4 48 " β_ · 五、發明說明（1) 本發明係有關無人水面載具，尤其是有關具較佳穩定 性及安全性之自動導航無人水面載具，及結合自動導航無 人水面載具之水深測量即時作業系統 —般遙控水面載具在近岸捲浪區波浪較大時，很容易 翻覆，無法克服穩定性的問題；而其船體與礁岩碰撞容易 破損，也無法克服安全性的問題。又一般水深測量作業， 係將測量儀器裝設於有人駕駛的船上；測量人員根據測量 儀器所測得各別的數據資料，要花費相當多的時間才能整 理出測量區域的水深資料，但若船的行進路徑與預定路徑 不合時，並無法即時被發現，而進行方向的調整；若是測 量的路徑有誤，而需再重測，則需花費更多的人力及時 間；且因船噸位較重的關係，無法進行較淺水域的探測作 業。 本發明之主要目的在提供一種無人水面載具，具有良 好的穩定性及安全性。 本發明之另一目的在提供一種自動導航無人水面載 具，可搭配各種探測儀器進行包括較淺區域之較廣範圍水 域的探測作業。 本發明之另一目的在提供一種結合自動導航無人水面 載具之水深測量即時作業系統，可將載具之航行軌跡及水 深之剖面圖及相關的數據資料，即時呈現於電腦螢幕上。 圖式簡單說明： 圖1為本發明船體置於海面上之示意圖。 圖2為本發明船體截面示意圖。4 48 " β_ · V. Description of the invention (1) The present invention relates to unmanned surface vehicles, especially to automatic navigation unmanned surface vehicles with better stability and safety, and the combination of automatic navigation unmanned surface vehicles Water depth measurement real-time operation system—Generally remote-controlled surface vehicles are easily overturned when the waves near the coast are large, which cannot overcome the stability problem; and the collision between the hull and the reef rocks is easy to break, and it cannot overcome the safety problems. problem. Ordinary water depth measurement operations involve installing measuring instruments on a manned ship. Surveyors need to spend considerable time sorting out the water depth data of the measurement area based on the individual data measured by the measuring instruments. When the travel path is not consistent with the planned path, it cannot be found immediately and the direction can be adjusted; if the measured path is wrong and needs to be re-measured, it will take more manpower and time; and due to the heavy tonnage of the ship It is impossible to carry out survey operations in shallow waters. The main object of the present invention is to provide an unmanned surface vehicle with good stability and safety. Another object of the present invention is to provide an automatic navigation unmanned surface vehicle that can be used with various detection instruments to perform detection operations in a wide range of water areas including shallow areas. Another object of the present invention is to provide a real-time operation system for water depth measurement combined with automatic navigation of an unmanned surface vehicle, which can instantly display the vehicle's navigation trajectory, water depth profile, and related data on a computer screen. Brief description of the drawings: FIG. 1 is a schematic diagram of the hull of the present invention placed on the sea surface. Fig. 2 is a schematic sectional view of a hull of the present invention.
第4頁 448 " 6 五、發明說明（2) 圖3為本發明主結構體示意圖。 圖4為本發明電池艙示意圖。 圖5為本發明船體組件配置示意圖。 圖6為本發明通訊及控制電路結構方塊圖。 主要部分代表符號： 1 船 體 11 重 心 點 2 海 面 21 海 浪 推 4 電 池餘 41 電 池 43 防 水膠墊 44 螺 絲 50 開 口 5 1 主 控 電 52 1 GPS天線 53 無 線 數 54 探 測儀器 55 無 線 電 55 1遙控天線 56 側 板 6 防 水馬達 61 螺 旋 槳 63 控 制器 7 舵Page 4 448 " 6 V. Description of the invention (2) Figure 3 is a schematic diagram of the main structure of the present invention. FIG. 4 is a schematic diagram of a battery compartment of the present invention. FIG. 5 is a schematic configuration diagram of a hull component of the present invention. FIG. 6 is a block diagram of the communication and control circuit structure of the present invention. Main part representative symbols: 1 hull 11 center of gravity 2 sea surface 21 wave pushing 4 battery remaining 41 battery 43 waterproof rubber pad 44 screw 50 opening 5 1 main control power 52 1 GPS antenna 53 wireless number 54 detection instrument 55 radio 55 1 remote control antenna 56 Side plate 6 Waterproof motor 61 Propeller 63 Controller 7 Rudder
8 PC 1 3船桅 力 3 主結構體 42艙蓋 5 結合板 腦 5 2 GPS接收儀 據機 5 3 1無線數據天線 遙控接收器 57音鼓 62固定架 7 1伺月艮器 請參閱圖1、2所示，本發明船體1的基本構造成如同 浮出水面2航行的潛艇，外觀則如魚類般呈流線型，而大 部分體積則在水下；並以適當的配重使其重心1 1位於較低 的位置，利用不倒翁原理，受海浪推力2 1的作用時，能自 動恢復直立狀態，達成自我穩定性的功能。本發明船體1 採吃水深的設計在近岸捲浪區或海象惡劣時*浪兩與船體 1尺寸相近的波浪會淹漫過船體1，使船體1有如自水表面 下穿越波浪，可大幅減少波浪造成的震盪。本發明船體18 PC 1 3 Mast force 3 Main structure 42 Hatch cover 5 Combining the brain 5 2 GPS receiver data receiver 5 3 1 Wireless data antenna remote control receiver 57 Drum 62 Fixing frame 7 1 Servo drive Please refer to Figure 1 As shown in Figures 2 and 2, the basic structure of the hull 1 of the present invention is a submarine sailing on the surface 2 with a streamlined appearance like a fish, while most of its volume is underwater; and its center of gravity 1 is adjusted with an appropriate weight. 1 is located in a lower position, using the tumbler principle, and can be automatically restored to the upright state when it is subjected to the thrust of the waves 2 1 to achieve the function of self-stability. The design of the hull 1 in the present invention is designed for the draught in the near-shore curling area or when the walrus is bad. * The waves with the same size as the hull 1 will flood the hull 1 and make the hull 1 pass through the waves like it is under the water surface. , Can greatly reduce the shock caused by waves. The hull of the invention 1
五、發明說明（3) 採低重心的設計，使船體1橫截面如同不倒翁一樣，即使 波浪再大使船體翻滾，亦能自動恢復直立狀態，而無翻復 之虞，具有自我穩定性的功能。 請參閱圖3所示，本發明有一主結構體3包括電池艙4 與結合板5所組成，該結合板5可為Π字形鋁板，且具有一 開口 5 0以供電池艙4頂部穿出；防水馬達6與螺旋槳6 1安裝 於結合板5下方，電池艙4的後方；防水馬達6結合於固定 架6 2下方。無線遙控接收器5 5與控制舵7的伺月民器7 1安裝 於結合板5上，接近尾部，螺旋槳6 1的上方。主控電腦 5 1、G P S接收儀5 2、無線數據機3 3以及探測儀器5 4等，先 經個別以環氧樹脂（Epoxy )，或油漆等防水塗料塗抹其 外殼與連接的導線，作為防水處理，在依次安裝於主結構 體3上適當位置。為加強安全性，主控電腦5 1、G P S接收儀 5 2、無線數據機5 3等電子零組件所在位置船體1之外側， 尚須加上由鋁板或塑膠板等材料製成之侧板5 6，以避免該 等電子零組件遭受直接撞擊》 請參閱圖4所示，本發明電池採用外殼密封的免加水 電池4 1 ，置於密封的電池艙4中；電池艙蓋4 2位於船體的 頂部，以防水膠墊4 3與螺絲4 4鎖緊來達到水密。 請參閱圖5所示，本發明將占大部分重量的電池4 1與 防水馬達6置於船體1下方，利用這些必要的重量作為配 重，來實現低重心的設計。各種較輕的電子零組件，如主 控電腦5 1、GPS接收儀52、無線數據機53、船體1的自動/ 手動、速度及方向之控制器6 3、無線遙控接收器5 5及伺服V. Description of the invention (3) The design with a low center of gravity makes the cross section of the hull 1 like a tumbler. Even if the waves roll over, the ambassador's hull can automatically restore the upright state without the risk of overturning. Features. Please refer to FIG. 3, the present invention has a main structure 3 including a battery compartment 4 and a coupling plate 5, which may be a Π-shaped aluminum plate and has an opening 50 for the top of the battery compartment 4 to pass through; The waterproof motor 6 and the propeller 61 are installed below the coupling plate 5 and behind the battery compartment 4; the waterproof motor 6 is coupled below the fixing frame 62. The wireless remote control receiver 5 5 and the moon control device 7 1 that controls the rudder 7 are mounted on the joint plate 5 near the tail and above the propeller 61. Main control computer 5 1. GPS receiver 5 2. Wireless modem 3 3 and detection instrument 5 4 etc. Firstly, the outer shell and the connecting wires are coated with epoxy resin or waterproof paint such as paint for waterproofing. The processing is sequentially mounted on the main structure 3 at an appropriate position. To enhance security, the main control computer 5 1. GPS receiver 5 2. Wireless modem 5 3. Outside the hull 1 where electronic components such as 3 are located, a side plate 5 made of aluminum or plastic plate must be added. 6 to avoid direct impact of such electronic components. Please refer to FIG. 4. The battery of the present invention is a water-free battery 4 1 sealed in a case and placed in a sealed battery compartment 4; the battery compartment cover 4 2 is located on the hull At the top, lock with waterproof rubber pad 4 3 and screws 4 4 to achieve water tightness. Please refer to FIG. 5. In the present invention, the battery 41 and the waterproof motor 6 which occupy most of the weight are placed under the hull 1, and these necessary weights are used as counterweights to achieve a low center of gravity design. Various light electronic components, such as the main control computer 5 1. GPS receiver 52, wireless modem 53, hull 1 automatic / manual, speed and direction controller 6 3. Wireless remote control receiver 5 5 and servo
第6頁 44S 1 1 ( ‘ 五、發明說明（4) 器7 1等，皆分別先做防水處理，安裝於主結構體，並將 GPS天線521及無線數據天線531安裝於船桅13頂端，將遙 控天線551結合於無線遙控接收器55上；並於與GPS天線 5 2 1正下方的船底處設有測深儀之音鼓5 7 ;再以不吸水、 不剝落的P U發泡材料填充其空間與外部，形成流線型的船 體。本發明防水馬達6置於水線下，直接經傳動軸帶動螺 旋槳6 1，不但使推進機構的構造簡化，且防水馬達6部分 外殼直接與水接觸也使其散熱良好。Ρ ϋ發泡比重極輕，不 吸水、不受海水侵蝕，又不剝落，可提供足夠的排水量來 產生足夠的浮力。且發泡材料的重量遠小於電池與馬達合 計的總重，可形成良好的不倒翁作用。本發明船體外殼除 保護用的鋁板與塑膠板部分外，PU發泡部分還可塗上矽膠 (Silicon Rubber)，提供進一步的防水與安全性。又PU 發泡材料所填充的船體，不但對礁岩的撞擊提供良好的緩 衝作用，保護各種電子零組件與探測儀器，且易於維修與 功能擴充。在維修方面，萬一船體受損，可調和發泡劑來 修補。而若檢修出電子零組件故障或功能異常時，可用類 似外科手術的方法，挖開P U發泡材料，取出零組件檢修或 替換，然後再調和發泡劑來修補外型。在功能擴充方面， 可用上述類似外科手術的方法，加裝或更換探測儀器。並 可依酬載量，增加P U發泡材料的體積，適度增加排水量來 加大所需的浮力。本發明亦可以其他輕質材料取代PU發泡 材料。 請參閱圖6所示，本發明的控制及傳輸電路結構包括Page 6 44S 1 1 ('V. Description of the invention (4) Device 7 1 and so on are all waterproofed first, installed on the main structure, and the GPS antenna 521 and wireless data antenna 531 are installed on the top of the mast 13, The remote control antenna 551 is combined with the wireless remote control receiver 55; and the sound drum 5 7 of the sounder is provided at the bottom of the ship directly below the GPS antenna 5 2 1; and then it is filled with a non-absorbent, non-peeling PU foam material. The space and the outside form a streamlined hull. The waterproof motor 6 of the present invention is placed under the waterline and drives the propeller 61 directly through the transmission shaft, which not only simplifies the structure of the propulsion mechanism, but also makes the shell of the waterproof motor 6 directly contact the water. It has good heat dissipation. The foaming density of PZ is extremely light. It does not absorb water, is not corroded by sea water, and does not peel off. It can provide sufficient drainage to generate sufficient buoyancy. And the weight of the foamed material is far less than the total weight of the battery and the motor. It can form a good tumbler effect. In addition to the protective aluminum plate and plastic plate part of the hull shell of the present invention, the PU foam part can also be coated with Silicone Rubber to provide further waterproofing and safety. The hull filled with foamed material not only provides a good buffering effect against the impact of reef rocks, protects various electronic components and detection instruments, and is easy to repair and expand functions. In terms of maintenance, if the hull is damaged, it can be adjusted Foaming agent to repair. If the electronic component is faulty or malfunctioning, you can use a method similar to surgery to dig out the PU foam material, take out the component for repair or replacement, and then reconcile the foaming agent to repair the appearance. In terms of function expansion, the above-mentioned method similar to surgery can be used to install or replace the detection instrument. It can increase the volume of the PU foam material according to the payload, and increase the drainage volume to increase the required buoyancy. The invention also The PU foam material can be replaced by other lightweight materials. Please refer to FIG. 6, the control and transmission circuit structure of the present invention includes
第7頁 五 '發明說明（5) 基地站及載具兩部分；其中基地站包括：無線遙控器55、 無線數據機53、GPS接收儀52及PC (個人電腦）8，其中 PC8連接無線電數據機53及GPS接收儀52。載具部分包括一 主控電腦51連接無線電數據機53、GPS接收儀52、探測儀 器54、船體的手動/自動、速度及方向之控制器63 ;其令 該控制器6 3另連接無線電遙控接收器5 5 ;無線電遙控器 55、GPS接收儀52及無線數據機53皆連接有與其相配合的 天線。該控制器6 3包括手動/自動切換電路、馬達驅動電 路及方向控制之伺服器。主控電腦5 1為船體的控制中樞， 可依基地台指令，設定為手動或自動模式。在手動模式 下’載具的運動由無線遙控器55直接控制，適合於出入近〇 岸捲浪區或狹窄水域時之操作《主控電腦5 1可將由G p §接、 收儀5 2得到的經緯度、航向、速度等航行資訊與由探測儀 器5 4得到的數據做初步處理’取出必要資訊，經由無線電 數據機5 3傳回基地站’使操作人員在夜暗狀況下仍能利用 載具傳來的航行資訊，以儀表導航方式，操控載具進行探 測作業°在自動模式下’由基地台設定一連串的目標點， 連成其預設航路。啟航後載具就執行自動導航程式，朝下 一個目標點前進，並傳回航行資訊與測量數據，使操作人 員可以由基地台監看其狀態，並可視需要下指令。 本發明的探測儀器可包括測深儀及湧浪補償器；且 GPS接收儀可為具校正功能的GPS接收儀；該測深儀連接音\ 鼓’即構成一種水深測量即時作業系統；船體的主控電腦 經由同步接收具校正功能的GPS接收儀、測深儀及湧浪補Page 5 (5) Description of the invention (5) Base station and vehicle; the base station includes: wireless remote control 55, wireless modem 53, GPS receiver 52 and PC (personal computer) 8, where PC 8 is connected to radio data Machine 53 and GPS receiver 52. The vehicle part includes a main control computer 51 connected to a radio modem 53, a GPS receiver 52, a detection instrument 54, a manual / automatic, speed and direction controller 63 for the hull; it makes the controller 6 3 also connected to a radio remote control The receiver 5 5; the radio remote control 55, the GPS receiver 52 and the wireless modem 53 are all connected with an antenna matching the same. The controller 63 includes a manual / automatic switching circuit, a motor driving circuit and a servo for direction control. The main control computer 51 is the control center of the hull, and can be set to manual or automatic mode according to the instructions of the base station. In the manual mode, the movement of the vehicle is directly controlled by the wireless remote control 55, which is suitable for operation when entering and exiting near the shore wave area or narrow waters. "The main control computer 5 1 can be connected by G p § and received 5 2 The longitude, latitude, longitude, heading, speed and other navigation information and the data obtained by the detection device 5 4 are preliminary processed to 'take out the necessary information and transmit it to the base station via the radio data machine 5 3' so that the operator can still use the vehicle in the dark conditions The navigation information is transmitted by instrument navigation to control the vehicle for detection. In the automatic mode, a series of target points are set by the base station to form its preset route. After sailing, the vehicle executes an automatic navigation program, advances to the next target point, and returns navigation information and measurement data, so that the operator can monitor its status from the base station and give instructions as needed. The detection instrument of the present invention may include a depth sounder and a surge compensator; and the GPS receiver may be a GPS receiver with a correction function; the sounder is connected to a sound \ drum 'to constitute a real-time operation system for water depth measurement; The control computer receives the GPS receiver, depth sounder and surge compensator with calibration function through synchronization
第8頁 ^43 ：ι . r ί 五、發明說明（6) 償器所傳送有關船上測點之經緯度及水深等資料，經由運 算及介面處理，即可將船航行軌跡、水深剖面圖及相關的 數據資料，經無線數據機傳回基地站的PC，並將該等資料 顯示於電腦螢幕上。又該PC可預存規劃航線，並使預存的 規劃航線，及船航行軌跡、水深剖面圖及相關的數據資料 顯示於電腦螢幕上。由於本案船體採用特殊的設計，可在 較淺的、較危險的區域及在較不好的天候情況下進行探測 作業，此為一般載人的測量船所無法比擬的。 以上所記載者，僅為利用本發明技術内容之實施例， 任何熟悉本項技藝者運用本發明所為之修飾、變化，皆屬 本創作所主張之專利範圍。 綜上所述，本發明能確實達成前述目的、功效，且為 有關無人水面載具技術領域之一大創舉，已合於實用性、 新穎性及進步性之發明專利要件，敬請早日准予專利以嘉 惠社會大眾。Page 8 ^ 43: ι. R ί 5. Description of the invention (6) The data about the latitude, longitude and water depth of the ship's survey points transmitted by the compensator can be processed and calculated by the interface, and the ship's navigation trajectory, water depth profile and related The data is transmitted to the PC of the base station via the wireless modem, and the data is displayed on the computer screen. In addition, the PC can pre-store planned routes, and display the pre-stored planned routes, ship trajectory, water depth profile and related data on the computer screen. Due to the special design of the hull in this case, detection operations can be carried out in shallower, more dangerous areas and in poor weather conditions, which is unmatched by ordinary manned survey ships. The above records are only examples of using the technical content of the present invention. Anyone skilled in the art using the modifications and changes made by the present invention is within the scope of the patent claimed by this creation. In summary, the present invention can indeed achieve the aforementioned objectives and effects, and is a great initiative in the technical field of unmanned surface vehicles. It has already combined the practical, novel, and progressive invention patent elements. Please grant the patent at an early date. To benefit the public.
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