UNDERWATER GOLF BALL REGRESSION BY SMALL UNMANNED UNDERWATER VEHICLE

The present invention relates to a small unmanned submersible vehicle for collecting an underwater golf ball, comprising: two rear propellers for moving a body back and forth; one vertical propeller for moving the body up and down; a manipulator attached to the body and operating on a servo motor; a...

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Bibliographische Detailangaben
Hauptverfasser:	BAE, MYUNG JIN, MIN, BYUNG SU, LEE, MIN SU, LEE, SEUNG HEON, RYU, MIN YEONG, KIM, SUNG ILL
Format:	Patent
Sprache:	eng ; kor
Schlagworte:	AIRCRAFT CARRIERS CALCULATING COMPUTING COUNTING IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MINE-LAYING MINE-SWEEPING OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS PERFORMING OPERATIONS PHYSICS RELATED EQUIPMENT SHIPS OR OTHER WATERBORNE VESSELS SUBMARINES TRANSPORTING
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Beschreibung
Zusammenfassung:	The present invention relates to a small unmanned submersible vehicle for collecting an underwater golf ball, comprising: two rear propellers for moving a body back and forth; one vertical propeller for moving the body up and down; a manipulator attached to the body and operating on a servo motor; an operation controller for controlling the rear propeller, the vertical propeller, and the manipulator; an underwater camera for capturing underwater images; and a central controller for controlling the underwater camera and detecting the golf ball by applying an Open Source Computer Vision (OpenCV) algorithm to the image captured by the underwater camera. 본 발명은 수중 골프공을 회수하는 소형 무인잠수정에 관한 것으로, 몸체를 전후 이동시키는 2개의 후방 추진기; 몸체를 상하 이동시키는 1개의 수직 추진기; 상기 몸체에 부착되어 서보 모터에 의에 동작하는 매니퓰레이터; 상기 후방 추진기, 상기 수직 추진기 및 상기 매니퓰레이터를 제어하는 동작 제어부; 수중 영상을 촬영하는 수중 카메라; 및 상기 수중 카메라를 제어하며, 상기 수중 카메라에서 촬영된 영상에 공개 소스 컴퓨터 비전(OpenCV: Open Source Computer Vision) 알고리즘을 적용하여 골프공을 검출하는 중앙 제어부;를 포함한다.