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工學碩士學位論文

광 변위센서를 사용한 선체 청소로봇의 위치추정 시스템 개발

Development of the position estimation system of the hull cleaning robot using the optical displacement sensor

指導敎授吳珍錫

2013年 8月

韓國海洋大學校大學院

메카트로닉스공학과

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목 차

List of Tables ································································································································ iii

List of Figures ······························································································································ iv

Nomenclatures ······························································································································· vi

Abstract ········································································································································· viii

제 1 장 서 론 ································································································································· 1

1.1 연구배경 ······························································································································· 1

1.2 연구동향 ······························································································································· 5

1.3 연구내용 및 구성 ··············································································································· 6

제 2 장 선체 청소로봇 시스템 ··································································································· 7

2.1 선체 청소로봇 운용환경 ··································································································· 7

2.2 선체 청소로봇 시스템 구성 ····························································································· 8

2.2.1 선체 청소로봇 구조 ·································································································· 8

2.2.2 청소로봇 지원 장치 ·································································································· 9

2.3 선체 청소로봇의 주행특성 ····························································································· 11

제 3 장 위치추정 알고리즘 ······································································································· 13

3.1 위치추정 개요 ··················································································································· 13

3.2 평면상에서의 위치추정 알고리즘 ················································································· 14

제 4 장 위치추정 시스템 설계 ································································································· 20

4.1 광 변위센서 ······················································································································· 20

4.1.1 광 변위센서 개요 ···································································································· 20

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제 5 장 실험 및 분석 ················································································································· 39

5.1 위치추정 실험 ··················································································································· 39

5.2 위치추정 실험 결과 ········································································································· 42

제 6 장 결 론 ······························································································································· 50

참고문헌 ········································································································································· 52

감사의 글 ······································································································································· 57

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List of Tables

Table 1.1 Estimated savings due to selected measures applied to various types of

ships ·················································································································································· 2

Table 2.1 Specifications of the hull cleaning robot ······························································ 9

Table 4.1 Specifications of the optical sensor ······································································ 22

Table 4.2 Specifications of the linear stage ········································································· 26

Table 4.3 Average sensitivity according to the surface type ··········································· 30

Table 5.1 Experimental conditions for position estimation ················································ 42

Table 5.2 Experimental results of position estimation to the five cases ······················· 49