# US 12,214,847 B2 · Position control apparatus of unmanned marine observation apparatus and controlling method thereof

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- Number: US 12,214,847 B2
- Document ID: US12214847B2
- Status: Granted
- Kind: B2
- Application number: 18/319,458
- Filed: 2023-05-17
- Published: 2024-05-09
- Granted: 2025-02-04
- Earliest claimed: 2022-11-03
- Assignees: National Institute of Meteorological Sciences
- Applicants: National Institute of Meteorological Sciences
- Inventors: Hyeong Jun Jo; Kiryong Kang; Bo Yeong Ahn; Chulkyu Lee
- Web page: https://patentgrep.com/patent/US12214847B2

## CPC

- B63B 22/18: having means to control attitude or position, e.g. reaction surfaces or tether
- B63H 25/42: Steering or dynamic anchoring by propulsive elements (by jets B63H25/46); Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
- B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06)
- B63H: MARINE PROPULSION OR STEERING (propulsion of air-cushion vehicles B60V1/14; specially adapted for submarines, other than nuclear propulsion, B63G; specially adapted for torpedoes F42B19/00)

## Abstract

Provided is a position control apparatus of an unmanned marine observation device, the position control apparatus including a main body part including a hollow portion into which the unmanned marine observation device is coupled, a movement part extending outward from the main body part and configured to move the unmanned marine observation device and the position control apparatus in the ocean, a GPS signal receiver configured to receive a GPS signal and produce position information on the basis of the GPS signal, and a controller configured to control an operation of the movement part on the basis of the GPS signal.

## Claims

### Claim 1

A position control apparatus of an unmanned marine observation device, the position control apparatus comprising:
a first position control apparatus and a second position control apparatus,
wherein the first position control apparatus comprises:
a first main body part comprising a first hollow portion into which a first unmanned marine observation device is coupled;
a first movement part extending outward from the first main body part and configured to move the first unmanned marine observation device in the ocean, wherein the first movement part comprises a plurality of first propellers configured to generate power for moving the first unmanned marine observation device to a first pre-determined position and maintaining the first unmanned marine observation device at the pre-determined position;
a first GPS signal receiver configured to receive a first GPS signal and produce position information on the basis of the first GPS signal; and
a first controller configured to control an operation of the first movement part on the basis of the first GPS signal,
wherein the second position control devise comprises:
a second main body part comprising a second hollow portion into which a second unmanned marine observation device is coupled;
a second movement part extending outward from the second main body part and configured to move the second unmanned marine observation device in the ocean, wherein the second movement part comprises a plurality of second propellers configured to generate power for moving the second unmanned marine observation device to a second pre-determined position and maintaining the second unmanned marine observation device at the second pre-determined position;
a second GPS signal receiver configured to receive a second GPS signal and produce position information on the basis of the second GPS signal; and
a second controller configured to control an operation of the second movement part on the basis of the second GPS signal,
wherein the first position control apparatus and the second position control apparatus are wirelessly and communicatively coupled to each other, and
wherein the first controller and the second controller are configured to operate the first movement part and the second movement part to maintain a pre-determined distance between the first unmanned marine observation device and the second unmanned observation device.

### Claim 2 (depends on 1)

The position control apparatus of claim 1, wherein the first GPS signal receiver is further configured to receive a signal from a user terminal or an artificial satellite,
wherein the first controller is further configured to control an operation of the first movement part on the basis of the signal, and
wherein the second controller is further configured to control an operation of the second movement part to maintain the pre-determined distance between the first unmanned marine observation device and the second unmanned observation device on the basis of the signal.

### Claim 3 (depends on 1)

The position control apparatus of claim 1, wherein the first main body part comprises a coupling part positioned along an inside of a first hollow portion of the first main body part,
wherein the coupling part is fastened while surrounding a periphery of a main body of the first unmanned marine observation device, and
wherein the coupling part connects the first unmanned marine observation device and the first position control apparatus.

### Claim 4 (depends on 3)

The position control apparatus of claim 3, wherein the coupling part has an embedded battery,
wherein the coupling part receives the first GPS signal from the first GPS signal receiver, and
wherein the coupling part supplies power for operating the first propellers of the first movement part.