천해역 악시계 환경 탐사를 위한 수중로봇기술 소개

Abstract

This paper introduces a single-beam scanning sonar, an acoustic camera and a multi-beam sonar as detection and identification sensors of a multi-legged seabed walking robot, CR200. In turbid water, conventional optical cameras become cannot be fully used. Sonars and acoustic devices can be alternatives. CR200 can equip various acoustic sensors with diverse installation. Diversly installed acoustic sensors are able to supply various fields of view reducing blind spot. In this paper, we introduced seabed inspection results using the acoustic sensors on the CR200. be fully used. Sonars and acoustic devices can be alternatives. CR200 can equip various acoustic sensors with diverse installation. Diversly installed acoustic sensors are able to supply various fields of view reducing blind spot. In this paper, we introduced seabed inspection results using the acoustic sensors on the CR200.