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公开(公告)号：KR1020130010513A
公开(公告)日：2013-01-29
申请号：KR1020100104570
申请日：2010-10-26
Applicant: 한국해양과학기술원
Abstract: PURPOSE: A 3-point link vector thruster and a manufacturing method thereof are provided to use in an underwater robot such as a small autonomous underwater vehicle. CONSTITUTION: A 3-point link vector thruster comprises a first ball joint(11), a second ball joint(12), a first linear actuator(21), a second linear actuator(22), and a second axial link(30). The first and second ball joints are attached at the top of a propulsion motor housing(2). One end of the first and second linear actuators is connected to the first and second ball joints, respectively. The other end of the first and second actuators is connected to a hull structure. One end of the second axial link is attached at the bottom of the propulsion motor housing and the other end thereof is fixed in the hull structure. [Reference numerals] (AA) Top; (BB) Right; (CC) Bottom; (DD) Left
Abstract translation: 目的：提供一种3点连杆矢量推进器及其制造方法，用于小型自主水下航行器等水下机器人。 构成：三点连杆矢量推进器包括第一球窝接头（11），第二球窝接头（12），第一线性致动器（21），第二线性致动器（22）和第二轴向连杆（30） 。 第一和第二球形接头附接在推进电机壳体（2）的顶部。 第一和第二线性致动器的一端分别连接到第一和第二球形接头。 第一和第二致动器的另一端连接到船体结构。 第二轴向连杆的一端安装在推进马达壳体的底部，另一端固定在船体结构中。 （附图标记）（AA）顶部; （BB）对; （CC）底部 （DD）左
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公开(公告)号：KR101873839B1
公开(公告)日：2018-07-04
申请号：KR1020170122510
申请日：2017-09-22
Applicant: 한국해양과학기술원
CPC classification number: G06T19/003 , B63C11/48 , G06F17/30244 , G06T5/002 , G06T7/11 , G06T7/55 , H04N5/23238
Abstract: 본발명은해저에서활동하는로봇에설치된카메라에서획득한영상의왜곡을보정한화면과설계도의화면을결합하여이를증강현실화면으로표시하는수중건설로봇의증강현실표시시스템및 표시방법에관한것으서, 수중건설로봇의전면에설치되고이동하면서전면의영상을획득하는카메라; 상기카메라가획득한영상에서수중에서발생한노이즈를제거하는필터; 상기필터에의해노이즈가제거된영상에서배경을포함하는객체를인지하는객체인식부; 상기객체인식부에의해인지된객체와대응하는설계도를검색하여찾는검색부; 상기검색부에의해매칭된설계도의비율을확대하여상기객체인식부에의해인지된객체의비율을일치시키고대응시키는매칭부; 상기매칭부에의해설계도와객체가겹쳐진영상의화질을개선시키는개선부; 및상기개선부에의해개선된영상을가상현실화면으로표시하는표시부;를포함하여구성되어해저에서활동하는로봇에설치된카메라에서획득한영상의굴절률을보상한화면과설계도의화면을결합하여이를증강현실화면으로표시하여수중건설로봇을보다용이하게조절할수 있는효과가있다.
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Patent Agency Ranking
公开(公告)号：KR1020160127259A
公开(公告)日：2016-11-03
申请号：KR1020150058035
申请日：2015-04-24
Abstract: 본발명은수중관측시스템등에장착되어수중음원을탐지하고음원파라미터를추정하기위한평면배열센서의구성방법에관한것으로, 본발명에따르면, 수중관측시스템등에장착되어수중음원을탐지하고음원파라미터를추정하기위한평면배열센서에있어서, 특히, 4개의하이드로폰(hydrophone) 만을이용하여평면배열센서를구성시, 앨리어싱(aliasing)이발생하지않도록하는최적의센서간격조건을제시하고, 대표적인평면배열센서의형태인스타(star)형배열과원형(정방형) 배열에대하여각각음향신호의입사각에따른빔 폭과최대부엽크기를컴퓨터수치해석을이용해분석함으로써최적의센서배치를얻을수 있도록구성되는수중음원탐지를위한평면배열센서구성방법이제공되며, 또한, 그러한수중음원탐지를위한평면배열센서구성방법을이용하여, 앨리어싱이발생하지않는최적의센서배치로이루어짐으로써보다정확한측정및 탐사가가능하도록구성되는수중음원탐지용평면배열센서및 수중음원탐사시스템이제공된다.
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公开(公告)号：KR101396579B1
公开(公告)日：2014-05-20
申请号：KR1020130054912
申请日：2013-05-15
Applicant: 한국해양과학기술원
IPC: G01B21/00
Abstract: A prefabricated inspection device for the side walls of a structure is disclosed. The prefabricated inspection device for the side walls of a structure according to the present invention is a device for observing or inspecting side walls at locations having a floor and the side walls extended downward from the end of the floor. The device comprises: a moving body; a horizontal arm having a horizontal connection part connected to the moving body, and an arm connection part lengthily extended from the horizontal connection part and protruding from the end of the moving body; a vertical arm coupled to the arm connection part and extended downward from the floor to couple an inspection unit for observing the side walls to the bottom thereof; and a rollover protection device installed in the moving body to come in contact with or be fixed on the floor so as to prevent the moving body from moving or rotating toward the arm connection part. According to the present invention, the prefabricated inspection device for the side walls of a structure can fundamentally prevent the rollover in the conditions of blowing strong wind in a valley or the sea by installing the rollover protection device on which a heavy object, such as a vehicle, is placed in the opposite side of the vertical arm while having the dead weight of the moving body.
Abstract translation: 公开了一种用于结构侧壁的预制检查装置。 根据本发明的用于结构的侧壁的预制检查装置是用于在具有地板并且侧壁从地板的端部向下延伸的位置处观察或检查侧壁的装置。 该装置包括：移动体; 水平臂，其具有连接到所述移动体的水平连接部分，以及从所述水平连接部分伸出并从所述移动体的端部突出的臂连接部分; 垂直臂，其联接到所述臂连接部分并从所述地板向下延伸以联接检查单元，用于观察所述侧壁到其底部; 以及安装在所述移动体中以与所述地板接触或固定在所述地板上以防止所述移动体向所述臂连接部移动或旋转的侧翻保护装置。 根据本发明，用于结构侧壁的预制检查装置可以在通过安装侧翻保护装置的情况下从根本上防止在谷或海中吹出强风的情况下的翻车，在该侧翻保护装置上， 车辆被放置在垂直臂的相对侧，同时具有移动体的自重。
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公开(公告)号：KR101279079B1
公开(公告)日：2013-06-26
申请号：KR1020120008052
申请日：2012-01-27
Applicant: 한국해양과학기술원
Abstract: PURPOSE: An automatic stabilizing unmanned submarine is provided to fall to the underwater without separating power and to easily collect by controlling stability when floating to the surface of the water after exploring. CONSTITUTION: An automatic stabilizing unmanned submarine(1) comprises a horizontal level control member. The horizontal level control member includes a cylinder member and a piston member. The piston member transfers inside the cylinder member. The piston member transfers inside the cylinder member according to water pressure and increases or decreases buoyancy by changing a buoyancy space formed between the cylinder member and the piston member. The piston member includes a main piston member, a guide piston member, and a connection member. The main piston member changes the buoyancy space. The guide piston member is separated from the main piston member in a specific interval and includes a plurality of penetration units in which seawater flows.
Abstract translation: 目的：提供一种自动稳定无人潜艇在不分离动力的情况下跌落到水下，并通过在探索后浮动到水面时控制稳定性而轻松收集。 构成：自动稳定无人潜艇（1）包括水平控制构件。 水平调节构件包括气缸构件和活塞构件。 活塞构件在气缸构件内部传递。 活塞构件根据水压传递到气缸构件内部，并且通过改变在气缸构件和活塞构件之间形成的浮力空间来增加或减少浮力。 活塞构件包括主活塞构件，引导活塞构件和连接构件。 主活塞构件改变浮力空间。 导向活塞构件以特定间隔与主活塞构件分离，并且包括多个渗透单元，海水流入其中。
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公开(公告)号：KR1020130051733A
公开(公告)日：2013-05-21
申请号：KR1020110117059
申请日：2011-11-10
Applicant: 한국해양과학기술원
Abstract: PURPOSE: A thrust-vectoring underwater propulsion device using a constant speed joint is provided to optimize the capacity of an actuator and to overcome the narrowed spatial restriction of a stern by vertically and laterally inclining only propeller. CONSTITUTION: A thrust-vectoring underwater propulsion device comprises a cylindrical housing(20), a constant speed joint(30), a fan tilt arm, a first tie link arm(40), a second tie link arm(52), a first linear actuator(61), a second linear actuator, and a tie rod(70). The constant joint is connected to the stern end of a rotary shaft and transfers the rotating force of the rotary shaft at an arbitrarily inclined angle. The fan tilt arm connects the constant speed joint and a propeller and transfers the rotating force of the rotary shaft to the propeller. The first tie link arm is hinge-coupled to the outer circumference of the housing. The tie rod connects the first and second tie link arms to the fan tilt arm and inclines the fan tilt arm at an inclined angle of the first and second tie link arms. [Reference numerals] (AA) Top; (BB) Stem; (CC) Stern; (DD) Bottom
Abstract translation: 目的：提供使用恒速接头的推力矢量水下推进装置，以优化执行机构的能力，并通过垂直和侧向倾斜的螺旋桨来克服船尾狭窄的空间限制。 构造：推力矢量水下推进装置包括圆柱形壳体（20），恒速接头（30），风扇倾斜臂，第一连接臂（40），第二连杆臂（52），第一 线性致动器（61），第二线性致动器和连杆（70）。 恒定接头连接到旋转轴的尾端，并以任意倾斜的角度传递旋转轴的旋转力。 风扇倾斜臂连接恒速接头和螺旋桨，并将旋转轴的旋转力传递到螺旋桨。 第一连接臂铰链连接到壳体的外周。 拉杆将第一和第二连接臂连接到风扇倾斜臂，并使风扇倾斜臂以第一和第二连接臂的倾斜角度倾斜。 （附图标记）（AA）顶部; （BB）茎; （CC）斯特恩 （DD）底部
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