Title:
SYSTEM FOR NAVIGATING HULL CLEANING ROBOT BY USING ULTRASONIC POSITIONING SIGNAL AND METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2024/080454
Kind Code:
A1
Abstract:
The purpose of the present invention is to provide a system for navigating a hull cleaning robot and a method therefor, wherein underwater acoustic positioning signals based on underwater ultrasonic waves are used in an auxiliary manner such that same can be applied even to a condition in which multiple hull cleaning robots simultaneously clean a hull, and in an environment in which acoustic waves are diffracted or reflected waves exist, distortion of ultrasonic positioning signals is corrected, thereby using same as navigation assist signals. In order to accomplish the above purpose, a system for navigating a hull cleaning robot by using ultrasonic positioning signals according to the present invention comprises: a hull cleaning robot to be positioned, the hull cleaning robot comprising a first acoustic communication unit which is triggered by an external signal, or which generates an acoustic signal at a predetermined interval; ultrashort baselines (USBLs) each comprising a second acoustic communication unit installed on a buoy so as to position the hull cleaning robot, two sets of USBLs being disposed on the prow and stern of a ship to be cleaned, respectively; reference sound source devices installed on the portside and starboard of the hull center, respectively, each reference sound source device being equipped with a third acoustic communication unit and a GPS unit; a signal processing unit for analyzing positioning signals of the hull cleaning robot and the reference sound source devices received by the second acoustic communication unit, thereby identifying distorted positioning signals caused by hull obstacles, and correcting the distorted positioning signals; and a navigation system for determining outliers with regard to corrected positioning signals, and using positioning signals from which outliers are removed as auxiliary signals for underwater three-dimensional position estimation.
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Inventors:
LEE PAN-MOOK (KR)
KIM SEA-MOON (KR)
BAEK HYUK (KR)
JUN BONG-HUAN (KR)
KIM SEA-MOON (KR)
BAEK HYUK (KR)
JUN BONG-HUAN (KR)
Application Number:
PCT/KR2022/021469
Publication Date:
April 18, 2024
Filing Date:
December 28, 2022
Export Citation:
Assignee:
KOREA INSTITUTE OF OCEAN SCIENCE & TECH (KR)
International Classes:
G01S7/52; B25J11/00; B25J13/00; B25J13/08; B63B59/10; G01C21/16; G01S15/06; G01S19/42
Attorney, Agent or Firm:
DAE-A INTELLECTUAL PROPERTY CONSULTING (KR)
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