A method for correcting a posture and an underwater cleaning robot performing the same are disclosed. According to an embodiment of the present invention, the method for correcting a posture comprises: a step of calculating a roll value, a pitch value, and a yaw value for every set distance and calculating a normal vector for every set distance based on the same (a); a step of confirming flatness of a hull based on an angle change value of the normal vector (b); and a step of correcting a yaw angle to have a preset value based on the confirmed flatness (c). An embodiment of the present invention provides the method for correcting a posture enabling the underwater cleaning robot to normally travel by correcting the yaw angle of the underwater cleaning robot to have the preset value when it is determined that the underwater cleaning robot travels on a flat portion of an outer surface of the hull.
자세보정방법 및 이를 수행하는 수중청소로봇을 개시한다. 본 발명의 실시 예에 따른 자세보정방법은 (a) 롤, 피치, 요 값을 설정된 거리마다 구하고, 이를 기초로 상기 설정된 거리마다 법선벡터를 산출하는 단계; (b) 상기 법선벡터의 각도 변화값을 기초로 선체의 평평도를 확인하는 단계; 및 (c) 상기 확인된 평평도에 기초하여 요 각도를 미리 설정된 값으로 보정하는 단계를 포함한다.
METHOD FOR CORRECTING POSE, AND UNDERWATER CLEANING ROBOT PERFORMING THE SAME
자세보정방법 및 이를 수행하는 수중청소로봇
2016-03-30
Patent
Electronic Resource
Korean
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