: a division module for dividing the hull surface into a plurality of zones; A vector generation module for generating cell vector information of each zone; A conversion module for generating normal vector information by converting cell vector information of each zone into a global coordinate system; A level information generation module for extracting level information which is a depth submerged in the water for each zone; And at least one of a database storing the cell vector information and the normal vector information.
- the cell vector information includes a roll, which is an angle rotated about an x axis, a pitch, which is an angle rotated about an y axis, and a z axis, based on a hull coordinate system having any one point of the hull as the origin. It may include any one or more information of the yaw value that is the angle rotated by.
- the moving body information receiving unit includes: a moving body attitude information receiving module which receives posture information of the moving body; And it may include at least one of the moving object depth information receiving module for receiving the depth information of the moving object.
- the moving object position discriminating unit may include: a depth information mapping module configured to compare the depth information with the level information and extract a first region corresponding to the depth information; And a moving object mapping module configured to compare the posture information and the normal vector information and extract a second region that matches.
- the moving object mapping module may compare the posture information with the normal vector information of the first zone and extract a matching second zone.
- the method comprises the steps of: (a) dividing the hull surface into a plurality of zones, and generating level information which is normal vector information and depth submerged in each zone; (b) receiving attitude information and depth information of the moving body attached to the hull surface; And (c) comparing the attitude information of the mobile body with the normal vector information of the zone, and extracting the position of the mobile body by comparing the depth information of the mobile body with the level information of the zone.
- a moving object measuring method is provided.
- Steps (a) and (b) may be performed after step (a), step (b), step (b) after step (b), or step (a) and step (b) simultaneously. Can be.
- Step (c) comprises: (c-1) extracting a first zone in which the depth information of the moving body and the level information of the zone coincide; And (c-2) extracting a second zone in which the attitude information of the moving body and the normal vector information of the zone coincide.
- the step (c-2) may include extracting a second zone where the attitude information of the moving body and the normal vector information of the first zone coincide.
- the step (a) may include generating cell vector information of each zone; And converting cell vector information of each zone into a global coordinate system to generate the normal vector information.
- Embodiments of the present invention exhibit at least one or more of the effects listed below.
- the position of the lower hull mobile can be known in real time.
- the position of the movable body attached to the lower part of the hull even during the movement of the hull can be known.
- FIG. 1 is a block diagram of a position measuring apparatus for a mobile vehicle according to a first embodiment of the present invention.
- FIG. 2 is a structural diagram for explaining roll, pitch, and yaw.
- Fig. 3 is a block diagram of the hull information generating unit, which is a part of the first embodiment of the present invention.
- 4A is an exemplary view of the hull surface.
- 4b shows a hull surface zone divided by triangulation.
- FIG. 5 is a conceptual diagram for explaining a method of generating cell vector information of a hull surface area.
- FIG. 6 is a conceptual diagram illustrating a method of converting cell vector information based on the earth coordinate system.
- Fig. 7 is a block diagram of a mobile information receiver which is a part of the first embodiment of the present invention.
- Fig. 8 is a block diagram of a position discriminating unit which is a part of the first embodiment of the present invention.
- Fig. 9 is a block diagram of a connection relationship of the position measuring device of the underwater mobile body which is the second embodiment of the present invention.
- Fig. 10 is a flowchart of the position measuring method of the underwater moving body which is the third embodiment of the present invention.
- Fig. 11 is a flowchart of the position measuring method of the underwater moving body which is the fourth embodiment of the present invention.
- One embodiment of the present invention relates to an apparatus for accurately detecting the position of a moving body attached to a surface of a hull and moving.
- the position of the moving object may be detected by comparing the vector information according to the bending and depth of the hull surface with the vector information measured by the sensor included in the moving body.
- the first embodiment of the present invention relates to a position measuring apparatus of the underwater mobile body.
- FIG. 1 is a block diagram of a position measuring apparatus for a mobile vehicle according to a first embodiment of the present invention.
- the apparatus for measuring the position of the underwater mobile body includes a hull information generating unit 100, a mobile body information receiving unit 200, and a position discriminating unit 300.
- the hull information generation unit 100 generates level information, which is information on the normal vector information of each area of the hull surface and the depth submerged in the water.
- the hull surface is formed by precisely joining and grinding a number of iron plates. Planes and curved surfaces are formed on the hull surface, and a curved surface having a predetermined radius of curvature is a combination of many fine surfaces. In view of these points, the plane and curved surface constituting the surface of the hull have a normal vector facing the outside of the ship and perpendicular to the plane.
- the ship can measure the height of the hull exposed to the water by the buoyancy and the depth of the hull submerged in the water, and the level information according to the depth of the hull submerged in addition to the normal vector information to distinguish each area of the hull surface Can be obtained.
- the identification factors of each area of the hull surface generated by the hull information generation unit 100 include normal vector information and level information.
- the moving object information receiver 200 receives posture information and depth information of the moving object.
- the moving object generates posture information and depth information of the moving object itself by various sensors installed therein.
- the attitude information of the moving object is generated by, for example, an Inertial Measurement Unit (IMU) or an Attitude Heading Reference Unit (AHRS). Such a unit calculates a roll, pitch, yaw value, and the like with respect to the posture of the moving object.
- Depth information of the moving body is generated by, for example, a pressure sensor or a depth sensor included in the moving body.
- the information generated by the sensor included in the moving object is attitude information of the moving object and depth information of the moving object.
- the position determining unit 300 determines an area in which the moving object attitude information and the normal vector information of each area of the hull surface coincide with each other and the depth information of the moving body and the level information of the hull surface area correspond to the location of the moving object. do. That is, the moving body attached to the surface of the hull coincides with at least one of the normal vectors in a specific area of the hull surface. In addition, the depth information of the moving body attached to the hull surface is at least one of the level information of the specific area of the hull surface.
- the position discrimination unit 300 selects the hull surface specific zone that forms the intersection of the matching portions between the normal vector and the level information of each zone of the hull surface and the information of the mobile body, and determines the position of the mobile body.
- Fig. 2 is a structural diagram for explaining roll, pitch, and yaw values.
- the object has a center point.
- the motion or posture of an object can be interpreted as a combination of linear motion along three axes and rotational motion about the axis.
- the pitch is a horizontal axis (y axis) caused by linear motion along the axis (x axis) in the front and rear directions with respect to the center point of the object. It means the angle according to the rotational movement occurring around.
- Roll refers to the angle by the rotational movement around the axis (x-axis) in the front and rear direction occurs along a linear movement along the left and right axis (y axis) with respect to the center point.
- Yaw means an angle rotated about an axis (z-axis) perpendicular to the center point of the object.
- the normal vector information described above and the attitude information of the moving object can be expressed by a roll, pitch, and yaw value, and the vector is a mathematical symbol expressed in size and direction. Whether the normal vector information and the moving body attitude information is the same is determined by the roll, pitch, and yaw values in the direction of the vector.
- FIG. 3 is a block diagram of the hull information generating unit 100 which is a part of the first embodiment of the present invention.
- the hull information generation unit 100 is a zone division module 110 for dividing the area of the hull, a cell vector generation module 120 for generating the vector information of the divided hull zone, the vector information of each area of the hull is converted into the global coordinate system
- Zone division module 110 calls the drawing information of the ship stored in the database 150.
- the drawing of the hull surface is called from the drawing information of the ship.
- 4A is an exemplary view of the hull surface.
- a diagram of a connection state of a plurality of steel plates used to complete the hull surface is used to divide each section of the hull surface.
- the hull surface is divided into zones that differ in cell vector information (vectors perpendicular to each zone plane) for each sector by triangulation or finite element method.
- 4b shows a hull surface zone divided by triangulation.
- each section of the hull surface is specified.
- Each section of the hull surface that has been distinguished has a unique value in the cell vector information.
- Each zone is specified by the roll, pitch, and yaw values of the cell vector information, and a plurality of zones having the same roll, pitch, and yaw values may exist.
- the division module 110 divides the hull surface into sections by using the hull drawings.
- the vector generation module 120 generates cell vector information of the divided hull zone. In order to generate cell vector information for each section of the hull surface, an arbitrary point which is a reference in ship is set.
- FIG. 5 is a conceptual diagram for explaining a method of generating cell vector information of a hull surface area.
- coordinate systems i, j, and k are set around an arbitrary point of the head or the stern. Based on this coordinate system, the roll, pitch and yaw values of the protruding vectors in the plotted area (hatched) are calculated geometrically.
- the vector generation module 120 generates cell vector information for each zone shown in FIG. 4B.
- the conversion module 130 generates normal vector information by converting the cell vector information of each region of the hull surface based on the earth coordinate system.
- the reason why the cell vector information is converted into normal vector information based on the geocoordinate system is that the sensor for generating posture information included in the moving object generates roll, pitch, and yaw values based on the geocoordinate system.
- the geocoordinate system enables not only the movement of the moving body but also the specific point fixed to the magnetic north despite the movement of the hull, so that it has a constant roll, pitch, and yaw value without being accompanied by a change in coordinate system.
- FIG. 6 is a conceptual diagram illustrating a method of converting cell vector information based on the earth coordinate system.
- the cell vector information generated by the cell vector generation module 120 described above uses a coordinate system with the hull arbitrary point as the origin.
- the cell vector information means roll, pitch and yaw values.
- the origin is moved in parallel to match and the roll, pitch, and yaw values are converted. That is, as shown in FIG. 6, the reference point is converted into a roll, pitch, and yaw value based on the coordinate axis of the earth coordinate system, which is moved in parallel by as far as possible.
- the level information generation module 140 extracts the depth information for each divided hull zone.
- Each zone of the hull surface divided by the zone dividing module 110 measures the depth submerged at a deep depth.
- Level information which is information about the measured depth of each zone, is a comparative factor for calculating the position of the moving object.
- the database 150 included in the hull information generating unit 100 stores information on the drawings of the ship and cell vector information.
- the information regarding the drawing of the vessel is used to divide the zone of FIG. 4B in the hull surface view of FIG. 4A described earlier in the zone division module 110.
- the cell vector information of the vessel is constant in spite of the movement of the vessel using a coordinate system having an origin in the vessel.
- the cell vector information stored in the database 150 is used to calculate the position of the moving object by converting the cell vector information based on the earth coordinate system regardless of the anchoring or moving position of the vessel.
- the hull information generation unit 100 as a part of the first embodiment of the present invention has been described above.
- a mobile body information receiver 200 receiving position information of the mobile body in the position measuring apparatus of the underwater mobile body according to the first embodiment of the present invention will be described with reference to FIG. 7.
- Fig. 7 is a block diagram of a mobile information receiver which is a part of the first embodiment of the present invention.
- the moving object information receiving unit 200 includes a moving body attitude information receiving module 210 and a moving depth information receiving module 220.
- the moving object attitude information receiving module 210 generates the attitude information of the moving object using an Inertial Measurement Unit (IMU) or an Attitude Heading Reference Unit (AHRS) included in the moving object.
- IMU Inertial Measurement Unit
- AHRS Attitude Heading Reference Unit
- the IMU or AHRS included in the moving object calculates the roll, pitch, and yaw values of the moving object based on magnetic north, which is the global coordinate system, as shown in FIG. 2.
- the IMU is a sensor that measures acceleration and rotational movement. It measures and records the speed, direction, and gravity of an object.
- the IMU also analyzes the position of the object.
- the AHRS also measures the attitude and orientation of an object and may include an acceleration sensor, a gyro sensor, and a magnetic sensor.
- the posture information receiving module 210 receives posture information generated by the IMU and AHRS included in the moving body.
- the moving object depth information receiving module 220 receives the depth information of the moving object by a depth sensor included in the moving object.
- the moving body moving the hull surface includes a sensor capable of measuring the water depth such as the pressure sensor and the depth sensor as well as the IMU or AHRS.
- Depth information which is information about the depth of the moving object, is generated by the depth sensor or the pressure sensor included in the moving object.
- the moving object depth information receiving module 220 receives the depth information generated by the moving object.
- the mobile information receiver 200 which is a part of the first embodiment of the present invention, has been described above.
- the position discrimination unit 300 included in the position measuring apparatus of the underwater moving body which is the first embodiment of the present invention will be described with reference to FIG.
- FIG. 8 is a block diagram of the position discriminating unit 300, which is a part of the first embodiment of the present invention.
- the position discriminating unit 300 compares the attitude information of the mobile body with the normal vector information of the hull surface zone, compares the depth information of the mobile body with the level information of the hull surface zone, and determines the corresponding hull surface specific zone as the position of the mobile body.
- the position discriminating unit includes a moving position mapping module 310 and a depth information mapping module 320.
- the moving object mapping module 310 compares the attitude information received from the posture information receiving module 210 of the moving object information receiving unit 200 with the normal vector information converted by the conversion module of the hull information generating unit to match the first hull surface of the matching hull surface. Extract zone groups.
- the depth information mapping module 320 transfers the depth information received from the moving body depth information receiving module 220 and the level information received from the level information generating module 140 of the hull information generating unit 100. Compare and extract the second zone group of the matching hull surface.
- the first embodiment of the present invention converts cell vector information for all regions of the hull surface to normal vector information
- the second embodiment of the present invention described below is a hull in which the level information of the hull surface and the depth information of the moving body coincide. Convert to normal vector information for only part of the surface.
- Fig. 9 is a block diagram of a connection relationship of the position measuring device of the underwater mobile body which is the second embodiment of the present invention.
- the second embodiment of the present invention includes depth information generated by the level information generating module 140 and moving object depth information generated by the moving object depth information receiving module 220.
- the monitoring module 320 monitors in real time. At this time, the hull surface area having the level information matching the depth information of the moving body is extracted. 3 transmits the extracted zone information to the database 150, and 4 the database 150 transmits the cell vector information of the extracted zone to the conversion module 130. 5
- the conversion module 130 converts the cell vector information into normal vector information and transmits it to the moving object mapping module 310.
- the moving body posture information receiving module 210 transmits the posture information received from the moving body to the moving body position mapping module 310.
- the conversion module 130 converts the cell vector information into normal vector information and transmits it to the mobile position mapping module 310 and the mobile body position information receiving module 210 transmits the posture information received from the mobile body to the mobile position mapping module ( In step 310, the hull surface region corresponding to the normal vector information and the posture information transmitted is identified and output as the position of the moving object.
- the second embodiment of the present invention converts the cell vector information into normal vector information only for the regions having the same depth. Instead of converting cell vector information to normal vector information for all zones partitioned on the hull surface, conversion is performed for some zones where the depth information matches and the position of the moving body is calculated. Since the conversion is performed only for some areas, the computational speed of data is improved and the time required for calculating the position of the moving object is reduced.
- the first and second embodiments of the present invention relate to a position measuring device for a mobile vehicle
- the third embodiment of the present invention relates to a method for measuring a mobile vehicle's position. The area of the underwater vehicle is measured until the zone is found.
- Fig. 10 is a flowchart of the position measuring method of the underwater moving body which is the third embodiment of the present invention.
- a method for measuring a position of an underwater vehicle includes generating normal information of each region of the hull surface and level information, which is data relating to a depth submerged in water (S1000).
- generating the normal vector information of each section of the hull surface includes dividing a portion of the hull having different cell vector information into each section, and generating normal vector information based on the earth coordinate system in the divided region.
- Cell vector information refers to a coordinate system based on an arbitrary point of the hull and refers to the roll, pitch, and yaw values of a vector perpendicular to each section of the hull surface based on this coordinate system.
- the cell vector information is an intrinsic value of each section of the hull surface that does not change even when the ship's hull surface is not changed by the position change or movement of the ship.
- the cell vector information is converted into normal vector information, and the position of the mobile body is calculated by comparing with the posture information of the mobile body.
- step S1000 is performed again.
- Fig. 11 is a flowchart of the position measuring method of the underwater moving body which is the fourth embodiment of the present invention.
- the third embodiment of the present invention converts cell vector information into normal vector information for all zones of the hull surface.
- the fourth embodiment of the present invention has a partial area of the hull surface where the level information of the hull surface and the depth information of the moving body coincide. Only the vector is transformed into the normal vector information, and the position of the underwater mobile body is measured until the specific area where the information of each area of the hull surface matches the information of the mobile body is found.
- a method for measuring a position of an underwater mobile body is performed by comparing the level information of each section of the hull surface with the depth information of the mobile body (S10000), and extracting the cell vector information of the extracted region from the normal vector. And converting the information into information (S20000), comparing the normal vector information with the attitude information of the moving object (S30000), and comparing and determining the position of the moving object (S40000).
- the hull of which the depth information of the hull surface is identical to the depth information of the moving body does not need to be converted into cell vector information of all regions of the hull surface into normal vector information based on the global coordinate system. This method converts cell vector information of a part of the surface into normal vector information.
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Description
Claims (13)
- 선체표면을 다수의 구역으로 분할하고, 각 구역의 법선벡터 정보와 수중에 잠긴 깊이에 관한 정보인 수준정보를 생성하는 선체정보생성부;상기 선체표면에 부착된 이동체의 자세정보와 깊이정보를 전송받는 이동체 정보수신부; 그리고상기 이동체의 자세정보와 상기 구역의 법선벡터 정보를 비교하고, 상기 이동체의 깊이정보와 상기 구역의 수준정보를 비교하여 상기 이동체의 위치로 판정하는 위치 판별부를 포함하는 것을 특징으로 하는 수중 이동체 위치측정장치.
- 제1항에 있어서,상기 위치 판별부는 상기 이동체의 자세정보와 상기 구역의 법선벡터 정보가 일치하고, 상기 이동체의 깊이정보와 상기 구역의 수준정보가 일치하는 구역을 상기 이동체의 위치로 판정하는 것을 특징으로 하는 수중 이동체 위치측정장치.
- 제1항에 있어서,상기 자세정보 및 법선벡터정보는 지구좌표계를 기준으로 x축을 중심으로 회전된 각도인 롤(roll), y축을 중심으로 회전된 각도인 피치(pitch) 및 z축을 중심으로 회전된 각도인 요(yaw)값 중 어느 하나 이상의 정보를 포함하는 것을 특징으로 하는 수중 이동체 위치측정장치.
- 제1항에 있어서,상기 선체 정보생성부는 상기 선체 표면을 다수의 구역으로 분할하는 구역분할모듈;상기 각 구역의 셀벡터정보를 생성하는 셀벡터생성모듈;상기 각 구역의 셀벡터정보를 지구좌표계로 변환하여 법선벡터정보를 생성하는 변환모듈;상기 각 구역 별 수중에 잠긴 깊이인 수준정보를 추출하는 수준정보생성모듈; 그리고상기 셀벡터정보 및 법선벡터정보를 저장하는 데이터베이스 중 적어도 어느 하나를 포함하는 것을 특징으로 하는 수중 이동체 위치측정장치.
- 제4항에 있어서,상기 셀벡터정보는 상기 선체의 어느 한 지점을 원점으로 하는 선체좌표계를 기준으로 x축을 중심으로 회전된 각도인 롤(roll), y축을 중심으로 회전된 각도인 피치(pitch), 및 z축을 중심으로 회전된 각도인 요(yaw)값 중 어느 하나 이상의 정보를 포함하는 것을 특징으로 하는 수중 이동체 위치측정장치.
- 제1항에 있어서,상기 이동체 정보수신부는,상기 이동체의 자세정보를 전송받는 이동체 자세정보수신모듈; 그리고상기 이동체의 깊이정보를 전송받는 이동체 깊이정보수신모듈 중 적어도 어느 하나를 포함하는 것을 특징으로 하는 수중 이동체 위치측정장치.
- 제1항에 있어서,상기 이동체 위치판별부는,상기 깊이정보와 상기 수준정보를 비교하여 일치하는 제1구역을 추출하는 깊이정보매핑모듈; 그리고상기 자세정보와 상기 법선벡터정보를 비교하여 일치하는 제2구역을 추출하는 이동체 위치매핑모듈을 포함하는 것을 특징으로 하는 수중 이동체 위치측정장치.
- 제7항에 있어서,상기 이동체위치매핑모듈은, 상기 자세정보와 상기 제1구역의 상기 법선벡터정보를 비교하여 일치하는 제2구역을 추출하는 것을 특징으로 하는 수중 이동체 위치측정장치.
- (a) 선체표면을 다수의 구역으로 분할하고, 각 구역의 법선벡터 정보와 수중에 잠긴 깊이에 관한 정보인 수준정보를 생성하는 단계;(b) 상기 선체 표면에 부착된 이동체의 자세정보와 깊이정보를 수신하는 단계; 그리고(c) 상기 이동체의 자세정보와 상기 구역의 법선벡터정보를 비교하고, 상기 이동체의 깊이정보와 상기 구역의 수준정보를 비교하여 상기 이동체의 위치를 추출하는 단계를 포함하는 것을 특징으로 하는 수중 이동체 위치측정방법.
- 제9항에 있어서,상기 (a) 단계와 (b) 단계는,(a) 단계 후 (b) 단계를 진행하거나,(b) 단계 후 (a) 단계를 진행하거나,(a) 단계와 (b) 단계를 동시에 진행하는 것을 특징으로 하는 수중 이동체 위치측정방법.
- 제9항에 있어서,상기 (c)단계는(c-1) 상기 이동체의 깊이정보와 상기 구역의 수준정보가 일치하는 제1구역을 추출하는 단계; 그리고(c-2) 상기 이동체의 자세정보와 상기 구역의 법선벡터정보가 일치하는 제2구역을 추출하는 단계를 포함하는 것을 특징으로 하는 수중 이동체 위치측정방법.
- 제11항에 있어서,상기 (c-2) 단계는, 상기 이동체의 자세정보와 상기 제1구역의 법선벡터정보가 일치하는 제2구역을 추출하는 단계를 포함하는 것을 특징으로 하는 수중 이동체 위치측정방법.
- 제9항에 있어서,상기 (a)단계는,상기 각 구역의 셀벡터정보를 생성하는 단계; 그리고상기 각 구역의 셀벡터정보를 지구좌표계로 변환하여 상기 법선벡터정보를 생성하는 단계를 포함하는 것을 특징으로 하는 수중 이동체 위치측정방법.
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AU2012284778A AU2012284778B2 (en) | 2011-07-15 | 2012-07-13 | Device for measuring location of underwater vehicle and method thereof |
ES12814237.9T ES2621297T3 (es) | 2011-07-15 | 2012-07-13 | Dispositivo y método para medir la ubicación de un vehículo submarino |
US14/233,010 US9335172B2 (en) | 2011-07-15 | 2012-07-13 | Apparatus for measuring location of underwater vehicle and method thereof |
EP12814237.9A EP2732931B1 (en) | 2011-07-15 | 2012-07-13 | Device for measuring location of underwater vehicle and method thereof |
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KR101562042B1 (ko) | 2014-05-20 | 2015-10-20 | 조선대학교산학협력단 | 수중 로봇의 위치 추정 방법 및 장치 |
CN105066989A (zh) * | 2015-06-30 | 2015-11-18 | 上海恺希机器人有限公司 | 定位装置 |
RU2709100C1 (ru) * | 2018-06-19 | 2019-12-16 | Федеральное государственное бюджетное учреждение науки Специальное конструкторское бюро средств автоматизации морских исследований Дальневосточного отделения Российской академии наук | Способ определения местоположения подводного объекта |
CN109856659B (zh) * | 2019-01-21 | 2021-02-12 | 同济大学 | 海床基定位授时与数据回收系统及方法 |
TWI724725B (zh) * | 2019-12-31 | 2021-04-11 | 禾瑞亞科技股份有限公司 | 偵測元件是否處在導電液體當中的方法、電子裝置與其中央處理器模組 |
CN113459089B (zh) * | 2021-06-09 | 2022-04-29 | 华中科技大学 | 一种面向水下无人艇-双机械臂作业系统的动力学耦合效应评价方法 |
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EP2732931A1 (en) | 2014-05-21 |
KR20130009310A (ko) | 2013-01-23 |
US9335172B2 (en) | 2016-05-10 |
EP2732931B1 (en) | 2017-01-18 |
US20140142841A1 (en) | 2014-05-22 |
KR101304579B1 (ko) | 2013-09-05 |
AU2012284778A1 (en) | 2014-02-06 |
AU2012284778B2 (en) | 2016-05-12 |
EP2732931A4 (en) | 2015-12-09 |
ES2621297T3 (es) | 2017-07-03 |
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