The present invention relates to an intelligent underwater robot constructed to perform development and verification of algorithms for carrying out high precision assignment based on artificial intelligence for research on unmanned technology, such as remotely operated vehicles (ROV) and autonomous underwater vehicles (AUV). According to the present invention, since thrusters only have a specific motion characteristic because the thrusters are fixed to and arranged on a specific position. As a result, disadvantages of a conventional underwater robot, which limit development and verification of various algorithms performed in a process of researching the underwater robot, are resolved. Therefore, a position of an underwater robot can be changed depending on the characteristic of an algorithm to be applied, thereby providing the underwater robot with a variable structure capable of changing the arrangement of thrusters, which is constructed to develop and verify various algorithms due to various motion abilities thereof. In order to achieve this purpose, the underwater robot with a variable structure capable of changing the arrangement of thrusters comprises: a movable body; a main frame installed inside the movable body; a plurality of thrusters; a fixing bracket including a frame mounting part and a thruster mounting part; a plurality of buoyancy materials; an internal pressure-resistant container for a system, on which a control system for controlling the underwater robot is mounted; an internal pressure-resistant container for a battery, on which a battery for supplying power to the control system and the thrusters is mounted; and an instrument part including a plurality of sensors and cameras.
본 발명은 원격조정 무인 잠수정(Remotely Operated Vehicles ; ROV) 및 자율 무인잠수정(Autonomous Underwater Vehicles ; AUV)과 같은 무인화 기술의 연구를 위해, 인공지능 기반의 고정밀 임무수행을 위한 알고리즘의 개발 및 검증을 수행할 수 있도록 구성되는 지능형 수중로봇(underwater robot)에 관한 것으로, 본 발명에 따르면, 추진기가 특정위치에 고정 배치되는 구조를 가짐으로 인해 특정한 운동특성만을 가지게 되어 결과적으로 수중 로봇의 연구과정에서 수행되는 다양한 알고리즘의 개발과 검증을 제한하게 되는 한계가 있었던 종래의 수중로봇의 단점을 해결하여, 적용하고자하는 알고리즘의 성격에 따라 추진기의 위치를 변경할 수 있도록 구성됨으로써, 다양한 운동성능을 가지는 것에 의해 보다 다양한 알고리즘의 개발 및 검증이 가능하도록 구성되는 추진기의 배치가 변경 가능한 가변 구조 수중로봇이 제공된다.
UNDERWATER ROBOT HAVING VARIABLE STUCTURE CAPABLE OF CHAGING THRUSTER CONFIGURATION
추진기 배치가 변경 가능한 가변구조 수중로봇
2016-06-03
Patent
Electronic Resource
Korean
Underwater robot having variable stucture capable of chaging thruster configuration
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