Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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Development of 3D-Map Software for Ship Hull in Underwater

선박 수중 3D 입체 지도 소프트웨어 개발

  • Oh, Mal-Geun (Department of Onboard Training, Mokpo National Maritime University) ;
  • Kim, Hong-Ryeol (Department of Onboard Training, Mokpo National Maritime University) ;
  • Hong, Sung-Hwa (Division of Navigational Information System, Mokpo National Maritime University)
  • 오말근 (목포해양대학교 승선실습과정부) ;
  • 김홍렬 (목포해양대학교 승선실습과정부) ;
  • 홍성화 (목포해양대학교 항해정보시스템학부)
  • Received : 2020.06.10
  • Accepted : 2020.10.14
  • Published : 2020.10.30
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Abstract

This paper presents the development of a software for tracking the location of objects in the water and for creating a three-dimensional hull map. The objective of this software, as a software for underwater hull cleaning robot, is to map the location of underwater hull cleaning robot and to locate the position of sensor by identifying the shaded area of acoustic communication. For the software designed for mapping the location of cleaning robot in the water, the height and intensity were applied as variables for underwater ultrasonic communication. The software for creating a three-dimensional hull was developed by OpenGL using scanned lines from a blueprint of a ship. This software can help identifying the location of underwater hull cleaning robot without actual visibility and can be used to maintain a stable communication status by locating the position of sensor by easily spotting the shaded area of acoustic communication caused by the curved area of the bottom of the ship.

본 논문에서는 수중에서의 물체위치추적 소프트웨어와 수중선저 입체지도 생성 소프트웨어를 개발하였다. 선저청소로봇을 위한 소프트웨어로써 선저 청소로봇의 위치를 추적하고 음파통신의 음영지역을 발견함으로써 센서의 정위 구현을 목표로 하였다. 수중에서 로봇의 위치를 추적하기 위하여 개발된 소프트웨어는 수중의 초음파통신에 변수로 작용하는 파도의 고저와 세기를 적용하였다. 선(lines)들을 이용하여 그려진 선박의 도면을 스캔하여 OpenGL을 이용하여 입체지도를 형성하는 소프트웨어를 개발하였다. 이는 청소로봇이 비가시적인 수중 선저에서의 위치파악이 용이하며, 선저의 굴곡으로 인한 초음파통신 음영지역을 쉽게 발견함으로써 그에 따른 센서의 정위를 구현하여 원활한 통신 상태를 유지하는데 활용될 수 있다.

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References

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