| 摘要 |
The present invention relates to a device for precisely measuring a location of an underwater robot spaced apart from a ship to move and operate in the water, by using a location of an underwater structure spaced apart from the ship by a certain distance. The device for measuring a location of an underwater robot according to the present invention includes: a first sound wave generation unit attached to the underwater robot to emit sound waves to the water, the underwater robot being spaced apart from a ship by a certain distance to operate in the water; a plurality of first sound wave receiving units installed in an underwater structure spaced apart from the ship and the underwater robot by certain distances to receive the sound waves emitted from the first sound wave generation unit; a plurality of second sound wave generation units installed in the underwater structure to emit sound waves to the water; a plurality of second sound wave receiving units attached to a plurality of locations corresponding to the shape of the bottom of the ship to receive the sound waves emitted from the second sound wave generation units; and a control unit for transmitting sound wave generation signals for generating the sound waves to the first and second sound wave generation units, calculating distances between the first sound wave receiving units and the first sound wave generation unit using sound wave receiving times at which the first sound wave receiving units receive the sound waves of the first sound wave generation unit, calculating distances between the second sound wave receiving units and the second sound wave generation units using sound wave receiving times at which the second sound wave receiving units receive the sound waves of the second sound wave generation units, and calculating the location of the underwater robot using the calculated distances. |
