CR200의 악시계 극복을 위한 고해상도 초음파카메라의 운용에 관한 연구

Abstract

We have developed a multi-legged underwater robot, CR200. This robot is supposed to inspect and work in high tidal current environment with low visibility. CR200 is equipped with a high- resolution acoustic underwater camera to clear her visibility in highly turbid water where any optical cameras are useless. In this paper, we introduce the acoustic camera and its preliminary operation in water tank. We compared images between the acoustic camera and a multi-beam sonar. Underwater experiments was conducted to acquire acoustic images. The acoustic images are compared with images taken by a typical optical camera. Measuring size of a target object on the acoustic images and simple mosaic work are also included. visibility in highly turbid water where any optical cameras are useless. In this paper, we introduce the acoustic camera and its preliminary operation in water tank. We compared images between the acoustic camera and a multi-beam sonar. Underwater experiments was conducted to acquire acoustic images. The acoustic images are compared with images taken by a typical optical camera. Measuring size of a target object on the acoustic images and simple mosaic work are also included.