KR20230071387A - Docking system for drone using buoy - Google Patents

Docking system for drone using buoy Download PDF

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Publication number
KR20230071387A
KR20230071387A KR1020210157532A KR20210157532A KR20230071387A KR 20230071387 A KR20230071387 A KR 20230071387A KR 1020210157532 A KR1020210157532 A KR 1020210157532A KR 20210157532 A KR20210157532 A KR 20210157532A KR 20230071387 A KR20230071387 A KR 20230071387A
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drone
buoy
drones
charging
docking system
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KR1020210157532A
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Korean (ko)
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임정우
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임정우
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B64F1/222—Ground or aircraft-carrier-deck installations for handling aircraft for storing aircraft, e.g. in hangars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/34—In-flight charging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The present invention relates to a docking system for drones. According to an embodiment of the present invention, the present invention relates to a maritime docking system for drones. More specifically, disclosed is a maritime docking system for drones that allows docking of marine aerial drones, underwater autonomous unmanned vehicles (AUVs), or remotely controlled submersibles (ROVs) using sea buoys.

Description

부이를 이용한 드론용 도킹시스템{Docking system for drone using buoy}Docking system for drone using buoy {Docking system for drone using buoy}

본 발명은 드론용 해상 도킹시스템에 관한 것으로서, 보다 상세하게는 부이를 이용하며 해상 공중드론, 해중 자율무인잠수정(AUV)이 도킹가능한 해상 도킹시스템에 관한 것이다.The present invention relates to a maritime docking system for drones, and more particularly, to a maritime docking system using a buoy and capable of docking a maritime aerial drone and an underwater autonomous unmanned vehicle (AUV).

최근 드론(drone)을 이용하여 해양에서의 사고 상태를 모니터링하거나 구조 활동을 하기 위한 기술들이 소개되고 있다. 드론은 조종사가 탑승하지 않은 상태에서 원격으로 조종이 가능한 무인항공기(UAV, unmanned aerial vehicle)를 말한다.Recently, technologies for monitoring accident conditions at sea or performing rescue activities using drones have been introduced. A drone is an unmanned aerial vehicle (UAV) that can be controlled remotely without a pilot on board.

이와 관련하여 종래기술인 대한민국 등록특허 제10-1801348호(2017.11.20 등록)는 해상구조용 드론 및 이를 이용한 해상구조 시스템에 관한 것으로서, 조난 발생시 드론이 출동하여 조난자에게 인명구조 튜브를 투척하는 해상구조용 드론에 관한 기술을 제시하고 있다.In this regard, Republic of Korea Patent Registration No. 10-1801348 (registered on November 20, 2017), which is a prior art, relates to a marine rescue drone and a marine rescue system using the same. technology is presented.

종래기술의 또다른 예로, 대한민국 공개특허 제10-2021-0073320호 (2021.06.18일 공개)는 드론용 도킹시스템에 관한 것으로서, 해상에 부유 또는 설치된 항로표지에 설치 가능하고, 해상 모니터링을 위한 헬리콥터형 드론이 바람의 영향을 받지 않고 안정적으로 착륙할 수 있으며, 착륙 상태에서 충전 및 대기 상태를 유지할 수 있도록 구성된 드론용 도킹 기술을 제안하였다.As another example of the prior art, Korean Patent Publication No. 10-2021-0073320 (published on June 18, 2021) relates to a docking system for drones, which can be installed on navigational aids floating or installed on the sea, and a helicopter for marine monitoring. A docking technology for drones designed to allow the older drones to land stably without being affected by wind and to maintain charging and standby status in the landing state was proposed.

그런데, 해상 모니터링 또는 해양 구조 시 드론을 활용함에 있어 여전히 몇 가지 장애 요인이 있다. 일예로, 드론은 배터리 충전 전력을 이용하여 비행하는 것이 일반적인데, 배터리 충전 전력의 한계에 따라 체공시간의 제약이 있어 육상과 가까운 해안 지방에서만 드론 운용이 가능하다는 한계점이 있었다.However, there are still some obstacles in using drones for maritime monitoring or maritime rescue. For example, it is common for drones to fly using battery charging power, but there is a limitation in that drones can be operated only in coastal areas close to the land due to limitations in flight time according to the limit of battery charging power.

또한, 해중을 탐사하는 무인잠수정(AUV:autonomus underwater vehicle) 또는 원격제어잠수정(ROV:remotely operated vehicle)을 이용한 해양 탐사 연구는 시도되고 있으나, 부이(buoy)를 이용하여 공중용 드론 및 해중의 AUV 또는 ROV를 모두 포함한 도킹시스템에 관한 기술은 아직 개시된 바가 없다. In addition, marine exploration research using an autonomous underwater vehicle (AUV) or a remotely operated vehicle (ROV) that explores underwater is being attempted, but aerial drones and underwater AUVs using buoys have been attempted. Alternatively, technology related to a docking system including all ROVs has not yet been disclosed.

대한민국 등록특허 제10-1801348호 (2017.11.20 등록)Republic of Korea Patent Registration No. 10-1801348 (registered on November 20, 2017) 대한민국 공개특허 제10-2021-0073320호 (2021.06.18일 공개)Republic of Korea Patent Publication No. 10-2021-0073320 (published on June 18, 2021)

본 발명은 상기와 같은 문제점을 감안하여 안출된 것으로서, 해상에 부유하는 부이를 이용하여 설치 가능하고, 공중의 드론 및 해상의 AUV 또는 ROV가 도킹할 수 있으며, 도킹상태에서 충전 상태를 유지할 수 있도록 구성된 드론용 도킹시스템을 제공하는 것을 그 목적으로 한다.The present invention has been made in view of the above problems, so that it can be installed using a buoy floating on the sea, can be docked with a drone in the air and an AUV or ROV in the sea, and can maintain a charged state in a docked state. Its purpose is to provide a docking system for a configured drone.

상기 과제를 해결하기 위하여 본 발명은 부이를 이용한 드론용 도킹시스템으로서, 상부에 드론의 충전모듈과 연동하여 무선 충전을 수행하는 충전부를 포함하는 공중드론 착륙장, AUV를 해중에서 해상으로 끌어 올린 후 무선 충전 및 수집된 정보를 수신하는 AUV 도킹부, 배터리 충전이 가능한 접이식 태양광 패널을 포함하는 부이를 이용한 드론용 도킹시스템을 제공한다.In order to solve the above problems, the present invention is a docking system for drones using a buoy, which includes a charging unit on the top that performs wireless charging in conjunction with the charging module of the drone, after lifting the AUV from the sea to the sea, wireless charging A docking system for drones using a buoy including an AUV docking unit that receives charging and collected information and a foldable solar panel capable of charging a battery is provided.

본 발명의 일 실시예로는, 상기 부이는 ROV와 전선으로 연결되어 위성통신망 또는 선박 통신망을 통해 실시간으로 임무 수행 및 수집된 정보를 송수신하는 것을 특징으로 한다.In one embodiment of the present invention, the buoy is connected to the ROV by wires and is characterized in that it transmits and receives mission performance and collected information in real time through a satellite communication network or a ship communication network.

본 발명의 또 다른 실시예로는 복수개의 드론이 정찰을 수행하는 경우에는 드론과 부이가 정보를 송수신하여 착륙장이 비어 있는 부이로 드론을 유도하도록 하는 드론용 도킹시스템을 제공한다.Another embodiment of the present invention provides a docking system for drones in which a drone and a buoy transmit and receive information to guide a drone to a buoy with an empty landing field when a plurality of drones perform reconnaissance.

이와 같은 본 발명은, 해상 모니터링을 위한 헬리콥터형 드론이 바람의 영향을 받지 않고 안정적으로 착륙하여 충전 및 대기 상태를 유지할 수 있다는 장점을 제공한다.The present invention as described above provides an advantage that a helicopter-type drone for marine monitoring can stably land without being affected by wind and maintain a charging and standby state.

또한 본 발명은 다양한 용도로 해상에 부유하는 부이를 이용하여 설치 및 사용이 가능하다는 장점이 있다.In addition, the present invention has the advantage that it can be installed and used using a buoy floating on the sea for various purposes.

도 1은 본 발명의 일 실시예에 따른 드론용 도킹 시스템의 개략도.1 is a schematic diagram of a docking system for a drone according to an embodiment of the present invention.

본 발명은 그 기술적 사상 또는 주요한 특징으로부터 벗어남이 없이 다른 여러가지 형태로 실시될 수 있다. 따라서, 본 발명의 실시예들은 모든 점에서 단순한 예시에 지나지 않으며 한정적으로 해석되어서는 안 된다.The present invention may be embodied in other various forms without departing from its technical spirit or essential characteristics. Therefore, the embodiments of the present invention are mere examples in all respects and should not be construed in a limited manner.

어떤 구성요소가 다른 구성요소에 "연결되어" 있다거나 "접속되어" 있다고 언급된 때에는, 그 다른 구성요소에 직접적으로 연결되어 있거나 또는 접속되어 있을 수도 있지만, 중간에 다른 구성요소가 존재할 수도 있다.When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but other components may exist in the middle.

본 출원에서 사용한 단수의 표현은 문맥상 명백하게 다르게 뜻하지 않는 한, 복수의 표현을 포함한다. 본 출원에서, "포함하다" 또는 "구비하다", "가지다" 등의 용어는 명세서에 기재된 구성요소 또는 이들의 조합이 존재하는 것을 표현하려는 것이지, 다른 구성요소 또는 특징이 존재 또는 부가될 가능성을 미리 배제하는 것은 아니다.Singular expressions used in this application include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "have" or "have" are intended to express that the components described in the specification or a combination thereof exist, but the possibility that other components or features may exist or be added. It is not precluded.

도 1을 참조하여 본 발명을 구체적으로 설명하기로 한다.Referring to Figure 1 will be described in detail the present invention.

도 1은 본 발명의 일 실시예에 따른 부이(buoy)를 이용한 드론용 도킹 시스템을 설명하기 위한 도면이다. 부이는 항만이나 하천 등 선박이 항행하는 위치 수면에 띄워 항로안내, 암초의 위치 등을 알리는 표지판으로서 통상적인 용도는 안전 항해를 돕는 수단뿐만 아니라 각종 해양 기후관측 센서를 부착하여 해양 기후 환경 데이터를 수집하는 수단으로도 사용된다.1 is a diagram for explaining a docking system for a drone using a buoy according to an embodiment of the present invention. A buoy is a sign that is floated on the surface of a port or river where a ship is navigating to inform navigation and the location of a reef. Its typical use is a means to help safe navigation, as well as collecting marine climate and environmental data by attaching various marine climate observation sensors. It is also used as a means of

본 발명에서는 도 1에서와 같이 부이(100)의 상단에 공중드론 착륙장(120)을 설치하여 드론의 배터리를 충전하는 기능을 부여한다.In the present invention, as shown in FIG. 1, the aerial drone landing pad 120 is installed on top of the buoy 100 to give a function of charging the battery of the drone.

구체적으로 공중드론 착륙장(120)은 해상을 관찰하는 관찰용 드론(200)의 착륙이 가능한 형태로 구성되어 있다. 해상을 관찰하는 관찰용 드론(200)은 카메라부 및 통신부가 구비된 경량화 구조를 가지며, 기 설정된 해상의 특정 구역의 상공을 비행하면서 촬영한 해상상태정보와 GPS모듈을 통해 수신되는 GPS신호를 통해 확인한 위치정보를 드론 내 통신부를 통해 드론 주변의 부이(100)에 전송한다. Specifically, the aerial drone landing site 120 is configured in a form capable of landing the observation drone 200 observing the sea. The observation drone 200 that observes the sea has a lightweight structure equipped with a camera unit and a communication unit, and transmits marine condition information photographed while flying over a predetermined area of the sea and a GPS signal received through a GPS module. The checked location information is transmitted to the buoy 100 around the drone through the communication unit in the drone.

상기 부이(100)는 전송받은 해상상태정보와 드론(200)의 위치정보를 장거리 통신을 이용하여 드론 운전자를 포함한 관리자에게 전송하거나 내부 데이터베이스에 저장한다.The buoy 100 transmits the received sea state information and the location information of the drone 200 to a manager including a drone operator using long-distance communication or stores them in an internal database.

한편, 상기 드론(200)의 해상 추락을 막기 위해 드론의 배터리가 일정수준 이하이면 드론에 가장 가까운 부이부터 순서대로 송수신을 통해 착륙가능성을 확인 한 다음 상기 드론(200)은 배터리 충전을 위해 상기 부이로 이동한다. 만약 다른 드론이 상기 부이에 착륙하고 있거나 착륙할 예정이면, 상기 드론은 그 다음 거리가 가까운 부이와 송수신하여 착륙가능성을 확인한 후 이동한다.On the other hand, in order to prevent the drone 200 from falling at sea, if the battery of the drone is below a certain level, the possibility of landing is checked through transmission and reception in order from the buoy closest to the drone, and then the drone 200 recharges the battery. move to this If another drone is landing or is scheduled to land on the buoy, the drone transmits/receives to the next buoy that is closer to the buoy to confirm the possibility of landing, and then moves.

부이는 상기 드론(200)이 공중드론 착륙장(120)에 접근하게 되면 공중드론 착륙장(120)에 내재된 전자석을 작동시켜 상기 드론(200)이 착륙장의 정해진 위치에 정확하게 착륙할 뿐만 아니라 착륙 후에도 흔들리는 파도상황에서 안정적으로 부착될 수 있도록 한다.When the drone 200 approaches the aerial drone landing pad 120, the buoy operates the electromagnet inherent in the aerial drone landing pad 120 so that the drone 200 not only lands accurately at the designated location of the landing pad, but also shakes after landing. It can be stably attached in the wave situation.

드론(200)이 착륙한 다음에는 공중드론 착륙장(120)에 포함된 충전부는 상기 드론(200)의 충전모듈과 연동하여 무선 충전을 수행하게 된다. After the drone 200 lands, the charging unit included in the aerial drone landing pad 120 performs wireless charging in conjunction with the charging module of the drone 200.

도 1을 다시 참조하면, 상기 부이는 AUV(250)를 해중에서 해상으로 올린 후 무선 충전 및 수집된 정보를 수신하는 AUV 도킹부(120)를 포함할 수 있다.Referring back to FIG. 1 , the buoy may include an AUV docking unit 120 that receives wireless charging and collected information after lifting the AUV 250 from the sea to the sea.

AUV(자율무인잠수정: Autonomous Underwater Vehicle)는 광대역 탐사를 위해 개발된 해양장비로 배터리 용량의 한계로 인해 주기적으로 공기 중 충전 및 배터리 교체가 요구되며, 그로 인해 배터리로 인한 시간적 공간적 제약으로 탐사 영역을 확장하는데 한계가 있다.AUV (Autonomous Underwater Vehicle) is a marine equipment developed for broadband exploration. There are limits to expansion.

본 발명에서는 상기 부이(100)에 AUV(250)와 도킹할 수 있는 AUV 도킹부(140)를 설치하여 배터리가 부족하게된 AUV(250)로 하여금 상기 부이(100)에 도킹하여 충전할 수 있도록 하며, 부이(100)와의 무선 송수신을 통해 배터리 충전가능여부를 확인한 다음 AUV(250)가 상기 부이(100)로 도킹을 위해 이동하도록 한다. In the present invention, an AUV docking unit 140 capable of docking with the AUV 250 is installed on the buoy 100 so that the AUV 250 with a low battery can be docked with the buoy 100 and charged. After checking whether the battery can be charged through wireless transmission and reception with the buoy 100, the AUV 250 moves to the buoy 100 for docking.

충전방식은 AUV(250)가 부이(100)에 접근하게 되면 AUV 도킹부에 설치된 크레인을 이용하여 AUV(250)를 해중에서 해상으로 끌어올린 다음 무선 충전을 하게 되며 이 과정에서 AUV(250)에 의해 수집된 정보를 송수신한다. In the charging method, when the AUV 250 approaches the buoy 100, the AUV 250 is lifted from the sea to the sea using a crane installed in the AUV docking part, and then wireless charging is performed. transmits and receives information collected by

AUV(250)와 유사한 ROV(280)의 경우 ROV(280)가 부이(100)에 접근하게 되면 전선으로 연결되어 수집된 정보를 송수신하게 된다.In the case of the ROV 280 similar to the AUV 250, when the ROV 280 approaches the buoy 100, it is connected with a wire to transmit and receive collected information.

끝으로 상기 부이(100)는 도 1과 같이 태양광 충전 패널(160)을 이용하여 내장된 배터리를 충전하며, 접이식으로 되어 있어 날씨가 좋을 때에는 최대한 펼쳐지게 되나, 기상악화시에는 패널을 접어 파도와 같은 외력으로부터 패널을 보호하게 구성된다.Finally, the buoy 100 charges the built-in battery using the solar charging panel 160 as shown in FIG. 1, and is foldable so that it can be unfolded as much as possible when the weather is good, but when the weather is bad, the panel is folded to protect against the waves. It is configured to protect the panel from the same external force.

본 발명은 첨부된 도면을 참조하여 바람직한 실시예를 중심으로 기술되었지만 당업자라면 이러한 기재로부터 본 발명의 범주를 벗어남이 없이 많은 다양하고 자명한 변형이 가능하다는 것은 명백하다. 따라서 본 발명의 범주는 이러한 많은 변형예들을 포함하도록 기술된 특허청구범위에 의해서 해석돼야 한다.Although the present invention has been described based on preferred embodiments with reference to the accompanying drawings, it is clear that many various and obvious modifications are possible to those skilled in the art from this description without departing from the scope of the present invention. Therefore, the scope of the present invention should be interpreted by the claims described to include these many modifications.

100: 부이
120: 공중드론 착륙장
140: AUV 도킹부
160: 태양광 충전 패널
200: 드론
250: AUV
280: ROV100: buoy
120: Aerial drone landing pad
140: AUV docking unit
160: solar charging panel
200: drone
250: AUV
280 ROV

Claims (3)

부이(100)를 이용한 드론용 도킹시스템으로서,
상부에 드론의 충전모듈과 연동하여 무선 충전을 수행하는 충전부를 포함하는 공중드론 착륙장(120);
AUV(autonomus underwater vehicle)를 해중에서 해상으로 올린 후 무선 충전 및 수집된 정보를 수신하는 AUV 도킹부(140); 및
배터리 충전이 가능한 접이식 태양광 패널(160);
을 포함하는 것을 특징으로 하는 부이를 이용한 드론용 도킹시스템.As a docking system for drones using the buoy 100,
An aerial drone landing pad 120 including a charging unit that performs wireless charging in conjunction with the charging module of the drone at the top;
An AUV docking unit 140 that receives wireless charging and collected information after raising an autonomous underwater vehicle (AUV) from the sea to the sea; and
A foldable solar panel 160 capable of charging a battery;
A docking system for a drone using a buoy comprising a. 제1항에 있어서,
상기 부이(100)는 ROV(remotely operated vehicle)와 전선으로 연결되어 위성통신망 또는 선박 통신망을 통해 실시간으로 임무를 수행하거나 수집된 정보를 송수신하는 것을 특징으로 하는
부이를 이용한 드론용 도킹시스템.According to claim 1,
The buoy 100 is connected to a remotely operated vehicle (ROV) by wires and performs missions in real time or transmits and receives collected information through a satellite communication network or a ship communication network.
Docking system for drones using buoys. 제1항에 있어서,
상기 드론(200)은 가까운 거리에 있는 부이(100)와 무선으로 정보를 송수신하여 착륙 및 충전이 가능한 부이(100)로 상기 드론(200)이 날아가 도킹할 수 있도록 하는 것을 특징으로 하는
부이를 이용한 드론용 도킹시스템.According to claim 1,
The drone 200 wirelessly transmits and receives information with the buoy 100 in a close distance so that the drone 200 can fly to the buoy 100 capable of landing and charging, and docking.
Docking system for drones using buoys.
KR1020210157532A 2021-11-16 2021-11-16 Docking system for drone using buoy KR20230071387A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11975811B2 (en) * 2022-02-15 2024-05-07 Hawaii Ocean Power Solutions LLC Integrated wave energy converter and docking station with ramped cloverleaf supplemental heave plate

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101801348B1 (en) 2015-07-27 2017-11-24 유에이치에스(주) Drone for rescue at sea and system for rescue at sea using thereof
KR20210073320A (en) 2019-12-10 2021-06-18 한국항로표지기술원 Docking system for drones

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101801348B1 (en) 2015-07-27 2017-11-24 유에이치에스(주) Drone for rescue at sea and system for rescue at sea using thereof
KR20210073320A (en) 2019-12-10 2021-06-18 한국항로표지기술원 Docking system for drones

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11975811B2 (en) * 2022-02-15 2024-05-07 Hawaii Ocean Power Solutions LLC Integrated wave energy converter and docking station with ramped cloverleaf supplemental heave plate

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