계층구조를 갖는 심해무인잠수정 해미래의 선상원격제어시스템

Abstract

This paper describes a hierarchical architecture of surface control system for HEMIRE, a 6,000m depth rate ROV and has been developed in MOERI/KORDI in Korea since five years ago. According to its main functions, surface control system for HEMIRE can be divided into three consoles; Pilot & Engineer Console, Administrator & Navigator Console, Extended System Console. A total of more than ten computers are arranged to construct the control system, and data exchanges between these computers are performed through a certain server based surface network. From robotics engineering point of view, ROV is a typical teleoperation system. Constructed surface control system accordingly has a certain hierarchical architecture that consists of application and task control two layers. Some other characteristics of constructed surface control system are also described.