Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
권호 표지
DOI QR코드

DOI QR Code

Development of Underwater Cleaning Robot Control Algorithm for Cleanup Efforts in Industrial Area

산업현장 침전물 청소작업용 수중청소로봇 제어 알고리즘 기술 개발

  • 이정우 (한국로봇융합연구원 필드로봇연구본부) ;
  • 이종득 (한국로봇융합연구원 필드로봇연구본부) ;
  • 최영호 (한국로봇융합연구원 필드로봇연구본부) ;
  • 한경룡 (포스코 기술연구원) ;
  • 서진호 (한국로봇융합연구원 필드로봇연구본부)
  • Received : 2017.03.17
  • Accepted : 2017.06.13
  • Published : 2017.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we developed a control algorithm to maximize the cleaning performance and the cleaning efficiency of the underwater cleaning robot platform which has been developed for various cistern environment in the industrial field. Through these research and development, we have presented the operation and application of underwater cleaning robots that have been developed, and contributed to commercialization. Finally, this results were verified the effectiveness through actual field experiments.

Keywords

References

  1. Y. J. Hong, M. J. Lee and J. H. Suh, 2009, "Underwater Cleaning Robot", Journal of Korea Robotics Society, Vol. 6, No. 2, pp. 10-15.
  2. J. H. Suh, Y. J. Hong and S. K. Park, 2010, "The Commercialization of Underwater Robot using convergence Technologies", In Proceedings of Korea Unmanned Underwater Vehicle, pp. 41-45.
  3. I. S. Choi, G. Shin and J. H. Suh, 2013, "Development of Underwater Cleaning Robot for Industrial Sludge Cisterns", Journal of the Korea Robotics Society, Vol. 10, No. 4, pp. 33-39.
  4. A. Suzuki, K. Kumakura, D. Tomizuka, Y. Hagiwara, Y. B. Kim and Y. W. Choi, 2013, "Positioning Accuracy on Robot Self-localization by Real-time Indoor Positioning System with SS Ultrasonic Waves", Journal of the Korea Society For Power System Engineering, Vol. 17, No. 5, pp. 100-111. https://doi.org/10.9726/kspse.2013.17.5.100
  5. Robot Issue Brief, Korea Institute for Robot Industry Advancement(KIRIA), 2014, "Industrial Status and Prospect of Underwater Robot", Vol. 2.
  6. J. W Park, J. G. Kim, J. W. Lee, Y. H. Choi, J. H. Suh, J. D. Lee, H. J. Lee and S. S. Oh, 2015, "Design and Structural Analysis of Track-based Underwater Robot Intake Module for Various sludge Suction", In Proceedings of the Korean Society of Precision Engineering, pp. 612-613.
  7. J. G. Kim, J. W. Park, Y. H. Choi, J. D. Lee, J. W. Lee, H. J. Lee, S. S. Oh and J. H. Suh, 2015, "Development of Driving Reducer for Underwater Cleaning Robot", In Proceedings of the Korean Society of Precision Engineering, pp. 756-757.
  8. S. W. Park, M. S. Kim, J. H. Sohn and W. K. Baek, "Study on the fluid resistance coefficient for control simulation of an underwater vehicle", Journal of the Korea Society For Power System Engineering, Vol. 20, No. 1, pp. 24-29. https://doi.org/10.9726/kspse.2016.20.1.024
  9. Korea Institute of Marine Science & Technology Promotion(KIMST), Vol. 10, 2016, Ocean Insight, pp. 4-5.
  10. Jin-Ho Suh, Jung-Woo Lee, Jong-Geol Kim, Young-Ho Choi and Il-Seop choi, 2017, "Development of the Underwater Cleaning Robot Platform for a Higher Efficiency", Journal of the Korean Society for Power System Engineering, To be submitted(2017.03).