APPARATUS AND METHOD FOR RECOGNIZING TOPOGRAPHY USING BUCKET OF UNDERWATER CONSTRUCTION EQUIPMENT FOR RUBBLE MOUND LEVELING WORK

摘要

In the present invention, relative landform information is obtained while touching an underwater terrain with a bucket of an underwater picking equipment while performing underwater communication with an underwater picking device working underwater in a water operating room, and visualizing the shape information of the topography using a three- The present invention relates to a terrain recognition apparatus and method using a bucket of an underwater selection equipment capable of monitoring a terrain. A terrain recognition apparatus using a bucket of an underwater selection apparatus according to the present invention includes a coordinate acquisition unit configured to acquire coordinates of an end of an arm of the underwater selection apparatus through forward kinematic analysis; A target determining unit configured to determine a plurality of target coordinates using the coordinates of the arm end obtained by the coordinate obtaining unit; An actuator change amount calculation unit configured to calculate an actuator change amount of the underwater selection equipment from the target determination unit to a plurality of target coordinates; An actuator driving unit configured to drive the actuator according to the actuator change amount calculated by the actuator change amount calculation unit; A contact determination unit configured to determine whether the bucket of the underwater selection equipment is in contact with the terrain; A bucket end coordinate obtaining unit configured to obtain coordinates of an end of the bucket through a forward kinematic analysis when the bucket contacts the topography in the contact determination unit; A relative terrain information obtaining unit configured to obtain relative terrain information from the origin of the underwater picking equipment from the end coordinates of the bucket obtained by the bucket end coordinate obtaining unit; And a display unit configured to graphically visualize the shape information of the terrain using the terrain contact information determined in the contact determination unit and the relative terrain information obtained in the relative terrain information obtaining unit.