CAJ | 학술논문

针对当前水下机器人地面控制系统可视化程度低、操控不便的问题，基于可视化技术设计了一套水下机器人的岸上地面站系统。该系统可以控制水下机器人的半自主定航向和定深度航行，接受、储存、回放水下机器人拍摄的录像。采用编程技术实现三维动画空间，结合传感器回传数据控制三维动画显示，真实地反映真实世界中水下机器人的运动姿态、位置、运行状态。结合声纳成像信息、摄像机回传图像信息的综合显示，实现了微小型水下机器人的遥操作控制。
침대당전수하궤기인지면공제계통가시화정도저、조공불편적문제，기우가시화기술설계료일투수하궤기인적안상지면참계통。해계통가이공제수하궤기인적반자주정항향화정심도항행，접수、저존、회방수하궤기인박섭적록상。채용편정기술실현삼유동화공간，결합전감기회전수거공제삼유동화현시，진실지반영진실세계중수하궤기인적운동자태、위치、운행상태。결합성납성상신식、섭상궤회전도상신식적종합현시，실현료미소형수하궤기인적요조작공제。
According to the control complexity and the peculiar working environment of the nuclear power plant underwater robot ,a set of ground remote control system based on Pro/E and OpenGL is designed .This system can make the underwater robot semi-autonomously set course and navigate with constant depth .Meanwhile ,the system accepts ,storages and playbacks the video shot by underwater robot .Combined the virtual 3D reconstruction model of underwater robot with the environment images acquired by scanning sonar ,the moving posture ,location and operation condition of the underwater robot can be displayed in real time .Finally , the system realizes the small underwater robot BVR remote control with direct and reliable performance .