公开(公告)号：EP2657125B1

公开(公告)日：2019-08-21

申请号：EP11850803.5

申请日：2011-12-21

Applicant: Samsung Heavy Ind. Co., Ltd.

Inventor： KIM, Jaehoon ,  PARK, Youngjun ,  EUN, Jongho ,  CHOI, Jongung ,  LEE, Jaeyong ,  JOO, Sungmoon ,  JEONG, Hieyong ,  LEE, Donghun

IPC: B63C11/48 ,  B25J5/00 ,  B63G8/14 ,  B25J9/06 ,  B63G8/26 ,  B63G8/22 ,  B63G8/00 ,  B63G8/16 ,  B63B1/04 ,  B63G8/08 ,  B62D57/032

公开(公告)号：EP2732935B1

公开(公告)日：2017-10-25

申请号：EP12814854.1

申请日：2012-07-04

Applicant: Samsung Heavy Ind. Co., Ltd.

Inventor： PARK, Jinhyung ,  LEE, Jaeyong ,  RHEE, Siyoul ,  KIM, Byungchul

IPC: B25J9/16 ,  B63B59/08 ,  B25J13/08 ,  G05D1/02 ,  B63B59/10

CPC classification number: B25J9/163 ,  B63B59/08 ,  G05D1/0214 ,  G05D1/0274

公开(公告)号：EP2657125A1

公开(公告)日：2013-10-30

申请号：EP11850803.5

申请日：2011-12-21

Applicant: Samsung Heavy Ind. Co., Ltd.

Inventor： KIM, Jaehoon ,  PARK, Youngjun ,  EUN, Jongho ,  CHOI, Jongung ,  LEE, Jaeyong ,  JOO, Sungmoon ,  JEONG, Hieyong ,  LEE, Donghun

IPC: B63C11/48 ,  B25J5/00 ,  B63G8/14 ,  B25J9/06

CPC classification number: B63G8/08 ,  B62D57/032 ,  B63B1/04 ,  B63G8/001 ,  B63G8/14 ,  B63G8/16 ,  B63G8/22 ,  B63G8/26 ,  B63G2008/004 ,  B63G2008/007

Abstract: Disclosed are an underwater moving apparatus and a moving method thereof. The underwater moving apparatus of an exemplary embodiment of the present invention includes a body; a propelling device installed on a rear side of the body; a thruster unit including an up and down directional thruster and a left and right directional thruster installed at the body; and a plurality of leg units positioned at both side portions of the body and including a multi-joint module.

Abstract translation: 公开了一种水下移动装置及其移动方法。 本发明的示例性实施例的水下移动装置包括：主体; 安装在身体后侧的推进装置; 包括上下方向推进器和安装在车身上的左右方向推进器的推进器单元; 以及位于所述主体的两侧部分的多个腿单元，并且包括多关节模块。

公开(公告)号：EP2732935A2

公开(公告)日：2014-05-21

申请号：EP12814854.1

申请日：2012-07-04

Applicant: Samsung Heavy Ind. Co., Ltd.

Inventor： PARK, Jinhyung ,  LEE, Jaeyong ,  RHEE, Siyoul ,  KIM, Byungchul

IPC: B25J13/08 ,  G05D1/02

CPC classification number: B25J9/163 ,  B63B59/08 ,  G05D1/0214 ,  G05D1/0274

Abstract: There is provided a method for checking a moving available area of a robot on a moving surface robot. The method for checking a moving available area of a robot on a moving surface robot according to an exemplary embodiment of the present invention includes a) generating a geometric model of the moving surface, b) generating a triangle mesh by triangulating curved surfaces of the moving surface by using the geometric model, c) calculating angles between any one triangle of a plurality of triangles positioned within the triangle mesh and triangles adjacent to the any one triangle, and d) primarily checking moving available areas of a robot by determining whether or not the angles between any one triangle and the triangles adjacent to the any one triangle are within a predetermined range.