JPH1090017A - Multi-purpose pod floating at fixed point of sea level - Google Patents
Multi-purpose pod floating at fixed point of sea levelInfo
- Publication number
- JPH1090017A JPH1090017A JP24224096A JP24224096A JPH1090017A JP H1090017 A JPH1090017 A JP H1090017A JP 24224096 A JP24224096 A JP 24224096A JP 24224096 A JP24224096 A JP 24224096A JP H1090017 A JPH1090017 A JP H1090017A
- Authority
- JP
- Japan
- Prior art keywords
- pod
- measuring instrument
- sea surface
- fixed point
- instrument housing
- 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.)
- Withdrawn
Links
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、海面及び海水中
における各種の物理量を計測して、その計測データをリ
アルタイムで母船または陸上に設置された基地局へ送信
できる新規な海面定点を浮遊する多目的ポッドに関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multipurpose floating floating sea surface fixed point capable of measuring various physical quantities on the sea surface and seawater and transmitting the measured data to a mother ship or a base station installed on land in real time. About pods.
【０００２】[0002]
【従来の技術及び発明が解決しようとする課題】 従来、所定位置の海面または海水中における物理量
を測定する場合には、必要な計測器と測定技術者を船舶
に乗せて観測地点へ航行し、観測が長期化する場合には
その位置に長期間停泊する必要があり、船舶関係及び測
定技術関係の多大の人手が必要であった。2. Description of the Related Art Conventionally, when measuring a physical quantity on the sea surface or in seawater at a predetermined position, a required measuring instrument and a measurement technician are carried on a ship and navigated to an observation point. When the observation is prolonged, it is necessary to anchor at that position for a long period of time, and a great deal of manpower related to ships and measurement technology is required.
【０００３】 また海水中を走行する移動体の技術評
価試験を行う場合、その移動体に評価に必要なデータ記
録装置を搭載し、試験終了後、移動体自体を回収し、測
定データを再生する必要があり、手順が繁雑で、多大の
時間と人手が必要であった。この発明はこれら従来の問
題を解決することを目的としている。When performing a technical evaluation test of a moving body traveling in seawater, a data recording device necessary for evaluation is mounted on the moving body, and after the test is completed, the moving body itself is collected and measured data is reproduced. Required, the procedure was complicated, and a great deal of time and labor was required. The present invention aims to solve these conventional problems.
【０００４】[0004]
（１）請求項１の発明は、ポッド本体と、計測器ハウジ
ングとより成る海面定点を浮遊する多目的ポッドであ
る。ポッド本体には、ＧＰＳ受信機と、そのＧＰＳ受信
機より出力される測位データにより補正され、ポッドの
位置を計測する慣性航法装置（ＩＮＳ）と、ポッドを所
定の方向に移動させる推進部と、ポッド各部に動作電源
を供給するバッテリと、基地局からの指令信号を受信す
ると共に前記計測器ハウジングに収容された測定器の計
測データをリアルタイムで基地局に送信する送受信ユニ
ットとが設けられる。(1) The invention of claim 1 is a multipurpose pod that floats at a fixed point on the sea surface, comprising a pod body and a measuring instrument housing. The pod body includes a GPS receiver, an inertial navigation device (INS) that is corrected by positioning data output from the GPS receiver and measures the position of the pod, a propulsion unit that moves the pod in a predetermined direction, A battery that supplies operating power to each part of the pod, and a transmitting / receiving unit that receives a command signal from the base station and transmits measurement data of a measuring device housed in the measuring device housing to the base station in real time are provided.
【０００５】更にポッド本体には、ＩＮＳで得られたポ
ッドの位置データに基づいて、ポッドが所定の位置を保
持するように、推進部の動作を制御する制御部が設けら
れる。計測器ハウジングは、海面及び海水中における所
定の物理量を計測する測定器を収容するものである。Further, the pod body is provided with a control section for controlling the operation of the propulsion section so that the pod maintains a predetermined position based on the pod position data obtained by the INS. The measuring instrument housing houses a measuring instrument that measures a predetermined physical quantity on the sea surface and in seawater.
【０００６】（２）請求項２の発明では、計測器ハウジ
ングが、温度センサ、振動センサ、潮流速度計、水中音
響計測器の少くとも１つを収容している。 （３）請求項３の発明では、ポッド本体に太陽電池パネ
ルが取付けられ、その太陽電池パネルの出力によりバッ
テリが充電される。 （４）請求項４の発明では、ポッド本体が上下方向に延
長された円筒形に形成され、そのポッド本体の円形底面
のほぼ中心部より下方に導出された連結部材に、前記計
測器ハウジングが取付けられている。(2) According to the invention of claim 2, the measuring instrument housing houses at least one of a temperature sensor, a vibration sensor, a tidal current meter, and an underwater acoustic measuring instrument. (3) According to the third aspect of the invention, the solar cell panel is attached to the pod body, and the battery is charged by the output of the solar cell panel. (4) In the invention of claim 4, the pod main body is formed in a cylindrical shape extended in the up-down direction, and the measuring instrument housing is attached to a connecting member led out below a substantially central portion of a circular bottom surface of the pod main body. Installed.
【０００７】（５）請求項５の発明では、ポッド本体が
ポッドの姿勢角を修正する姿勢修正部を有し、前記制御
部が、ＩＮＳより得られたポッドの姿勢角に基づいて、
ポッドが所定の姿勢角を保持するように姿勢修正部の動
作を制御する。 （６）請求項６の発明では、前記（５）において、姿勢
修正部が、ポッド本体の筐体の側壁より海水中に導出さ
れた板状の姿勢制御フィンと、その姿勢制御フィンの水
平面に対する傾斜角を可変するフィン・アクチュエータ
とより構成される。(5) In the invention of claim 5, the pod main body has a posture correction unit for correcting the posture angle of the pod, and the control unit controls the position of the pod based on the posture angle of the pod obtained from the INS.
The operation of the posture correction unit is controlled so that the pod maintains a predetermined posture angle. (6) In the invention according to claim 6, in the above (5), the posture correcting section is provided with a plate-like posture control fin led out into seawater from the side wall of the housing of the pod body, and the posture control fin with respect to a horizontal plane. And a fin actuator that changes the tilt angle.
【０００８】[0008]
【発明の実施の形態】図１、図２の実施例を参照して発
明の実施の形態を説明する。この発明の海面定点を浮遊
する多目的ポッド１はポッド本体２と計測器ハウジング
３とで構成される。ポッド本体２には、ＧＰＳ受信機４
が設けられ、それより出力される測位データにより慣性
航法装置（ＩＮＳと言う）５が補正される。ＧＰＳ受信
機４の測位情報及びＩＮＳで得られたポッドの位置（経
度及び緯度）データ及び必要に応じ出力されるポッドの
姿勢角が制御部６に入力される。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. The multipurpose pod 1 floating at a fixed point on the sea surface according to the present invention includes a pod body 2 and a measuring instrument housing 3. The pod body 2 has a GPS receiver 4
Is provided, and the inertial navigation device (INS) 5 is corrected by the positioning data output from the device. The position information (longitude and latitude) of the pod obtained from the positioning information of the GPS receiver 4 and the INS and the attitude angle of the pod output as needed are input to the control unit 6.
【０００９】ポッド本体２には、ポッドを望ましい方向
に移動させる推進部７が設けられる。推進部７は一対の
スクリュー７ａと、スクリュー７ａを駆動するスクリュ
ー・アクチュエータ７ｂで構成される。ポッド各部に動
作電源を供給するバッテリ９がポッド本体２に搭載され
る。この例では、ポッド本体２の上面のほぼ中心部より
上方に突設されたマスト２ｂの中間に太陽電池パネル１
０が取付けられ、その出力によりバッテリ９が充電され
るようになっている（請求項３）。太陽電池パネル１０
はその下面に取付けられた浮袋１０ａにより支持され
て、海面２０上に保持される。The pod body 2 is provided with a propulsion unit 7 for moving the pod in a desired direction. The propulsion unit 7 includes a pair of screws 7a and a screw actuator 7b that drives the screws 7a. A battery 9 for supplying operating power to each part of the pod is mounted on the pod body 2. In this example, the solar cell panel 1 is located in the middle of a mast 2b protruding above a substantially central portion of the upper surface of the pod body 2.
0 is attached, and the output thereof charges the battery 9 (claim 3). Solar panel 10
Is supported on the floating bag 10a attached to the lower surface thereof, and is held on the sea surface 20.
【００１０】送受信ユニット１１がポッド本体２に設け
られ、基地局（地上また母船に設置される）からの指令
信号を受信したり、計測器ハウジング３に収容された測
定器の計測データをリアルタイムで基地局に送信するこ
とができる。制御部６は、ＧＰＳ受信機４及びＩＮＳ５
で得られたポッドの位置データに基づいて、ポッド１が
所定の定点位置を保持するように、推進部７の動作を制
御する。A transmission / reception unit 11 is provided on the pod main body 2 to receive a command signal from a base station (installed on the ground or on the mother ship) or to transmit measurement data of a measuring instrument housed in the measuring instrument housing 3 in real time. Can be transmitted to the base station. The control unit 6 includes the GPS receiver 4 and the INS 5
The operation of the propulsion unit 7 is controlled so that the pod 1 maintains a predetermined fixed point position based on the pod position data obtained in the step (1).
【００１１】測定器ハウジング３は、海面及び海水中に
おける所定の物理量を測定する測定器を収容することが
できる。測定器としては、温度センサ、振動センサ、潮
流速度計、水中音響計測器の少くとも１つが収容される
（請求項２）。図２の例では、ポッド本体２は上下方向
に延長された円筒形に形成され、ポッド本体２の円形底
面の中心部より下方に導出された連結部材２ｃに、計測
器ハウジング３が取付けられる。（請求項４）。The measuring instrument housing 3 can accommodate a measuring instrument for measuring a predetermined physical quantity on the sea surface and in seawater. As the measuring device, at least one of a temperature sensor, a vibration sensor, a tidal current meter, and an underwater acoustic measuring device is accommodated (claim 2). In the example of FIG. 2, the pod main body 2 is formed in a cylindrical shape extending in the up-down direction, and the measuring instrument housing 3 is attached to a connecting member 2 c extending below the center of the circular bottom surface of the pod main body 2. (Claim 4).
【００１２】ポッド本体２に姿勢修正部８を設け、制御
部６が、ＩＮＳ５より得られたポッドの姿勢角に基づい
て、ポッドが所定の姿勢角を保持するように、姿勢修正
部８の動作を制御するようにしてもよい（請求項５）。
姿勢修正部８は図１の例では、ポッド本体２の筐体２ａ
の側壁より海水中に導出された複数の板状の姿勢制御フ
ィン８ａと、それらの水平面に対する傾斜角を可変する
フィン・アクチュエータ８ｂとにより構成される（請求
項６）。姿勢制御フィン８ａはその傾斜角によって潮流
により押圧され力が変化することから、ポッドの前後、
左右の傾きを変化させることができる。The pod body 2 is provided with a posture correcting unit 8, and the control unit 6 operates the posture correcting unit 8 based on the pod posture angle obtained from the INS 5 so that the pod maintains a predetermined posture angle. May be controlled (claim 5).
In the example of FIG. 1, the posture correction unit 8 is a housing 2 a of the pod body 2.
A plurality of plate-like attitude control fins 8a led out into the seawater from the side walls of the fins and fin actuators 8b that vary the inclination angle of the fins with respect to the horizontal plane (claim 6). The posture control fins 8a are pressed by the tidal current due to the inclination angle and the force changes.
Left and right inclination can be changed.
【００１３】ＧＰＳ受信機４のＧＰＳアンテナ４ａ及び
送受信ユニット１１の送受信アンテナ１１ａは図２に示
すようにそれぞれマスト２ｂの上部に取付けられる。図
３に示すのは海底爆発物体２１上の海面を囲む所定の位
置に４個のポッド１−１〜１−４を配して、定点観測す
る例である。ポッド１−１〜１−４に水中音響計測器、
振動センサ等を収容し、それらの計測データを陸上の基
地局２３に送信することによって、地上局２３では海底
爆発物体２１の位置及び爆発の大きさをリアルタイムで
計測でき、場合によっては付近を航行中の船舶或いは航
空機に立入り禁止の警報を送信することもできる。海底
爆発物体２１が不発機雷であって、潮流で移動している
場合でも、ポッドに音波探知機を搭載することによっ
て、同様にして、基地局では不発機雷の位置、移動方
向、速度、探度などを計測し、上記の警報を発すること
ができる。The GPS antenna 4a of the GPS receiver 4 and the transmission / reception antenna 11a of the transmission / reception unit 11 are mounted on the mast 2b as shown in FIG. FIG. 3 shows an example in which four pods 1-1 to 1-4 are arranged at predetermined positions surrounding the sea surface on the submarine explosive object 21, and fixed-point observation is performed. Underwater acoustic measuring instruments in pods 1-1 to 1-4,
By storing vibration sensors and the like and transmitting the measurement data to the land-based base station 23, the ground station 23 can measure the position of the submarine explosive object 21 and the magnitude of the explosion in real time. An off-limits warning can also be sent to the ship or aircraft inside. Even if the submarine explosive object 21 is a unexploded mine and is moving with the tidal current, by mounting an acoustic detector on the pod, the position, the moving direction, the speed, and the sensitivity of the unexploded mine can be similarly calculated at the base station. And the like, and the above alarm can be issued.
【００１４】海水中を走行する移動体の技術評価試験を
行う場合、海面の所定の範囲に複数のポッドを分散配置
させ、計測データをリアルタイムで基地局に送信するこ
とによって、基地局では移動体の技術評価を容易に行う
ことができる。また従来のように移動体にデータ記録装
置を搭載する必要がないので、移動体を回収する必要も
ない。When performing a technical evaluation test of a mobile body traveling in seawater, a plurality of pods are dispersed and arranged in a predetermined range on the sea surface, and measurement data is transmitted to the base station in real time. Technology can be easily evaluated. Further, since there is no need to mount the data recording device on the moving body as in the related art, there is no need to collect the moving body.
【００１５】[0015]
【発明の効果】 この発明の海面定点と浮遊する多目的ポッドを測定
海面に設置すれば、ポッドは必要なデータを無人で計測
し、リアルタイムで基地局へ送信することができる。従
って観測が長期化する場合、船舶関係及び測定関係の人
手を従来より大幅に縮減できる。If the multipurpose pod floating on the sea surface fixed point according to the present invention is installed on the measurement sea surface, the pod can measure necessary data unattended and transmit it to the base station in real time. Therefore, when the observation is prolonged, the manpower related to the ship and the measurement can be significantly reduced.
【００１６】 海水中を走行する移動体の技術評価試
験を行う場合、この発明の多目的ポッドを利用すれば、
従来のように移動体にデータ記録装置を搭載し、試験後
に移動体を回収すると言った面倒な作業が不要となり、
多大の時間と人手を節減できる。When performing a technical evaluation test of a moving object traveling in seawater, if the multipurpose pod of the present invention is used,
Eliminating the cumbersome work of mounting the data recording device on the moving body and collecting the moving body after the test as in the past,
A lot of time and manpower can be saved.
【図１】この発明の実施例を示すブロック図。FIG. 1 is a block diagram showing an embodiment of the present invention.
【図２】図１の多目的ポッド１の外観を示す正面図。FIG. 2 is a front view showing the appearance of the multipurpose pod 1 of FIG.
【図３】この発明の多目的ポッドを用いて定点観測して
いる状況を上空より見た原理的な説明図。FIG. 3 is a principle explanatory view of a situation where fixed-point observation is performed using the multipurpose pod according to the present invention as viewed from above.
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 ＦＩ Ｇ０１Ｃ 21/16 Ｇ０１Ｃ 21/16 Ｚ ──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 6 Identification code FI G01C 21/16 G01C 21/16 Z
Claims (6)
成る海面定点を浮遊する多目的ポッドであって、 前記ポッド本体は、 ＧＰＳ受信機と、 そのＧＰＳ受信機より出力される測位データにより補正
され、ポッドの位置を計測する慣性航法装置（ＩＮＳ）
と、 ポッドを希望する方向に移動させる推進部と、 ポッド各部に動作電源を供給するバッテリと、 基地局からの指令信号を受信し、また前記計測器ハウジ
ングに収容された測定器の計測データをリアルタイムで
基地局に送信する送受信ユニットと、 前記ＩＮＳで得られたポッドの位置データに基づいて、
ポッドが所定の位置を保持するように、前記推進部の動
作を制御する制御部とを備え、 前記計測器ハウジングは、海面及び海水中における所定
の物理量を計測する測定器を収容するものであることを
特徴とする海面定点を浮遊する多目的ポッド。1. A multi-purpose pod floating at a fixed point on the sea surface comprising a pod body and a measuring instrument housing, wherein the pod body is corrected by a GPS receiver and positioning data output from the GPS receiver, Inertial navigation system (INS) for measuring pod position
And a propulsion unit that moves the pod in a desired direction, a battery that supplies operating power to each unit of the pod, a command signal from a base station, and measurement data of a measuring instrument housed in the measuring instrument housing. Based on a transmitting / receiving unit transmitting to the base station in real time, and pod position data obtained by the INS,
A control unit that controls the operation of the propulsion unit so that the pod maintains a predetermined position, wherein the measuring instrument housing houses a measuring instrument that measures a predetermined physical quantity on the sea surface and in seawater. A multipurpose pod that floats at a fixed point on the sea surface.
グが、温度センサ、振動センサ、潮流速度計、水中音響
計測器の少くとも１つを収容していることを特徴とする
海面定点を浮遊する多目的ポッド。2. The floating sea surface fixed point according to claim 1, wherein the measuring instrument housing contains at least one of a temperature sensor, a vibration sensor, a tidal current meter, and an underwater acoustic measuring instrument. Multipurpose pod.
陽電池パネルが取付けられ、その太陽電池パネルの出力
により前記バッテリが充電されることを特徴とする海面
定点を浮遊する多目的ポッド。3. The multipurpose pod according to claim 1, wherein a solar cell panel is attached to the pod body, and the battery is charged by an output of the solar cell panel.
下方向に延長された円筒形に形成され、そのポッド本体
の円形底面のほぼ中心部より下方に導出された連結部材
に、前記計測器ハウジングが取付けられていることを特
徴とする海面定点を浮遊する多目的ポッド。4. The measuring instrument housing according to claim 1, wherein the pod body is formed in a vertically extended cylindrical shape, and a connecting member led out below a substantially central portion of a circular bottom surface of the pod body. A multi-purpose pod that floats at a fixed point on the sea surface, characterized in that the pod is mounted.
ッドの姿勢角を修正する姿勢修正部を有し、前記制御部
が、前記ＩＮＳより得られたポッドの姿勢角に基づい
て、ポッドが所定の姿勢角を保持するように前記姿勢修
正部の動作を制御することを特徴とする海面定点を浮遊
する多目的ポッド。5. The pod body according to claim 1, wherein the pod main body has a posture correction unit that corrects a pod posture angle, and the control unit controls the pod based on a pod posture angle obtained from the INS. A multipurpose pod that floats at a fixed point on the sea surface, wherein the operation of the posture correction unit is controlled so as to maintain the posture angle of the sea surface.
前記ポッド本体の筐体の側壁より海水中に導出された板
状の姿勢制御フィンと、その姿勢制御フィンの水平面に
対する傾斜角を可変するフィン・アクチュエータとより
成ることを特徴とする海面定点を浮遊する多目的ポッ
ド。6. The apparatus according to claim 5, wherein the posture correction unit comprises:
A floating attitude control apparatus comprising: a plate-shaped attitude control fin led out into the seawater from a side wall of a housing of the pod main body; and a fin actuator that varies an inclination angle of the attitude control fin with respect to a horizontal plane. A multi-purpose pod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24224096A JPH1090017A (en) | 1996-09-12 | 1996-09-12 | Multi-purpose pod floating at fixed point of sea level |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24224096A JPH1090017A (en) | 1996-09-12 | 1996-09-12 | Multi-purpose pod floating at fixed point of sea level |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH1090017A true JPH1090017A (en) | 1998-04-10 |
Family
ID=17086332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24224096A Withdrawn JPH1090017A (en) | 1996-09-12 | 1996-09-12 | Multi-purpose pod floating at fixed point of sea level |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH1090017A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1617194A1 (en) * | 2004-07-13 | 2006-01-18 | Heraeus Electro-Nite International N.V. | Transportable measurement probe, measurement system, method for carrying out measurements and use of the measurement system |
| KR100989193B1 (en) * | 2008-10-31 | 2010-10-20 | 현대건설주식회사 | System for collecting and monitoring maritime information |
| WO2011150319A3 (en) * | 2010-05-28 | 2012-03-29 | Geostellar, Llc | System and method for geomatic modeling of a diverse resource base across broad landscapes |
| CN103832553A (en) * | 2012-11-26 | 2014-06-04 | 武汉劳雷绿湾船舶科技有限公司 | Small automatic unmanned surveying vessel |
| JP2016088282A (en) * | 2014-11-05 | 2016-05-23 | 智宏 松本 | Sonobuoy |
| JP6238266B1 (en) * | 2017-06-04 | 2017-11-29 | 株式会社ニチギ | Water moving body |
| JP2019156078A (en) * | 2018-03-09 | 2019-09-19 | 有限会社金鹿哲学承継塾 | Autonomous navigation-type ocean buoy and marine information system using the same |
| WO2019207052A1 (en) * | 2018-04-26 | 2019-10-31 | Dronebuoy As | A geographical self-positioning buoy |
| JP2019218015A (en) * | 2018-06-22 | 2019-12-26 | 独立行政法人国立高等専門学校機構 | Drifting buoy and drifting buoy observation device |
| WO2020121597A1 (en) * | 2019-08-19 | 2020-06-18 | 有限会社金鹿哲学承継塾 | Self-navigating marine buoy and marine information system |
| CN112758286A (en) * | 2021-01-20 | 2021-05-07 | 威泊(上海)新能源科技股份有限公司 | Wireless charging underwater resident intelligent robot system and method for cluster operation |
| JP7394504B1 (en) * | 2023-08-09 | 2023-12-08 | Ｏｃｅａｎｏｓ株式会社 | Water transportation device and water transportation method |
-
1996
- 1996-09-12 JP JP24224096A patent/JPH1090017A/en not_active Withdrawn
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1617194A1 (en) * | 2004-07-13 | 2006-01-18 | Heraeus Electro-Nite International N.V. | Transportable measurement probe, measurement system, method for carrying out measurements and use of the measurement system |
| US7307409B2 (en) | 2004-07-13 | 2007-12-11 | Heraeus Electro-Nite International N.V. | Transportable measuring probe, measuring system, process for determining measurement values, and use of the measuring system |
| KR100989193B1 (en) * | 2008-10-31 | 2010-10-20 | 현대건설주식회사 | System for collecting and monitoring maritime information |
| WO2011150319A3 (en) * | 2010-05-28 | 2012-03-29 | Geostellar, Llc | System and method for geomatic modeling of a diverse resource base across broad landscapes |
| US9087338B2 (en) | 2010-05-28 | 2015-07-21 | Geostellar, Inc. | Geomatic modeling of a solar resource based on radiance paths and a normalized slope |
| CN103832553A (en) * | 2012-11-26 | 2014-06-04 | 武汉劳雷绿湾船舶科技有限公司 | Small automatic unmanned surveying vessel |
| JP2016088282A (en) * | 2014-11-05 | 2016-05-23 | 智宏 松本 | Sonobuoy |
| JP6238266B1 (en) * | 2017-06-04 | 2017-11-29 | 株式会社ニチギ | Water moving body |
| JP2018058570A (en) * | 2017-06-04 | 2018-04-12 | 株式会社ニチギ | On-water movable body |
| JP2019156078A (en) * | 2018-03-09 | 2019-09-19 | 有限会社金鹿哲学承継塾 | Autonomous navigation-type ocean buoy and marine information system using the same |
| WO2019207052A1 (en) * | 2018-04-26 | 2019-10-31 | Dronebuoy As | A geographical self-positioning buoy |
| JP2019218015A (en) * | 2018-06-22 | 2019-12-26 | 独立行政法人国立高等専門学校機構 | Drifting buoy and drifting buoy observation device |
| WO2020121597A1 (en) * | 2019-08-19 | 2020-06-18 | 有限会社金鹿哲学承継塾 | Self-navigating marine buoy and marine information system |
| CN112758286A (en) * | 2021-01-20 | 2021-05-07 | 威泊(上海)新能源科技股份有限公司 | Wireless charging underwater resident intelligent robot system and method for cluster operation |
| JP7394504B1 (en) * | 2023-08-09 | 2023-12-08 | Ｏｃｅａｎｏｓ株式会社 | Water transportation device and water transportation method |
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