CN111240254A - Remote driving method and remote driving framework for small ships and boats - Google Patents
Remote driving method and remote driving framework for small ships and boats Download PDFInfo
- Publication number
- CN111240254A CN111240254A CN202010021689.1A CN202010021689A CN111240254A CN 111240254 A CN111240254 A CN 111240254A CN 202010021689 A CN202010021689 A CN 202010021689A CN 111240254 A CN111240254 A CN 111240254A
- Authority
- CN
- China
- Prior art keywords
- boat
- real
- time
- data
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012544 monitoring process Methods 0.000 claims abstract description 52
- 238000012545 processing Methods 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 13
- 239000000446 fuel Substances 0.000 claims description 8
- 238000007499 fusion processing Methods 0.000 claims description 6
- 230000008447 perception Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 238000010295 mobile communication Methods 0.000 claims description 3
- 239000000779 smoke Substances 0.000 claims description 3
- -1 temperature Substances 0.000 claims description 3
- 239000002341 toxic gas Substances 0.000 claims description 3
- 239000002002 slurry Substances 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Alarm Systems (AREA)
- Selective Calling Equipment (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a remote driving method and a remote driving structure for a small boat, which solve the technical problem that the life safety of personnel is threatened by the environment in the existing severe working environment. The method comprises the following steps: establishing a ship state monitoring system, establishing a navigation system, establishing a monitoring alarm system, collecting environment monitoring and alarm information of each cabin, and generating real-time ship internal environment monitoring and alarm data; establishing a video monitoring system, and establishing a comprehensive information acquisition and processing system, an electric control execution system and a driving control system at a boat end; establishing a comprehensive information acquisition and processing system to form real-time comprehensive state data of a boat end; a remote driving control system is established on a shore-based or mother ship and comprises a ship end real-time comprehensive state data receiving and integrated display control system. And forming the operation process of remote comprehensive state data receiving and integrated display control, wireless communication, electric control execution at the boat end and remote designated driving. The remote designated driving is realized, and the continuity of the task can be ensured under the condition of removing the personnel when necessary.
Description
Technical Field
The invention relates to the technical field of remote control, in particular to a remote driving method and a driving framework for a small boat.
Background
Among the prior art, small-size ships and light boats mainly include small-size yacht, small-size official business boat, small-size military ship, small-size scientific research ship etc.. The small yacht is used as a private occasion, and other personnel on the yacht need to be reduced as much as possible, so that a more private space is created. The small business boats and the small military boats are used for cruising duty in offshore or mother ship peripheral sea areas, and day and night continuous duty or duty is required under certain specific time and environment. The small scientific research boat is used for scientific research measurement and detection of rivers and lakes, offshore complex water areas and even unknown water areas, and the water area environment is complex. The above applications put more and higher demands on duty personnel, and also require more materials and materials to be supplied on boats, especially under the conditions of continuous operation, extreme weather and complicated water areas. Casualties, property loss and safety accidents are easily caused by improper driving.
In summary, a method for realizing remote designated driving is urgently needed, and under the precondition of completing tasks, the working capacity requirement of personnel can be reduced, and the life and property safety of the personnel can be protected.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a remote driving method and a remote driving architecture for a small boat, which solve the technical problem that the life safety of people is threatened by the environment in the existing severe working environment.
The remote driving method of the small boat comprises the following steps:
establishing wireless communication coverage in a task area to form a wireless connection channel;
acquiring real-time states of a power supply and distribution system, a fuel system, a turbine system and a matched system thereof to form real-time ship state monitoring data;
acquiring navigation state information of a boat and surrounding environment information of a navigation area to form real-time boat navigation data and navigation environment sensing data;
collecting environment monitoring and alarming information of each cabin to generate real-time environment monitoring and alarming data inside the boat;
acquiring real-time video information of a region around the navigation of the boat to generate real-time navigation environment video data;
establishing a comprehensive information acquisition and processing system, an electric control execution system and a driving control system at a boat end;
establishing a comprehensive information acquisition and processing system at the end of the boat based on the real-time boat state monitoring data, the real-time boat navigation data and navigation environment sensing data, the real-time boat internal environment monitoring and alarming data and the real-time navigation environment video data to form boat end real-time comprehensive state data;
a remote driving control system is established on a shore-based or mother ship and comprises a ship end real-time comprehensive state data receiving and integrated display control system.
In an embodiment of the present invention, the wireless communication coverage may form a wireless connection channel by using a maritime satellite or a 4G/5G mobile communication network, and form interconnection and intercommunication of real-time data between the remote driving control and the boat terminal by using the wireless connection channel.
In an embodiment of the present invention, the boat state monitoring data includes boat fuel state information, electric quantity state information, engine and stern engine or slurry state information, and further includes operation parameters of the subsystem assembly.
In an embodiment of the invention, the boat navigation data and the navigation environment sensing data comprise the boat navigation data given by a GPS, an electronic compass, a depth finder and the like and the navigation environment sensing data given by a navigation radar, an electronic chart, a weather instrument, an AIS and the like.
In an embodiment of the invention, the ship internal environment monitoring and alarming data includes environmental parameters of toxic gas, temperature, air pressure, liquid level, smoke concentration and noise in the ship and alarming information under a limit state.
In an embodiment of the present invention, the video data of the navigation environment is centered on the boat, and video information of a region around the boat navigation is established.
In an embodiment of the present invention, the integrated information collecting and processing system forms dynamic changes of real-time states of each control object or monitoring object at the ship end in multiple dimensions through an information fusion processing process according to the collected real-time state data of each subsystem at the ship end.
In an embodiment of the invention, the remote driving control system comprises a boat end real-time comprehensive state data receiving and integrated display control system, and is used for centralized display of the boat end real-time comprehensive state data and controlling each control object based on the state data, so that the remote driving control of the boat is realized.
In one embodiment of the invention, the ship end real-time comprehensive state data receiving and integrated display control system comprises but is not limited to a display screen, a state indicator light, a voice prompter and an operation console for inputting control data to an execution mechanism, wherein the operation console comprises key positions, a touch area, an operation handle and the like; the electric control execution system comprises but is not limited to a data transmission bus, a bus data terminal and a terminal signal amplifier, and the terminal signal amplifier drives a corresponding execution mechanism to operate; the ship end driving control system comprises an electric control execution system, a ship end real-time comprehensive state data receiving and integrated display control system.
The remote driving architecture of the small boat in the embodiment of the invention comprises:
the wireless communication system is used for establishing wireless communication coverage in the task area to form a wireless connection channel;
the navigation system is used for acquiring navigation state information of the boat and surrounding environment information of a navigation area to form real-time boat navigation data and navigation environment sensing data;
the ship end driving control system is used for establishing a real-time comprehensive state data receiving and integrated display control system and an electric control execution system at a ship end;
the remote driving control system is used for establishing a ship end real-time comprehensive state data receiving and integrated display control system on a shore base or a mother ship;
the ship state monitoring system is used for acquiring the real-time states of the power supply and distribution system, the fuel system, the turbine system and the matched system thereof at a ship end to form real-time ship state monitoring data;
the monitoring alarm system is used for acquiring environment monitoring and alarm information of each cabin at a boat end to generate real-time environment monitoring and alarm data inside the boat;
the comprehensive information acquisition and processing system is used for acquiring real-time state data of all subsystems at the boat end, and forming dynamic changes of real-time states of all control objects or monitoring objects at the boat end in multiple dimensions through an information fusion processing process;
and the video monitoring system is used for acquiring real-time video information of the region around the navigation of the boat at the boat end to generate real-time navigation environment video data.
The remote driving method and the remote driving framework of the small boat form the operation process of remote comprehensive state data receiving and integrated display control, wireless communication, electric control execution at the boat end and remote designated driving. The remote designated driving is realized in the extreme navigation process, so that the personnel configuration cost is reduced, the task safety is improved, and the continuity of the task can be ensured under the condition of removing the personnel at any moment.
Drawings
Fig. 1 is a schematic flow chart of a remote driving method for a small boat according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a remote piloting architecture of a small boat according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The remote driving method of the small boat according to an embodiment of the invention is shown in fig. 1. In fig. 1, the present embodiment includes:
step 10: and establishing wireless communication coverage in the task area to form a wireless connection channel.
The wireless communication coverage can adopt a maritime satellite or a 4G/5G mobile communication network to form a wireless connection channel, and the wireless connection channel is utilized to form the interconnection and intercommunication of real-time data between the remote driving control and the boat terminal.
Step 20: and forming real-time boat state monitoring data.
The ship state monitoring data comprise operating parameters of each actuating mechanism and subsystem assembly, such as ship power supply and distribution system state information, fuel system state information, turbine system and matched system state information and the like. The monitoring of the state of the boat can be realized by utilizing acquisition components such as a physical quantity acquisition sensor, an equipment parameter acquisition port and the like. .
Step 30: the navigation state information of the boat and the surrounding environment information of the navigation area are collected to form real-time boat navigation data and navigation environment sensing data.
The boat navigation data and the navigation environment perception data comprise the boat navigation data given by a GPS, an electronic compass, a depth finder and the like and the navigation environment perception data given by a navigation radar, an electronic chart, a weather meter, an AIS and the like.
Step 40: and collecting environment monitoring and alarming information of each cabin to generate real-time environment monitoring and alarming data inside the boat.
The ship internal environment monitoring and alarming data comprise environmental parameters of toxic gas, temperature, air pressure, liquid level, smoke concentration and noise in the ship and alarming information under the limit state.
Step 50: and acquiring real-time video information of the region around the navigation of the boat to generate real-time navigation environment video data.
The video data of the navigation environment takes the boat as the center, and the video information of the region around the boat navigation is established.
Step 60: and establishing a comprehensive information acquisition and processing system, an electric control execution system and a driving control system at a boat end.
The ship end real-time comprehensive state data receiving and integrated display control system comprises but is not limited to a display screen, a state indicator light, a voice prompter and an operation console for inputting control data to an execution mechanism, wherein the operation console comprises key positions, touch areas, an operation handle and the like; the electric control execution system comprises but is not limited to a data transmission bus, a bus data terminal and a terminal signal amplifier, and the terminal signal amplifier drives a corresponding execution mechanism to operate; the ship end driving control system comprises an electric control execution system, a ship end real-time comprehensive state data receiving and integrated display control system.
Step 70: and establishing a comprehensive information acquisition and processing system on the basis of real-time ship state monitoring data, real-time ship navigation data and navigation environment sensing data, real-time ship internal environment monitoring and alarming data and real-time navigation environment video data at the ship end to form the real-time comprehensive state data at the ship end.
The comprehensive information acquisition and processing system forms dynamic changes of real-time states of control objects (turbine equipment or power supply and distribution equipment) or monitoring objects (cabin environments or navigation areas) at the ship end in multiple dimensions through an information fusion processing process according to acquired real-time state data of subsystems at the ship end.
Step 80: a remote driving control system is established on a shore-based or mother ship and comprises a ship end real-time comprehensive state data receiving and integrated display control system.
The remote driving control system comprises a boat end real-time comprehensive state data receiving and integrated display control system and is used for centralized display of the boat end real-time comprehensive state data and controlling each control object based on the state data, so that remote driving control of the boats is realized.
The remote driving method for the small boat can remotely receive the real-time comprehensive state data of the boat end in the stages a-b-c and perform integrated display, and remotely execute the designated driving operation in the stages d-e as described in the figure 1. The remote designated driving is realized in the extreme navigation process, so that the personnel configuration cost is reduced, the task safety is improved, and the continuity of the task can be ensured under the condition of removing the personnel at any moment.
A remote piloting architecture for a small boat according to an embodiment of the present invention is shown in fig. 2. In fig. 2, the present embodiment includes:
the wireless communication system is used for establishing wireless communication coverage in the task area to form a wireless connection channel;
the navigation system is used for acquiring navigation state information of the boat and surrounding environment information of a navigation area to form real-time boat navigation data and navigation environment sensing data;
the ship end driving control system is used for establishing a real-time comprehensive state data receiving and integrated display control system and an electric control execution system at a ship end;
the remote driving control system is used for establishing a ship end real-time comprehensive state data receiving and integrated display control system on a shore base or a mother ship;
the ship state monitoring system is used for acquiring the real-time states of the power supply and distribution system, the fuel system, the turbine system and the matched system thereof at a ship end to form real-time ship state monitoring data;
the monitoring alarm system is used for acquiring environment monitoring and alarm information of each cabin at a boat end to generate real-time environment monitoring and alarm data inside the boat;
the comprehensive information acquisition and processing system is used for acquiring real-time state data of all subsystems at the boat end, and forming dynamic changes of real-time states of all control objects or monitoring objects at the boat end in multiple dimensions through an information fusion processing process;
and the video monitoring system is used for acquiring real-time video information of the region around the navigation of the boat at the boat end to generate real-time navigation environment video data.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for remotely piloting a small boat, comprising:
establishing a ship state monitoring system, and acquiring the real-time states of a power supply and distribution system, a fuel system, a turbine system and a matching system thereof to form real-time ship state monitoring data;
acquiring navigation state information of a boat and surrounding environment information of a navigation area to form real-time boat navigation data and navigation environment sensing data;
collecting environment monitoring and alarming information of each cabin to generate real-time environment monitoring and alarming data inside the boat;
acquiring real-time video information of a region around the navigation of the boat to generate real-time navigation environment video data;
establishing a comprehensive information acquisition and processing system, an electric control execution system and a driving control system at a boat end;
establishing a comprehensive information acquisition and processing system at the end of the boat based on the real-time boat state monitoring data, the real-time boat navigation data and navigation environment sensing data, the real-time boat internal environment monitoring and alarming data and the real-time navigation environment video data to form boat end real-time comprehensive state data;
a remote driving control system is established on a shore-based or mother ship and comprises a ship end real-time comprehensive state data receiving and integrated display control system.
2. The method for remotely piloting a small boat as claimed in claim 1, wherein the wireless communication coverage is formed by a wireless connection channel formed by a maritime satellite or a 4G/5G mobile communication network, and real-time data interconnection and intercommunication are formed between the remote driving control and the boat terminal by using the wireless connection channel.
3. The method of claim 1, wherein the boat condition monitoring data includes boat fuel condition information, electric state information, engine and stern engine or slurry state information, and subsystem assembly operating parameters.
4. The remote driving method for small boats as recited in claim 1, wherein the boat navigation data and the navigation environment perception data include the boat's own navigation data given by GPS, electronic compass, depth finder, etc., and the navigation environment perception data given by navigation radar, electronic chart, weather meter, AIS.
5. The remote small-sized ship driving method as claimed in claim 1, wherein the ship internal environment monitoring and alarming data includes environmental parameters of toxic gas, temperature, air pressure, liquid level, smoke concentration and noise inside the ship and alarming information at limit state thereof.
6. The remote driving method of a small boat according to claim 1, wherein said navigation environment video data is centered on the boat to establish video information of the area around the boat navigation.
7. The remote driving method for a small-sized ship as claimed in claim 1, wherein the integrated information collecting and processing system forms dynamic changes of real-time states of the control objects or monitoring objects at the ship end in multiple dimensions through an information fusion processing process according to the collected real-time state data of the subsystems at the ship end.
8. The remote driving method for the small-sized boat according to claim 1, wherein the remote driving control system comprises a boat-side real-time comprehensive state data receiving and integrated display control system, and is used for centralized display of the boat-side real-time comprehensive state data and controlling each control object based on the state data, so that the remote driving control of the boat is realized.
9. The remote driving method for the small boat according to claim 1, wherein the boat-end real-time comprehensive state data receiving and integrated display and control system comprises but is not limited to a display screen, a state indicator light and a voice prompter, and an operation table for inputting control data to an execution mechanism, wherein the operation table comprises key positions, touch areas, operation handles and the like; the electric control execution system comprises but is not limited to a data transmission bus, a bus data terminal and a terminal signal amplifier, and the terminal signal amplifier drives a corresponding execution mechanism to operate; the ship end driving control system comprises an electric control execution system, a ship end real-time comprehensive state data receiving and integrated display control system.
10. A small boat remote piloting architecture, comprising:
the wireless communication system is used for establishing wireless communication coverage in the task area to form a wireless connection channel;
the navigation system is used for acquiring navigation state information of the boat and surrounding environment information of a navigation area to form real-time boat navigation data and navigation environment sensing data;
the ship end driving control system is used for establishing a real-time comprehensive state data receiving and integrated display control system and an electric control execution system at a ship end;
the remote driving control system is used for establishing a ship end real-time comprehensive state data receiving and integrated display control system on a shore base or a mother ship;
the ship state monitoring system is used for acquiring the real-time states of the power supply and distribution system, the fuel system, the turbine system and the matched system thereof at a ship end to form real-time ship state monitoring data;
the monitoring alarm system is used for acquiring environment monitoring and alarm information of each cabin at a boat end to generate real-time environment monitoring and alarm data inside the boat;
the comprehensive information acquisition and processing system is used for acquiring real-time state data of all subsystems at the boat end, and forming dynamic changes of real-time states of all control objects or monitoring objects at the boat end in multiple dimensions through an information fusion processing process;
and the video monitoring system is used for acquiring real-time video information of the region around the navigation of the boat at the boat end to generate real-time navigation environment video data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010021689.1A CN111240254A (en) | 2020-01-09 | 2020-01-09 | Remote driving method and remote driving framework for small ships and boats |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010021689.1A CN111240254A (en) | 2020-01-09 | 2020-01-09 | Remote driving method and remote driving framework for small ships and boats |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111240254A true CN111240254A (en) | 2020-06-05 |
Family
ID=70875926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010021689.1A Pending CN111240254A (en) | 2020-01-09 | 2020-01-09 | Remote driving method and remote driving framework for small ships and boats |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111240254A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113090563A (en) * | 2021-03-16 | 2021-07-09 | 深圳市人工智能与机器人研究院 | Crowd-sourcing mode-based sailing boat remote control method, device, equipment and medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001138993A (en) * | 1999-11-18 | 2001-05-22 | Koden Electronics Co Ltd | Multiple information display - remote control device for marine vessel |
| CN101344993A (en) * | 2008-03-17 | 2009-01-14 | 上海海事大学 | Watercraft remote monitoring system |
| CN105741473A (en) * | 2016-04-28 | 2016-07-06 | 江苏科技大学 | Compartment environment monitoring, fire alarm early-warning and escape indicating system, and operation method thereof |
| WO2018195993A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳瀚飞科技开发有限公司 | Wireless communication based fishing boat fuel consumption monitoring system and monitoring method |
| CN109649626A (en) * | 2018-12-21 | 2019-04-19 | 广州文冲船厂有限责任公司 | A kind of intelligent ship |
| CN110316327A (en) * | 2019-07-22 | 2019-10-11 | 山东丛林凯瓦铝合金船舶有限公司 | A kind of Modularized unmanned ship |
-
2020
- 2020-01-09 CN CN202010021689.1A patent/CN111240254A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001138993A (en) * | 1999-11-18 | 2001-05-22 | Koden Electronics Co Ltd | Multiple information display - remote control device for marine vessel |
| CN101344993A (en) * | 2008-03-17 | 2009-01-14 | 上海海事大学 | Watercraft remote monitoring system |
| CN105741473A (en) * | 2016-04-28 | 2016-07-06 | 江苏科技大学 | Compartment environment monitoring, fire alarm early-warning and escape indicating system, and operation method thereof |
| WO2018195993A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳瀚飞科技开发有限公司 | Wireless communication based fishing boat fuel consumption monitoring system and monitoring method |
| CN109649626A (en) * | 2018-12-21 | 2019-04-19 | 广州文冲船厂有限责任公司 | A kind of intelligent ship |
| CN110316327A (en) * | 2019-07-22 | 2019-10-11 | 山东丛林凯瓦铝合金船舶有限公司 | A kind of Modularized unmanned ship |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113090563A (en) * | 2021-03-16 | 2021-07-09 | 深圳市人工智能与机器人研究院 | Crowd-sourcing mode-based sailing boat remote control method, device, equipment and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200278433A1 (en) | Real-time monitoring of surroundings of marine vessel | |
| CN106056976B (en) | Ship positioning navigation and safe early warning alarm system | |
| EP2070068B1 (en) | System for a marine vessel or a marine installation | |
| US8059010B2 (en) | Marine telemetry and two way communication system | |
| CN208621962U (en) | A kind of distribution unmanned boat monitoring system | |
| CN107945578B (en) | Accuse formula boats and ships safety navigation induction system in navigation construction waters | |
| CN111989547A (en) | Determining a virtual representation of at least a portion of an environment | |
| US20220044545A1 (en) | Air-sea buoy monitoring system towards mid-latitude ocean | |
| Kusters et al. | FutureWaves™: A real-time Ship Motion Forecasting system employing advanced wave-sensing radar | |
| KR101288953B1 (en) | Black box system for leisure vessel | |
| McGillivary et al. | Integrating autonomous underwater vessels, surface vessels and aircraft as persistent surveillance components of ocean observing studies | |
| KR20140099386A (en) | Mobile terminal and electronic navigational chart server and method for updating electronic navigational chart based on crowdsourcing thereof | |
| CN108241325A (en) | Portable boat intelligent information terminal | |
| CN111240254A (en) | Remote driving method and remote driving framework for small ships and boats | |
| KR100374777B1 (en) | Navigation System | |
| CN210037782U (en) | Intelligent monitoring unmanned ship | |
| CN112347182B (en) | Ship situation awareness system | |
| KR20130002566A (en) | Coastal intelligent transport system | |
| KR20070037067A (en) | Ncc module embodiment based on mmi program and method | |
| Lozano et al. | Design of a remote monitoring system for High Speed craft | |
| Urbahs et al. | Analysis of an unmanned aerial vehicle monitoring system for resurveying of shipping routes | |
| EP4328127A1 (en) | Ecological aided marine navigation | |
| KR20030023201A (en) | A ship's recording appartus having an accident diagnosis funtion | |
| CN217011205U (en) | Ship dynamic monitoring and communication system | |
| CN117608275A (en) | Remote driving device for small boat and use method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200605 |