수중 구조물의 3차원 프로파일링 결과와 CR200 연동 운용전략

Abstract

In this paper, we studied about ultrasonic sensor operating strategies of multi-legged seabed robot based on result of the open sea experiment that the robot to overcome the low visibility environment. This experiment was carried out on February 12 to February 22, 2013 at pier of South Sea Research Institute to get 3D profiling data and used device was 1171 high resolution scanning SONAR manufactured by Kongsberg Maritime. We acquired 3D profiling images from 19 location, removed noise of the data and composed them by a post process program. As a result of the composition, the substructure of a pier could be presented by total 2,001,349 points. Simultaneously we produced underwater 3D image of R/V Onnuri which was anchored at pier. In conclusion we suggest strategy to apply this method to CR200. February 12 to February 22, 2013 at pier of South Sea Research Institute to get 3D profiling data and used device was 1171 high resolution scanning SONAR manufactured by Kongsberg Maritime. We acquired 3D profiling images from 19 location, removed noise of the data and composed them by a post process program. As a result of the composition, the substructure of a pier could be presented by total 2,001,349 points. Simultaneously we produced underwater 3D image of R/V Onnuri which was anchored at pier. In conclusion we suggest strategy to apply this method to CR200.