항만공사용 수중건설로봇 개발

Abstract

This paper presents an unserwater construction robot for rubble mound leveling. The robot system is composed of an underwater robot, underwater camera ,sonar sensors, LBL and magnetic gyroscope sensor. Virtual reality is developed to visualize the robots figure and the topography over the working environment and the robot is virtually tele-operated by an operator in a operating room. We describe the working process to level the rubble mound using the robot and present the performance of the robot through the experimental results in underwater.ize the robots figure and the topography over the working environment and the robot is virtually tele-operated by an operator in a operating room. We describe the working process to level the rubble mound using the robot and present the performance of the robot through the experimental results in underwater.