KR20190038211A - Ocean surveilance system based on real-time locating for standard-type of light bouy - Google Patents

Ocean surveilance system based on real-time locating for standard-type of light bouy Download PDF

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KR20190038211A
KR20190038211A KR1020170128399A KR20170128399A KR20190038211A KR 20190038211 A KR20190038211 A KR 20190038211A KR 1020170128399 A KR1020170128399 A KR 1020170128399A KR 20170128399 A KR20170128399 A KR 20170128399A KR 20190038211 A KR20190038211 A KR 20190038211A
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South Korea
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real
seawater
time location
standard
monitoring system
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KR1020170128399A
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Korean (ko)
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박종수
박용팔
박상현
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주식회사 오션이엔지
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Priority to KR1020170128399A priority Critical patent/KR20190038211A/en
Publication of KR20190038211A publication Critical patent/KR20190038211A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00Buoys
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21LIGHTING
    • F21SNON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S9/00Lighting devices with a built-in power supply; Systems employing lighting devices with a built-in power supply
    • F21S9/02Lighting devices with a built-in power supply; Systems employing lighting devices with a built-in power supply the power supply being a battery or accumulator
    • F21S9/03Lighting devices with a built-in power supply; Systems employing lighting devices with a built-in power supply the power supply being a battery or accumulator rechargeable by exposure to light
    • F21S9/032Lighting devices with a built-in power supply; Systems employing lighting devices with a built-in power supply the power supply being a battery or accumulator rechargeable by exposure to light the solar unit being separate from the lighting unit
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C13/00Surveying specially adapted to open water, e.g. sea, lake, river or canal
    • G01C13/002Measuring the movement of open water
    • G01C13/004Measuring the movement of open water vertical movement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00Buoys
    • B63B2022/006Buoys specially adapted for measuring or watch purposes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2201/00Signalling devices
    • B63B2201/04Illuminating
    • B63B2201/08Electric light
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2209/00Energy supply or activating means
    • B63B2209/18Energy supply or activating means solar energy
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21LIGHTING
    • F21WINDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
    • F21W2111/00Use or application of lighting devices or systems for signalling, marking or indicating, not provided for in codes F21W2102/00 – F21W2107/00
    • F21W2111/04Use or application of lighting devices or systems for signalling, marking or indicating, not provided for in codes F21W2102/00 – F21W2107/00 for waterways
    • F21W2111/047Use or application of lighting devices or systems for signalling, marking or indicating, not provided for in codes F21W2102/00 – F21W2107/00 for waterways for light-buoys

Abstract

Disclosed is a maritime monitoring system for a standard light buoy based on a real-time location. According to the present invention, the maritime monitoring system for a standard light buoy based on the real-time location comprises: a standard LED lighthouse lantern; a seawater measuring instrument which detects and collects the status of a buoyant body floating on a seawater surface and the status of seawater; a wireless repeater connected to the seawater measuring instrument to receive data and to exchange collected data with a remote place by using a wireless communication network; and a solar power supply apparatus which supplies power to the seawater measuring instrument and the wireless repeater. The maritime monitoring system operates by power supplied by solar radiation of 12 V or 24 V of DC voltage, and is designed to be conveniently mounted on a lower end of the standard LED lighthouse lantern and to be equipped with a sensor to observe a true wind direction, true wind speeds, temperatures, and atmospheric pressure. According to the present invention, the maritime monitoring system for a standard light buoy based on the real-time location is especially able to use the standard light buoy for a maritime observation apparatus in the area of wave height, to reduce the costs for introduction and maintenance, and to secure quality and price competitiveness.

Description

실시간 위치기반 표준형 등부표용 해양 감시 시스템{Ocean surveilance system based on real-time locating for standard-type of light bouy}[0001] Ocean surveillance system based on real-time location based standard light buoys [0002] Ocean surveillance system based on real-time locating for standard-type of light bouy [

본 발명은 실시간 위치기반 표준형 등부표용 해양 감시 시스템에 관한 것으로 더 상세하게는 해수면에 뜨는 부상체와 해수상태를 감지 및 수집하는 해수 측정기와, 상기 해수측정기와 연결되어 데이터를 전송받으며 무선통신망을 이용하여 원격지에 수집데이터를 교류하는 무선 중계기와, 상기 해수 측정기와 무선 중계기로 전원을 공급하는 솔라 전원 공급장치로 포함하며, 12V 또는 24V DC 전압의 태양광 공급 전원에 의하여 동작하며 표준형 LED 등명기의 하단에 간편하게 장착가능하도록 설계되고 진풍향, 진풍속, 기온, 기압 관측 센서가 탑재된 실시간 위치기반 표준형 등부표용 해양 감시 시스템에 관한 것이다.The present invention relates to a real-time location-based standard light buoy marine surveillance system, and more particularly, to a marine surveillance system for detecting and collecting floating bodies and seawater floaters on the sea surface and receiving data transmitted through the wireless communication network And a solar power supply unit for supplying power to the sea water meter and the wireless repeater. The solar water heater is operated by a solar power source of 12V or 24V DC voltage, The present invention relates to a real-time location-based standard type light-buoy marine surveillance system which is designed to be easily installed at the lower end and equipped with a gust wind direction, a wind speed, a temperature and an air pressure observation sensor.

최근 지구 온난화에 따른 해양 환경 및 기후가 급격하게 변하고 있으나 해양 환경 변화에 대한 모니터링 및 예측을 위한 데이터 수집은 매우 부족한 실정이다. 특히 돌고래호 사고나 세월호 사고 및 녹/적조 피해와 같은 다양한 해양 사고로 인하여 사회적 경제적 손실이 발생하고 있고 국민의 재난 안전에 대한 사회적 관심도가 상승하고 있으나 해양 안전에 대한 특별하고 구체적인 대책은 미흡한 실정이다.Recently, the marine environment and climate are rapidly changing due to global warming, but data collection for monitoring and prediction of marine environmental change is very scarce. In particular, social and economic losses are occurring due to various marine casualties such as dolphin accidents, sea lakes accidents, and rust / red tide accidents, and social concern for the safety of the disaster is rising. However, specific and concrete measures for marine safety are insufficient to be.

대한민국 공개 특허 제10-2004-27524호에는 해양 관측용 부표가 개시되어 있다. 상기 공개 특허에 따른 해양 관측용 부표는 해수면에 뜨는 부상체와 해수상태를 감지 및 수집하는 해수 측정기와, 상기 해수측정기와 연결되어 데이터를 전송받으며 무선통신망을 이용하여 원격지에 수집데이터를 교류하는 무선 중계기와, 상기 해수 측정기와 무선 중계기로 전원을 공급하는 솔라 전원 공급장치로 구성된다.Korean Patent Publication No. 10-2004-27524 discloses a buoy for ocean observation. According to the patent, the buoy for ocean observation includes a seawater meter for detecting and collecting floats and sea water floating on the sea surface, a wireless communication device for receiving data transmitted from the seawater measuring device and exchanging collected data at a remote site using a wireless communication network A repeater, and a solar power supply for supplying power to the seawater meter and the wireless repeater.

재난 안전, 해양 기상, 및 해양 환경을 실시간으로 감시할 수 있는 통합적인 해양 감지 시스템에 대한 개발 요구가 여전히 존재하고 있으나 특히 파고 분야의 해양 관측 장치의 경우에는 고가의 외산 장비가 주로 사용되고 있는 실정이다. 표준형 등부표를 활용한 해양 감시 시스템은 전세계에서 적용하고 있지 못하고 있는데 표준형 등부표를 활용한 해양 감시 시스템이 적용되면 도입 및 유지 보수 비용을 절감하여 품질 및 가격 경쟁력을 확보할 수 있을 것이다.There is still a demand for development of an integrated marine detection system capable of real-time monitoring of disaster safety, marine weather, and marine environment. However, in the case of marine observation devices in the digging field, expensive foreign equipment is mainly used . The marine surveillance system using the standard type light buoy is not applied in the world. If the marine surveillance system using the standard type light buoy is applied, it will be possible to secure the quality and price competitiveness by reducing the introduction and maintenance cost.

국내에는 4,000여개의 표준형 등부표가 설치되어 있어 이를 재난 안전 감지를 할 수 있도록 설계하면 새로운 시장 창출 효과 뿐만 아니라 외산 제품 대체에도 크게 기여할 수 있을 것이다.In Korea, more than 4,000 standard light buoys are installed, so if it is designed to detect disaster safety, it will contribute not only to new market creation effect but also to replacement of foreign products.

본 발명이 이루고자 하는 기술적 과제는 특히 파고 분야의 해양 관측 장치에 표준형 등부표를 활용함으로써 도입 및 유지 보수 비용을 절감하여 품질 및 가격 경쟁력을 확보할 수 있는 실시간 위치기반 표준형 등부표용 해양 감시 시스템을 제공하는 것이다. SUMMARY OF THE INVENTION The present invention provides a real-time location-based standard type buoy-based marine surveillance system that can reduce introduction and maintenance costs by utilizing a standard buoy indicator in a marine observation device in the digging field to secure quality and price competitiveness will be.

본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템은 특히 파고 분야의 해양 관측 장치에 표준형 등부표를 활용함으로써 도입 및 유지 보수 비용을 절감하여 품질 및 가격 경쟁력을 확보할 수 있다. According to the present invention, the real-time location-based standard light buoy marine surveillance system can secure the quality and price competitiveness by reducing the introduction and maintenance costs by using the standard light buoy for marine observation devices in the digging field.

본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템은 특히 파고 분야의 해양 관측 장치에 표준형 등부표를 활용함으로써 도입 및 유지 보수 비용을 절감하여 품질 및 가격 경쟁력을 확보할 수 있다. According to the present invention, the real-time location-based standard light buoy marine surveillance system can secure the quality and price competitiveness by reducing the introduction and maintenance costs by using the standard light buoy for marine observation devices in the digging field.

도 1은 본 발명의 실시예에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템의 구조를 나타낸 블록도,
도 2는 도 1의 시스템과 연동되는 통신 계통도의 일 예를 나타낸 도면,
도 3은 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템의 감시 항목별 요구 수준을 설명하기 위한 도면,
도 4는 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템에 적용될 수 있는 파고 알고리즘 적용 과정을 설명하기 위한 도면,
도 5는 도 4의 알고리즘을 구현하기 위한 흐름도의 일 예,
도 6은 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템의 현장 시험 과정을 설명하기 위한 도면, 및
도 7 및 도 8은 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템에 대한 해양 시험을 통한 해양 자료 검증의 예시로서 파고 자료를 비교 분석할 결과의 일예를 나타낸 도면.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram illustrating a structure of a real-time location-based standard type backbone ocean surveillance system according to an embodiment of the present invention;
FIG. 2 is a diagram showing an example of a communication system diagram linked with the system of FIG. 1;
FIG. 3 is a view for explaining a demand level of each monitoring item in a real-time location based standard type backbone marine surveillance system according to the present invention,
4 is a diagram for explaining a process of applying a peach algorithm that can be applied to a real-time location-based standard type backbone marine surveillance system according to the present invention;
Figure 5 is an example of a flow chart for implementing the algorithm of Figure 4,
6 is a view for explaining a field test procedure of a real-time location-based standard type backbone marine surveillance system according to the present invention, and FIG.
FIG. 7 and FIG. 8 are views showing an example of a result of comparative analysis of wave data as an example of ocean data verification through a marine test on a real-time location-based standard type isobaric ocean monitoring system according to the present invention.

이하 첨부된 도면들을 참조하여 본 발명의 실시예들을 보다 상세히 설명하기로 한다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

도 1에는 본 발명의 실시예에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템의 구조를 블록도로써 나타내었다. 도 1을 참조하면 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템은 LL-26 표준형 등부표에 적용한 경우를 나타낸 것으로,FIG. 1 is a block diagram illustrating a structure of a real-time location-based standard type backbone ocean surveillance system according to an embodiment of the present invention. Referring to FIG. 1, a real-time location-based standard type backbone ocean surveillance system according to the present invention is applied to the LL-26 standard light-

표준형 LED 등명기, 및 해수면에 뜨는 부상체와 해수상태를 감지 및 수집하는 해수 측정기와, 상기 해수측정기와 연결되어 데이터를 전송받으며 무선통신망을 이용하여 원격지에 수집데이터를 교류하는 무선 중계기와, 상기 해수 측정기와 무선 중계기로 전원을 공급하는 솔라 전원 공급장치로 포함하며, 12V 또는 24V DC 전압의 태양광 공급 전원에 의하여 동작하며 상기 표준형 LED 등명기의 하단에 간편하게 장착가능하도록 설계되고 진풍향, 진풍속, 기온, 기압 관측 센서가 탑재되어 이루어진다. 진풍향, 진풍속, 기온, 기압 관측 센서는 일예로 VENTUS사의 초음파 윈드 센서(Ultrasonic Wind Sensor)를 적용한다.A standard type LED illuminator, a sea water meter for sensing and collecting floats and seawater on the sea surface, a wireless repeater for receiving data transmitted from the seawater meter and exchanging collected data at a remote site using a wireless communication network, It is operated by the solar power supply voltage of 12V or 24V DC voltage and is designed to be easily installed at the bottom of the standard type LED light source, Wind speed, temperature, and barometric pressure sensor. For example, an ultrasonic wind sensor of VENTUS company is applied to a sensor of a wind direction, a wind speed, a temperature and an air pressure.

이와 같은 실시간 위치기반 표준형 등부표용 해양 감시 시스템은 IALA(국제 항로 표지 협회)의 규격화로 상용화 및 수출 기대 효과가 있을 것으로 사료된다.Such a real - time location - based standard type buoyancy marine surveillance system is expected to be commercialized and export expected by standardization of IALA (International Navigation Mark Association).

도 2에는 도 1의 시스템과 연동되는 통신 계통도의 일 예를 나타내었다. 도 2를 참조하면 표준형 등부표에 설치되어 이루어지는 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템은 CDMA 기지국과 통신하고 CDMA 기지국은 중앙 컨트롤 타워와 통신하여 실시간 모니터링이 가능하다. 중앙 컨트롤 타워는 주전산기로 데이터를 전송하고 웹용 통합 모니터링 시스템을 통하여 해양 관측 및 감시가 가능하다. 또한 중앙 컨트롤 타워는 해양 관측 자료 수집용 서버와 예컨대 FTP 방식의 자료 전송으로 접속되어 빅데이터를 후처리할 수 있도록 한다.FIG. 2 shows an example of a communication system diagram linked with the system of FIG. Referring to FIG. 2, the real-time location-based standard type isometric buoy marine surveillance system installed in a standard light indicator communicates with a CDMA base station, and the CDMA base station communicates with a central control tower to perform real-time monitoring. The central control tower transmits data to the host computer and can be monitored and monitored by an integrated monitoring system for the web. In addition, the central control tower can be connected to a server for ocean observation data collection, for example, by FTP-type data transmission, to enable post processing of big data.

도 3에는 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템의 감시 항목별 요구 수준을 설명하기 위한 도면을 나타내었다. 도 3을 참조하면 감시 항목, 예컨대 파고, 기온, 기압, 풍향, 풍속의 측정 방식, 측정 범위, 해상도 또는 정확도에 대한 요구 수준을 설정하게 되며, 데이터 로거의 경우에는 입력 전압과 통신 방식 및 동작 온도가 적합하게 설정되어야 할 것이다.FIG. 3 is a view for explaining the required level of each monitoring item of the real-time location-based standard type backbone marine surveillance system according to the present invention. Referring to FIG. 3, a demand level for a monitoring item such as wave height, air temperature, air pressure, wind direction, wind velocity, measurement range, resolution, or accuracy is set. In the case of a data logger, Should be suitably set.

도 4에는 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템에 적용될 수 있는 파고 알고리즘 적용 과정을 설명하기 위한 도면을 나타내었다. 도 4를 참조하면 가속 센서로부터 센서값을 획득하고 필터링 및 이중 적분한다. 필터링 및 이중적분된 값으로부터 데이터를 취득하고 분석함으로써 파고 데이터를 얻는다.FIG. 4 is a view for explaining a process of applying a peaching algorithm that can be applied to a real-time location-based standard type backbone marine surveillance system according to the present invention. Referring to FIG. 4, sensor values are obtained, filtered and bi-integrated from the acceleration sensor. The data is acquired and analyzed from the filtered and doubly divided values to obtain the peak data.

도 5에는 도 4의 알고리즘을 구현하기 위한 흐름도의 일 예를 나타내었다. 도 5를 참조하면 초기에 ADC를 초기화하고 초기화가 완료되면 ADC로부터 샘플을 얻고 샘플값과 교정값의 차이를 이용하여 가속값을 얻는다. 다음으로 이전 속도값과 현재 가속값을 더하여 현재 속도를 얻고, 이전 위치값에 현재 속도를 더하여 현재 파고를 구하게 된다.FIG. 5 shows an example of a flowchart for implementing the algorithm of FIG. Referring to FIG. 5, the ADC is initially initialized. When the initialization is completed, a sample is obtained from the ADC, and an acceleration value is obtained using the difference between the sample value and the calibration value. Next, the current speed is obtained by adding the previous speed value and the current acceleration value, and the current speed is added to the previous position value to obtain the current wave height.

도 6에는 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템의 현장 시험 과정을 설명하기 위한 도면을 나타내었다. 도 6을 참조하면, 실증적인 검교정을 통하여 파고 알고리즘을 개선하고 이를 개발한 파고 센서 및 파고 부이에 적용한다.FIG. 6 is a diagram illustrating a field test procedure of a real-time location-based standard type backbone marine surveillance system according to the present invention. Referring to FIG. 6, the peaking algorithm is improved through an empirical calibration and applied to the developed peaking sensor and peaking unit.

도 7 및 도 8에는 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템에 대한 해양 시험을 통한 해양 자료 검증의 예시로서 파고 자료를 비교 분석할 결과의 일예를 나타내었다. 도 7 및 도 8을 참조하면 본 발명에 따른 실시간 위치기반 표준형 등부표용 해양 감시 시스템은 전용의 외국산 부이와 유사한 정확도를 가지는 것으로 나타났다.FIGS. 7 and 8 show an example of a result of comparative analysis of marine data as an example of marine data verification through a marine test on a real-time location based standard type isobaric marine monitoring system according to the present invention. Referring to FIGS. 7 and 8, the real-time location-based standard type backbone ocean surveillance system according to the present invention has similar accuracy to that of a dedicated foreign site.

Claims (1)

표준형 LED 등명기; 및
해수면에 뜨는 부상체와 해수상태를 감지 및 수집하는 해수 측정기와, 상기 해수측정기와 연결되어 데이터를 전송받으며 무선통신망을 이용하여 원격지에 수집데이터를 교류하는 무선 중계기와, 상기 해수 측정기와 무선 중계기로 전원을 공급하는 솔라 전원 공급장치로 포함하며, 12V 또는 24V DC 전압의 태양광 공급 전원에 의하여 동작하며 상기 표준형 LED 등명기의 하단에 간편하게 장착 가능하도록 설계되고 진풍향, 진풍속, 기온, 기압 관측 센서가 탑재된 것으로,
ADC를 초기화하고 초기화가 완료되면 ADC로부터 샘플을 얻고 샘플값과 교정값의 차이를 이용하여 가속값을 얻는 단계와, 이전 속도값과 현재 가속값을 더하여 현재 속도를 얻는 단계, 및 이전 위치값에 현재 속도를 더하여 현재 파고를 구하는 단계를 포함하여 파고 감시부를 포함하는 실시간 위치기반 표준형 등부표용 해양 감시 시스템.
Standard type LED lamp; And
A wireless repeater for communicating collected data to a remote location using a wireless communication network, the wireless repeater being connected to the seawater measuring device and for sensing and collecting floating bodies and seawater flowing on the sea surface; It is operated by the solar power supply voltage of 12V or 24V DC voltage and is designed to be easily installed at the bottom of the standard type LED lamp. It is equipped with the wind direction, the wind speed, the temperature, It is equipped with a sensor,
Acquiring a sample from the ADC after the initialization of the ADC is completed, obtaining an acceleration value using a difference between a sample value and a calibration value, obtaining a current speed by adding a previous speed value and a current acceleration value, A real-time location-based standard light buoy monitoring system including a wave monitoring unit including a step of obtaining a current wave height by adding a current speed.
KR1020170128399A 2017-09-29 2017-09-29 Ocean surveilance system based on real-time locating for standard-type of light bouy KR20190038211A (en)

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CN110182315A (en) * 2019-05-18 2019-08-30 江阴市福达船舶配件制造有限公司 Navigation mark holder for ship use
KR102151117B1 (en) 2020-02-28 2020-09-02 (주)에스티씨 Smart luminous navigation route lighting system
CN112147653A (en) * 2020-09-11 2020-12-29 桂林电子科技大学 Positioning method of unmanned aerial vehicle and water buoy based on visible light and related equipment
CN112945296A (en) * 2021-01-28 2021-06-11 哈尔滨溯微信息技术有限公司 Ecological environment monitoring devices based on big data
KR102371467B1 (en) 2020-11-25 2022-03-07 한국해양과학기술원 Method for designing ocean buoy observation network
KR20220073901A (en) 2020-11-26 2022-06-03 조선대학교산학협력단 Marine environment monitoring system

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110182315A (en) * 2019-05-18 2019-08-30 江阴市福达船舶配件制造有限公司 Navigation mark holder for ship use
KR102151117B1 (en) 2020-02-28 2020-09-02 (주)에스티씨 Smart luminous navigation route lighting system
CN112147653A (en) * 2020-09-11 2020-12-29 桂林电子科技大学 Positioning method of unmanned aerial vehicle and water buoy based on visible light and related equipment
CN112147653B (en) * 2020-09-11 2023-08-15 桂林电子科技大学 Positioning method of unmanned aerial vehicle and water buoy based on visible light and related equipment
KR102371467B1 (en) 2020-11-25 2022-03-07 한국해양과학기술원 Method for designing ocean buoy observation network
KR20220073901A (en) 2020-11-26 2022-06-03 조선대학교산학협력단 Marine environment monitoring system
CN112945296A (en) * 2021-01-28 2021-06-11 哈尔滨溯微信息技术有限公司 Ecological environment monitoring devices based on big data
CN112945296B (en) * 2021-01-28 2022-10-28 哈尔滨溯微信息技术有限公司 Ecological environment monitoring devices based on big data

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