APPARATUS FOR MEASURING POSITION OF UNDERWATER ROBOT

摘要

PURPOSE: A location measuring of an underwater robot is provided to accurately measure the location of the underwater robot by receiving an underwater acoustic wave signal without receiving the obstruction of a curved protrusion of the bottom of a ship. CONSTITUTION: A plurality of first sound generating units(110) is attached to a plurality of locations corresponding to the bottom shape of a ship. The plurality of first sound generating units generates sound waves according to a sound wave generation signal received from outside. A second sound generating unit(120) is attached to a robot working in the bottom of the ship and generates sound waves to underwater. Three sound wave receivers(130) is separated from the bottom of the ship to underwater as constant distance and receive the sound waves from the plurality of first sound generating units and the second sound generating unit. A controller(140) calculates the location of the plurality of first sound generating units and the second sound generating unit by using sound wave receipt time.