KR101462100B1 - Positioning device for seabed and underwater positioning system using the same - Google Patents

Positioning device for seabed and underwater positioning system using the same Download PDF

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Publication number
KR101462100B1
KR101462100B1 KR1020140082891A KR20140082891A KR101462100B1 KR 101462100 B1 KR101462100 B1 KR 101462100B1 KR 1020140082891 A KR1020140082891 A KR 1020140082891A KR 20140082891 A KR20140082891 A KR 20140082891A KR 101462100 B1 KR101462100 B1 KR 101462100B1
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South Korea
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laser output
submarine
signal
laser
control unit
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KR1020140082891A
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Korean (ko)
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박성진
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(주)지오시스템리서치
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/801—Details

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention relates to a submarine positioning apparatus and a submarine position confirmation system using the same, and more particularly, to a submarine positioning apparatus and submarine structure that are capable of visually and easily grasping a position of a diver will be.
Particularly, the present invention is very easy to install and recover the seabed position determining device, and does not require a complicated calculation process such as calibration. Therefore, it is possible to quickly locate the seabed position determining device, It is possible to widely utilize and operate in various fields.
In addition, since the diver quickly informs the user of his / her position in an emergency by using a portable sound wave transmitter, it is possible to promptly cope with an accident occurring in the ocean.
Therefore, reliability and competitiveness can be improved in the marine scientific field, particularly in the submarine measurement device and submarine structure field, as well as in similar or related fields such as marine accident related fields.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a positioning apparatus for a seabed,

The present invention relates to a submarine positioning apparatus and a submarine position confirmation system using the submarine positioning apparatus, and more particularly, to a submarine positioning apparatus and a submarine positioning apparatus that can visually and easily grasp a position of a diver will be.

Particularly, the present invention is very easy to install and recover the seabed position determining device, and enables a sufficient position confirmation even with a low-cost submarine positioning device, thereby making it possible to widely use and operate the seabed And an underwater position confirmation system using the same.

Due to the use and development of marine resources, the importance of the ocean is increasing day by day, and various phenomena occurring in the ocean are scientifically studied using various measurement devices and structures.

In scientific research in the ocean, it is important to accurately grasp the measurement location of the measurement data in order for the measured data to have value as information. However, unlike onshore, due to its environmental characteristics, There is a difficulty in accurately checking the position.

In particular, if the wireless communication system used in the land is used in water, the attenuation of the signal becomes very large, and it is difficult to use a generally known positioning technique in water.

Accordingly, a specific position is mainly identified and tracked by using an acoustic wave signal in the water, and a method of measuring the position of a transceiver configured to be traced by triangulation using mainly a plurality of transponders is used.

The following prior art document, Korean Patent Registration No. 10-1180331 entitled " Prior Art " (hereafter referred to as " Prior Art ") describes a technique for confirming the position of an underwater robot working underwater by triangulation .

Conventional underwater location tracking techniques, including prior art, require a calibration process to accurately measure the posture and position of the transponder and transceiver, and in the event that an underwater operation is to be performed using a diver or a submersible in an emergency, There has been a problem that the installation work and the calibration process of the devices cause considerable time burden.

In addition, since the conventional devices for tracking the underwater position are mostly expensive, there is a limitation in operation, and the devices are used only in a specific field, and the number of times of use is very limited.

Korean Patent Registration No. 10-1180331 entitled "

In order to solve the above problems, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a submarine positioning device capable of sufficiently positioning even a low- It is aimed to provide a verification system.

Particularly, it is possible to provide a positioning device for a submarine (a submarine measuring device) and a submarine structure that are operated by the sea floor without performing a complicated process such as calibration, and a submarine positioning And an object thereof is to provide an apparatus and an underwater position confirmation system using the same.

In addition, the present invention is very easy to install and recover the seabed position determining device, and also allows the diver to quickly inform the user of his / her position in an emergency using a portable sound wave transmitter, And to provide an underwater position confirmation system using the same.

In order to achieve the above object, the seafloor position determining apparatus according to the present invention comprises: a laser output unit for outputting a laser in an upward direction toward the sea surface; and a control unit for controlling the operation of the laser output unit And a setting information storage unit in which output setting information including at least one of an operation time, a unit operation time, and an output signal pattern is stored; And a base structure installed on the undersurface and having the laser output module formed thereon. The output control unit controls the operation of the laser output unit according to the output setting information stored in the setting information storage unit.

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The laser output module may further include a sound wave receiver for receiving an externally transmitted sound wave signal, wherein the output controller analyzes the received sound wave signal, and calls output setting information according to the analysis result, The operation of the output unit can be controlled.

In addition, a weight for lowering the base structure by a free fall method may be formed at a lower portion of the base structure.

The laser output module may include: a gyroscope sensor for measuring a shake of the laser output module with respect to an upper direction; An attitude control unit for generating an attitude correction control signal so that a laser output direction of the laser output unit maintains an upward direction based on measurement data of the gyroscope sensor; And an RP driving unit for rotating the laser output module in at least one of rolling and pitching in accordance with the attitude correction control signal generated by the attitude control unit.

The laser output module may include: a gyroscope sensor for measuring a shake of the laser output module with respect to an upper direction; And an attitude control unit for generating an attitude correction control signal so that a laser output direction of the laser output unit maintains an upward direction based on measurement data of the gyroscope sensor, A rolling ballast tank for rolling the laser output module in response to an attitude correction control signal; And a pitching ballast tank for pitching the laser output module corresponding to the attitude correction control signal generated by the attitude control unit.

The posture controller may control the rolling ballast tank and the pitching ballast tank simultaneously to raise or lower the laser output module.

According to another aspect of the present invention, there is provided an underwater position determination system using a submarine position determining apparatus, comprising: a portable sound wave transmitter for transmitting a position confirmation signal as an acoustic wave signal; A submarine positioning device installed on the sea floor for receiving a sound wave signal transmitted from the portable sound wave transmitter to confirm the position confirmation signal and outputting the laser in the upward direction toward the sea surface in response to the position confirmation signal; And a remote monitoring server for communicating with the submarine positioning device, wherein the positioning signal comprises at least one of a steady state position signal, a critical state position signal and an emergency position signal, The submarine positioning apparatus analyzes the received positioning signal, outputs a laser in an upward direction corresponding to a pattern set for each state, and when at least one of the critical state position confirmation signal and the emergency state position confirmation signal is confirmed The remote monitoring server notifies the remote monitoring server of the situation and when the remote monitoring server is notified of the occurrence of a dangerous situation and an emergency situation in the water area where the submarine positioning apparatus is installed, And may request a response according to the situation.

In addition, a plurality of submarine positioning apparatuses are installed at regular intervals on the sea floor to perform communication on the basis of a sensor network of an ad-hoc communication system, and receive the positioning signal among a plurality of submarine positioning apparatuses The submarine positioning apparatuses can exchange the reception time information of the position confirmation signals with each other and compare the same with each other and output the laser corresponding to the pattern set by the submarine positioning apparatus having the fastest receiving time of the position confirmation signal.

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The mobile communication terminal may further include a relay device for receiving the location confirmation signal from the submarine positioning device through underwater acoustic communication, converting the received location confirmation signal into data for terrestrial radio communication, and transmitting the data to the remote monitoring server.

According to the above-described solution, the present invention is advantageous in that it can be widely utilized and operated in various fields by making it possible to confirm a sufficient position even with a low-cost submarine positioning device.

Further, the present invention does not require a complicated arithmetic processing process such as calibration, and thus has an advantage that it is possible to quickly confirm the position.

In particular, the present invention has an effect that the position in the water can be easily grasped by making it possible to visually check the position of a measuring device (submarine measuring device), a submarine structure, .

Further, according to the present invention, since the installation and the recovery of the submarine positioning device are very easy, the submarine positioning device can be used semi-permanently, thereby greatly reducing the operation and maintenance costs of the submarine positioning system It is effective.

In addition, since the diver quickly informs the user of his / her position in an emergency by using a portable sound wave transmitter, it is possible to promptly cope with an accident occurring in the ocean.

Therefore, reliability and competitiveness can be improved in the marine scientific field, particularly in the submarine measurement device and submarine structure field, as well as in similar or related fields such as marine accident related fields.

1 is a block diagram showing an embodiment of an undersea positioning device according to the present invention.
2 is a use state view of a submarine position determining apparatus to which the configuration of FIG. 1 is applied.
3 is a block diagram showing another embodiment of a submarine positioning device according to the present invention.
4 is a perspective view showing still another embodiment of the submarine position determining apparatus according to the present invention.
5 is a block diagram of the submarine positioning device of FIG.
6 is a view for explaining the operation of the submarine positioning device shown in Fig.
7 is a perspective view showing still another embodiment of a submarine positioning device according to the present invention.
8 is a perspective view of a submarine position determining apparatus to which the configuration of FIG. 7 is applied.
Fig. 9 is a view for explaining the function of the ballast tank shown in Figs. 7 and 8. Fig.
FIG. 10 is a block diagram showing an embodiment of an underwater position confirmation system using a submarine positioning device according to the present invention.
FIG. 11 is a block diagram showing another embodiment of an underwater position determination system using a submarine position determining apparatus according to the present invention.
FIG. 12 is a block diagram showing another embodiment of an underwater position determination system using a submarine position determining apparatus according to the present invention.

The submarine position determining apparatus and the submersible position confirming system using the same according to the present invention can be variously applied. In the following, the most preferred embodiments will be described with reference to the accompanying drawings.

FIG. 1 is a block diagram showing an embodiment of an undersea location determining device according to the present invention, and FIG. 2 is a state of use of the undersea location determining device to which the configuration of FIG. 1 is applied.

Referring to FIG. 1, a submarine positioning device 100 includes a laser output module 110 and a base structure 120.

The laser output module 110 includes a laser output unit 111 for outputting the laser in the upward direction toward the sea surface and an output control unit 112 for controlling the operation of the laser output unit 111.

At this time, the output control unit 112 can control the operation of the laser output unit 111 so that the laser is output according to a certain pattern. Here, the pattern of the output laser may include a temporal pattern and a temporal pattern. The temporal pattern may be classified into a time and a time interval, and the temporal pattern may be classified into general and risk.

The base structure 120 has a laser module 110 formed on its upper portion and installed on the sea floor.

As shown in FIG. 2, when the base structure 120 is installed on the sea bed, the laser output part 111 of the laser output module 110, which is configured on the upper part of the base structure 120, When the output laser beam L reaches the water surface, a point P capable of confirming the position on the water surface is displayed and the position of the base structure 120 It can be confirmed visually.

Accordingly, when an additional diver is inserted to assist a diver in the course of the recovery of the measurement apparatus or underwater, the position of the object can be confirmed by following the output laser.

At this time, the point (P) of the laser displayed on the surface of the water may be difficult to visually confirm due to the influence of the surrounding environment (daytime when the sun is shining or the wave is high).

In order to solve this difficulty, the source in the ship can easily identify the point P of the laser by using a spectacle configured to pass only the wavelength of the laser L output from the laser output unit 111. [ Here, the type and function of the filter can be variously changed by a person skilled in the art according to the wavelength of the laser L, and thus the filter is not limited to a specific one.

Further, the position of the object can be more easily confirmed by photographing with a camera capable of photographing the wavelength of the laser L with respect to a certain area of the sea surface, and confirming and tracking the laser point P through the image recognition process .

As a result, the position of the object can be easily confirmed even in a bad condition, as well as day and night visual constraints, through the glasses or the camera having the filter for identifying the laser L.

2, in order to perform only the position display function, the base structure 120 is fixedly installed on the sea floor or fixedly installed on an underwater structure, and in order to confirm the position of the diver in operation in a specific sea area, As shown in Fig. 5A, the method of sinking at a maritime line, and the method of allowing installation and recovery.

In addition, in the case of sedimentation and reclaiming, the base structure 120 may be a submarine measuring device. In other words, the position of the submarine measuring device can be confirmed by installing the laser output module 110 on the upper part of the submarine measuring device.

Each of the above-described systems will be described in more detail below.

3 is a block diagram showing another embodiment of a submarine positioning device according to the present invention.

Referring to FIG. 3, the laser output module 110 may further include a setting information storage unit 113 and a sound wave communication unit 114.

The setting information storage unit 113 stores output setting information including at least one of an operation time, a unit operation time, and an output signal pattern. The output setting information includes information on a laser Or information for causing the laser to output the laser light according to a safety or emergency situation depending on the state of a diver working in water.

Accordingly, the output control unit 112 can control the operation of the laser output unit 111 in accordance with the output setting information stored in the setting information storage unit 113.

The sound wave communication unit 114 receives an externally transmitted sound wave signal and can receive a sound wave signal or the like transmitted from the portable sound wave transmitter to be described later and is stored in the setting information storage unit 113 A sound wave signal for updating the output setting information, a sound wave signal for controlling the operation of the laser output module 110, and the like.

The output control unit 112 analyzes the sound wave signal received by the sound wave communication unit 114 and controls the operation of the laser output unit 112 by calling the output setting information according to the analysis result.

The undersea positioning device described above is fixedly installed on a seabed surface at a predetermined position, a measurement device, a seabed structure, etc., and visually informs the position of the object by displaying it on the sea surface at certain time intervals, And status to be visible at sea.

Hereinafter, the position of the measuring device can be confirmed and recovered easily in an emergency underwater operation in a sea area where the above-mentioned submarine positioning device is not installed, and furthermore, Let's take a look at the verification device.

FIG. 4 is a perspective view showing still another embodiment of the submarine positioning device according to the present invention, FIG. 5 is a block diagram of the submarine positioning device of FIG. 4, Fig. 8 is a diagram for explaining the operation of the confirmation device.

Referring to FIG. 4, a weight 130 for lowering the base structure 120 in a free fall manner may be formed at a lower portion of the base structure 120.

6, when the submarine positioning device is submerged in water from a vessel (not shown) that is docked in the sea, the submarine positioning device that has been submerged can freely fall down to the seafloor by the weight 130 have.

5, the gyroscope sensor 115 may be mounted on the laser output module 110, and the output control unit 112 may control the laser output module 110 by a sensing signal received from the gyro sensor 115. [ When the descent of the base structure 120 is stopped, it can be determined that the base structure 120 is located on the seabed.

Here, it is preferable that the gyroscope sensor 115 is constructed at a low cost and a configuration sufficient to achieve the object of the present invention, such as a PCB type (for example, a multiplex structure in which a CPB patterned in a spiral shape is superimposed) Do.

5, the laser output module 110 may include an attitude control unit 116 and an RP driving unit 117, in addition to the gyroscope sensor 115. [

The gyroscope sensor 115 can sense the direction of the laser output unit 111 by checking the inclination of the base structure 120 when the base structure 120 is located on the seabed surface.

The posture control unit 116 controls the RP driving unit 117 based on the inclination of the base structure 120 sensed by the gyroscope sensor 115 to roll the laser output unit 111 in the upward direction. And pitching can be controlled. For example, the output control unit 112 confirms that the base structure 120 is located on the seabed surface by the sensing signal (measurement data) of the gyroscope sensor 115, Direction and control of the vehicle.

Specifically, when the gyroscope sensor 115 detects the shaking of the base structure 120 in the process of descending the seam location positioning apparatus, the posture control unit 116 controls the posture of the laser beam based on the measurement data of the gyroscope sensor 115 The orientation correction control signal can be generated so that the laser output direction of the output section 111 maintains the upward direction.

The RP driving unit 117 can rotate at least one of the rolling and pitching of the laser output module 110 so that the laser output unit 111 faces upward in response to the attitude correction control signal. For this purpose, the laser output module 110 may be coupled to the base structure 120 such that the laser output module 110 can be rolled and pitched, and such a coupling structure may be modified variously according to the needs of those skilled in the art. to be.

The control of the attitude control unit 116 to control the laser output unit 111 of the laser output module 110 toward the upward direction is completed by the attitude control unit 116, And the output control unit 112 can control the laser output of the laser output unit 111 when the posture correction completion signal is received.

The laser output module 110 includes a sonar communication unit 114. Hereinafter, a method of remotely retrieving the seabed position determining apparatus of the present invention through the sonar communication unit 114 will be described do.

8 is a perspective view of a submarine position determining apparatus to which the configuration of FIG. 7 is applied, and FIG. 9 is a perspective view of the submarine position determining apparatus of FIG. Fig. 3 is a view illustrating the function of the ballast tank shown in Fig.

Referring to FIG. 7, first and second rolling ballast tanks 121 and 122 and first and second pitching tanks 123 and 124 are connected to the base structure 120 by two orthogonal axes X , ≪ / RTI > Y).

9, by controlling the inflow and outflow amount to the ballast water stored in at least one of the pair of rolling ballast tanks 121 and 122 arranged side by side, the rotation of the base structure 120 relative to the X axis Can be controlled. Of course, it is of course possible to control the rotation of the Y-axis by controlling the ballast water stored in the pitching pallet tanks 123, 124 in the same manner as the method shown in Fig.

Therefore, the attitude control unit 116 controls the ballast tank by using the attitude correction control signal generated based on the measurement data of the gyroscope sensor 115 to roll the base structure 120 and the laser output module 110 Pitching is possible. Here, it is needless to say that the laser output module 110 and the base structure 120 are fixed.

The attitude control unit 116 simultaneously controls the rolling ballast tanks 121 and 122 and the pitching ballast tanks 123 and 124 so that the submarine positioning device 100 including the laser output module 110 is raised or lowered It is natural that it can be lowered.

Hereinafter, a method of using the submarine position determining apparatus described above will be described in detail.

FIG. 10 is a block diagram showing an embodiment of an underwater position confirmation system using a submarine positioning device according to the present invention.

Referring to FIG. 10, the underwater positioning system may include a portable sound wave transmitter 300 and a submarine positioning device 100.

The portable sound wave transmitter 300 transmits a position confirmation signal as a sound wave signal, and a diver working underwater carries his or her own position to an offshore vessel (more precisely, a ship that aboard a ship) .

In addition, the portable sound wave transmitter 300 may include a biosensor (not shown) capable of sensing the physical condition of the dive, and automatically informs the ship of the position when the diver himself can not notify the emergency situation .

The submarine positioning apparatus 100 is installed on the sea floor and receives a sound wave signal transmitted from the portable sound wave transmitter 300 to confirm the position confirmation signal and outputs a laser in the upward direction toward the sea surface corresponding to the position confirmation signal do.

Hereinafter, a plurality of submarine positioning apparatuses 100 may be installed in an area where a diver works so that the submarine positioning apparatus 100 closest to the portable sound transmitter 300 can inform the current position of the diver to sea level Let's look at how to do this.

FIG. 11 is a block diagram showing another embodiment of an underwater position determination system using a submarine position determining apparatus according to the present invention.

Referring to FIG. 11, the submarine positioning apparatus 100 may be installed on the sea floor at regular intervals to perform communication based on a sensor network of an ad-hoc communication method.

Thus, the submarine positioning apparatuses 100 that have received the positioning signals of the portable sound wave transmitter 300 among the plurality of submarine positioning apparatuses 100 exchange the reception time information of the positioning signals with each other, The submarine positioning apparatus with the fastest receiving time of the position confirmation signal can output the laser corresponding to the set pattern.

Therefore, it is possible to more accurately confirm the position of a diver in operation in a marine vessel.

On the other hand, when the ship is operated solely and working in a specific area, the emergency situation of the diver can not be grasped by the ship.

Hereinafter, a method for quickly responding to a dangerous situation of a diver at a remote place in a case where a vessel can not provide assistance to a diver in the water and a similar situation, will be described.

FIG. 12 is a block diagram showing another embodiment of an underwater position determination system using a submarine position determining apparatus according to the present invention.

Referring to FIG. 12, the underwater location system of the present invention may further include a remote surveillance server 400 that communicates with the submarine positioning apparatus 100.

The position confirmation signal output from the portable sound wave transmitter 300 may include at least one of a steady state position confirmation signal, a dangerous state position confirmation signal, and an emergency state position confirmation signal.

Thus, the seam location determining apparatus 100 analyzes the received position determination signal, and outputs a laser in an upward direction corresponding to a pattern set for each state, and also outputs a dangerous state position confirmation signal and an emergency state position confirmation signal The remote monitoring server 400 can notify the remote monitoring server 400 of the status.

When the remote monitoring server 400 receives at least one of the dangerous state position confirmation signal and the emergency state position confirmation signal from the seafloom positioning apparatus 100, It can be determined that an emergency has occurred, and a request can be made to the ship and the corresponding agency server (for example, a server operating in the rescue center) located in the water area, in response to the situation.

Accordingly, the ship which has received the request according to the dangerous situation from the remote monitoring server 400 moves to the corresponding water area, visually confirms the laser output to the sea surface in the seabed position determining apparatus 100, The diver can be quickly rescued.

On the other hand, if the wireless communication system used in the land is used in water, the attenuation of the signal becomes very large. Therefore, it is preferable to use a communication system using mainly a sound wave in the water.

Although such a sound wave communication can be used on land, it may be more efficient to use a wireless communication system that is widely used and commercially available on the land.

Thus, the underwater position determination system of the present invention receives the position confirmation signal from the submarine position determination device 100 as shown in FIG. 12 by underwater acoustic communication, converts the received position determination signal into data for terrestrial wireless communication To the remote monitoring server (400).

The relay device 500 may include a ship or the like which is floated by a sub fluid or a diver communicating with the submarine positioning device 100 in a wired or wireless manner,

Accordingly, the diver can quickly respond to an accident occurring in the ocean by quickly informing the user of his / her position in an emergency using a portable sound wave transmitter.

The submarine position determining apparatus and the submersible position identifying system using the same according to the present invention have been described above. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

It is to be understood, therefore, that the embodiments described above are in all respects illustrative and not restrictive.

100: Submarine positioning device
110: laser output module 111: laser output part
112: output control section 113: setting information storage section
114: sound wave communication unit 115: gyroscope sensor
116: attitude control unit 117: RP driving unit
120: base structure 130: weight
121: first rolling ballast tank 122: second rolling ballast tank
123: first pitching ballast tank 124: second pitching ballast tank
300: portable sound wave transmitter 400: remote monitoring server
500: Relay device

Claims (11)

A laser output unit for outputting the laser in the upward direction toward the sea surface,
An output control unit for controlling the operation of the laser output unit to output a laser according to a predetermined pattern;
A laser output module including a setting information storage unit in which output setting information including at least one of an operation time, a unit operation time, and an output signal pattern is stored; And
And a base structure installed on the sea floor and having the laser output module formed thereon,
Wherein the output control unit comprises:
Wherein the control unit controls the operation of the laser output unit according to the output setting information stored in the setting information storage unit.
delete The method according to claim 1,
The laser output module includes:
And a sound wave receiver for receiving an externally transmitted sound wave signal,
Wherein the output control unit comprises:
Analyzes the received sound wave signal, and calls the output setting information according to the analysis result to control the operation of the laser output unit.
The method according to claim 1 or 3,
In the lower portion of the base structure,
And a weight for descending the base structure in a free fall manner.
5. The method of claim 4,
The laser output module includes:
A gyroscope sensor for measuring a shake of the laser output module with respect to an upper direction;
An attitude control unit for generating an attitude correction control signal so that a laser output direction of the laser output unit maintains an upward direction based on measurement data of the gyroscope sensor; And
And an RP driving unit for rotating the laser output module in at least one of rolling and pitching in accordance with the attitude correction control signal generated by the attitude control unit.
The method according to claim 1 or 3,
The laser output module includes:
A gyroscope sensor for measuring a shake of the laser output module with respect to an upper direction; And
And an attitude control unit for generating an attitude correction control signal so that a laser output direction of the laser output unit maintains an upward direction based on measurement data of the gyroscope sensor,
The base structure may include:
A rolling ballast tank for rolling the laser output module corresponding to the attitude correction control signal generated by the attitude control unit; And
And a pitching ballast tank for pitching the laser output module corresponding to the attitude correction control signal generated by the attitude control unit.
The method according to claim 6,
The posture control unit,
Wherein the control unit simultaneously controls the rolling ballast tank and the pitching ballast tank to raise or lower the laser output module.
A portable sound wave transmitter for transmitting a position confirmation signal as a sound wave signal;
A submarine positioning device installed on the sea floor for receiving a sound wave signal transmitted from the portable sound wave transmitter to confirm the position confirmation signal and outputting the laser in the upward direction toward the sea surface in response to the position confirmation signal; And
And a remote monitoring server for performing communication with the submarine positioning apparatus,
The position confirmation signal may include:
At least one of a steady state position determination signal, a critical state position determination signal, and an emergency state position determination signal,
The submarine position determining device comprises:
Analyzes the received position confirmation signal, and outputs the laser in the upward direction corresponding to the pattern set for each state,
When the at least one of the critical state position confirmation signal and the emergency state position confirmation signal is confirmed, notifies the remote monitoring server of the status,
The remote monitoring server comprises:
Wherein when a notification of a dangerous situation and an emergency situation occurs in a water body in which the submarine positioning device is installed, a request is made to the ship and the corresponding agency server located in the watery location for a response according to the situation.
9. The method of claim 8,
A plurality of submarine positioning apparatuses are installed at regular intervals on the sea floor to perform communication based on a sensor network of an ad-hoc communication system,
The submarine positioning apparatuses receiving the position confirmation signal among the plurality of submarine positioning apparatus exchange the reception time information of the position confirmation signal with each other and compare the reception time information of the positioning information with the submarine position And the confirmation device outputs a laser corresponding to the pattern set.
delete 10. The method of claim 9,
Further comprising a relay device for receiving the position confirmation signal from underwater sonar communication device by means of underwater acoustic communication and converting the received position confirmation signal into data for terrestrial radio communication and transmitting the data to the remote monitoring server Positioning system.
KR1020140082891A 2014-07-03 2014-07-03 Positioning device for seabed and underwater positioning system using the same KR101462100B1 (en)

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Application Number Priority Date Filing Date Title
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KR20170071439A (en) * 2015-12-15 2017-06-23 김석문 Sea Floor Structure Location Setting System, Flying Apparatus and Location Setting Method
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