TWI829992B - Unmanned ship offset reset system - Google Patents

Unmanned ship offset reset system Download PDF

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TWI829992B
TWI829992B TW110102255A TW110102255A TWI829992B TW I829992 B TWI829992 B TW I829992B TW 110102255 A TW110102255 A TW 110102255A TW 110102255 A TW110102255 A TW 110102255A TW I829992 B TWI829992 B TW I829992B
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propulsion motor
component
hull
motor component
processing unit
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TW202229107A (en
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郭鎮銘
郭忠鑫
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鎮鑫科技股份有限公司
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Abstract

本發明係提供一種無人船偏移復位系統，係包括有一船體及一主動力組件，該船體設置有一中央處理單元，而該主動力組件係設置於所述船體上且訊號連接所述中央處理單元並具有一第一推進馬達部件及一第二推進馬達部件及一第三推進馬達部件及一第四推進馬達部件，所述主動力組件係可直接組裝於船體上，達到組裝方便之功效者，另該第一推進馬達部件及第二推進馬達部件及第三推進馬達部件及第四推進馬達部件相對設置於船體之兩側邊，而於使用時直接降下至水面下，以避免行進時增加阻力而達到省電且可快速回復無人船探測位置之功效者。The invention provides an unmanned ship offset reset system, which includes a hull and a main power component. The hull is provided with a central processing unit, and the main power component is provided on the hull and is connected to the signal by a signal. The central processing unit also has a first propulsion motor component, a second propulsion motor component, a third propulsion motor component, and a fourth propulsion motor component. The main power component can be directly assembled on the hull to facilitate assembly. For the function, the first propulsion motor part, the second propulsion motor part, the third propulsion motor part and the fourth propulsion motor part are arranged oppositely on both sides of the hull, and are directly lowered to the water surface when in use. It avoids increasing resistance while traveling, thereby saving power and quickly returning to the detection position of the unmanned ship.

Description

無人船偏移復位系統Unmanned ship offset reset system

本發明係有關於一種無人船復位系統，尤指一種組裝方便且省電並可快速回復無人船探測位置之無人船偏移復位系統。The present invention relates to an unmanned ship reset system, in particular to an unmanned ship offset reset system that is easy to assemble, saves power and can quickly restore the unmanned ship's detection position.

現今廢水排放越來越多，各種不同之有害液體充斥於我們的周遭環境，但由於人的肉眼並無法直接觀察到水質，因此身處怎樣的水質環境亦無從得知。目前技術中常見的水域資料（包含水域之水溫、水中酸鹼值及水中雜質等）取得方式，多為人工採樣檢測，惟人工採樣檢測受限於昂貴之人工成本及有無法全天候監測之缺點，因此便有利用無人船結合感測元件至水域做採集與偵測之技術，而一般無人船在水域上移動或定位探測水質時，通常會設定其無人船之航道與定點探測，但無人船在水域移動時會被水流影響而脫離航道，甚至在定點做探測時，也會被水流影響而脫離定點位置，而在無人船無法依照設定航道行進或穩定維持在定點時，其探測之水質便無法符合所設定之水質環境，更無法有效的探測到該水域設定區域之水質，而一般習知無人船之行進方式則是在其船底組設一組螺旋槳，但因為螺旋槳設置空間的關係，則需要使用相對應體積之船身才能符合相對應大小之螺旋槳，且螺旋槳因考量其體積與轉動範圍，而在其組裝上相對不便，更且螺旋槳之設置會增加船身移動之阻力，且船身在改變行進方向時，則需要先轉動螺旋槳之方向至欲行進方向才能使無人船船頭產生相對應角度之轉動與往設定方向前進，但也因此其螺旋槳之阻力與轉動都會造成無人船耗電量增加之問題產生。Nowadays, more and more wastewater is being discharged, and various harmful liquids are flooding our surrounding environment. However, since the human eye cannot directly observe the water quality, it is impossible to know what kind of water quality we are in. At present, the common way to obtain water data (including water temperature, pH value and impurities in water, etc.) is mostly manual sampling and testing. However, manual sampling and testing is limited by expensive labor costs and has the disadvantage of being unable to monitor around the clock. Therefore, there is a technology that uses unmanned ships combined with sensing elements to collect and detect the water. Generally, when an unmanned ship moves on the water or locates and detects water quality, it usually sets its unmanned ship's channel and fixed-point detection, but the unmanned ship When moving in the water area, it will be affected by the current and deviate from the channel. Even when detecting at a fixed point, it will be affected by the current and deviate from the fixed position. When the unmanned ship cannot travel according to the set channel or maintain stably at the fixed point, the water quality it detects will be It cannot meet the set water quality environment, and it cannot effectively detect the water quality in the set area of the water. The generally known way of traveling unmanned ships is to install a set of propellers on the bottom of the ship. However, due to the space constraints of the propeller installation, It is necessary to use a hull of a corresponding volume to fit a propeller of a corresponding size, and the propeller is relatively inconvenient to assemble due to its volume and rotation range. Moreover, the setting of the propeller will increase the resistance to movement of the hull, and the hull When changing the direction of travel, you need to first turn the propeller to the desired direction of travel so that the bow of the unmanned ship can rotate at a corresponding angle and move forward in the set direction. However, the resistance and rotation of the propeller will also cause the unmanned ship to consume power. Increased problems arise.

是以，要如何解決上述習用之問題與缺失，即為本案之發明人與從事此行業之相關廠商所亟欲研究改善之方向所在者。Therefore, how to solve the above-mentioned conventional problems and deficiencies is the direction that the inventor of this case and related manufacturers engaged in this industry are eager to study and improve.

爰此，為有效解決上述之問題，本發明之主要目的在於提供一種組裝方便且省電並可快速回復無人船探測位置之無人船偏移復位系統。Therefore, in order to effectively solve the above problems, the main purpose of the present invention is to provide an unmanned ship offset reset system that is easy to assemble, saves power and can quickly restore the unmanned ship detection position.

為達上述目的，本發明係提供一種無人船偏移復位系統，係包括有一船體及一主動力組件，該船體設置有一中央處理單元，該中央處理單元儲存有至少一航道資料及至少一定點資料，又該中央處理單元另具有一定位模組，而該主動力組件係設置於所述船體上，且該主動力組件訊號連接所述中央處理單元，另該主動力組件具有一第一推進馬達部件及一第二推進馬達部件及一第三推進馬達部件及一第四推進馬達部件，而該第一推進馬達與該第二推進馬達相對設置於該船體之一側邊，而該第三推進馬達係設置於該船體另一側相對該第一推進馬達之對角位置處，另該第四推進馬達係設置於該船體另一側相對該第二推進馬達之對角位置處，藉此，所述主動力組件係可直接組裝於船體上，達到組裝方便之功效者，另該第一推進馬達部件及第二推進馬達部件及第三推進馬達部件及第四推進馬達部件相對設置於船體之兩側邊，而於使用時直接降下至水面下，以避免行進時增加阻力而達到省電且可快速回復無人船探測位置之功效者。In order to achieve the above object, the present invention provides an unmanned ship offset reset system, which includes a hull and a main power assembly. The hull is provided with a central processing unit. The central processing unit stores at least one channel data and at least a certain amount of data. point data, and the central processing unit also has a positioning module, and the main power component is arranged on the hull, and the main power component signal is connected to the central processing unit, and the main power component has a first a propulsion motor component and a second propulsion motor component, a third propulsion motor component and a fourth propulsion motor component, and the first propulsion motor and the second propulsion motor are disposed opposite to one side of the hull, and The third propulsion motor is disposed on the other side of the hull at a diagonal position relative to the first propulsion motor, and the fourth propulsion motor is disposed on the other side of the hull at a diagonal position relative to the second propulsion motor. position, whereby the main power component can be directly assembled on the hull to achieve the effect of convenient assembly. In addition, the first propulsion motor component, the second propulsion motor component, the third propulsion motor component and the fourth propulsion motor component The motor components are arranged opposite to each other on both sides of the hull, and are lowered directly to the water surface during use to avoid increasing resistance during travel, thereby saving power and quickly returning to the detection position of the unmanned ship.

根據本發明無人船偏移復位系統之一實施例，其中所述主動力組件更設置有一升降部件，該升降部件係組設於該船體，而該第一推進馬達部件及一第二推進馬達部件及一第三推進馬達部件及一第四推進馬達部件係分別經由一延伸桿連接該升降部件。According to an embodiment of the unmanned ship offset reset system of the present invention, the main power component is further provided with a lifting component, the lifting component is assembled on the hull, and the first propulsion motor component and a second propulsion motor The component, a third propulsion motor component and a fourth propulsion motor component are respectively connected to the lifting component via an extension rod.

根據本發明無人船偏移復位系統之一實施例，其中所述中央處理單元係產生有一升降訊號控制所述升降部件升降於船體上，進而控制該第一推進馬達與第二推進馬達與第三推進馬達與第四推進馬達升降。According to an embodiment of the unmanned ship offset reset system of the present invention, the central processing unit generates a lifting signal to control the lifting component to lift on the hull, thereby controlling the first propulsion motor, the second propulsion motor and the third propulsion motor. The third propulsion motor and the fourth propulsion motor lift.

根據本發明無人船偏移復位系統之一實施例，其中所述中央處理單元另產生有一動力訊號至所述第一推進馬達與第二推進馬達與第三推進馬達與第四推進馬達並啟動且控制推進速度。According to an embodiment of the unmanned ship offset reset system of the present invention, the central processing unit also generates a power signal to the first propulsion motor, the second propulsion motor, the third propulsion motor and the fourth propulsion motor and starts them, and Control the propulsion speed.

根據本發明無人船偏移復位系統之一實施例，更包括有一第一副動力組件及一第二副動力組件。According to an embodiment of the unmanned ship offset reset system of the present invention, it further includes a first auxiliary power component and a second auxiliary power component.

根據本發明無人船偏移復位系統之一實施例，其中所述第一副動力組件係訊號連接所述中央處理單元，且該中央處理單元產生有一控制訊號啟動該第一副動力組件且控制其推進方向。According to an embodiment of the unmanned ship offset reset system of the present invention, the first auxiliary power component is connected to the central processing unit via a signal, and the central processing unit generates a control signal to activate the first auxiliary power component and control it. direction of advancement.

根據本發明無人船偏移復位系統之一實施例，其中所述第二副動力組件係訊號連接所述中央處理單元，且該中央處理單元產生有一控制訊號啟動該第二副動力組件且控制其推進方向。According to an embodiment of the unmanned ship offset reset system of the present invention, the second auxiliary power component is connected to the central processing unit via a signal, and the central processing unit generates a control signal to activate the second auxiliary power component and control it. direction of advancement.

根據本發明無人船偏移復位系統之一實施例，其中所述第一副動力組件係相對設置於船體後端一側。According to an embodiment of the unmanned ship offset reset system of the present invention, the first auxiliary power component is relatively disposed on the rear end side of the hull.

根據本發明無人船偏移復位系統之一實施例，其中所述第二副動力組件係相對設置於船體後端另一側。According to an embodiment of the unmanned ship offset reset system of the present invention, the second auxiliary power component is relatively disposed on the other side of the rear end of the hull.

本發明之上述目的及其結構與功能上的特性，將依據所附圖式之較佳實施例予以說明。The above objects and structural and functional characteristics of the present invention will be explained based on the preferred embodiments of the accompanying drawings.

首先，請參閱第1圖及第2圖所示，係為本發明無人船偏移復位系統1之方塊圖一及示意圖一，其中所述無人船偏移復位系統1係包括有一船體2及一主動力組件3。First, please refer to Figures 1 and 2, which are block diagrams 1 and schematic diagram 1 of the unmanned ship offset reset system 1 of the present invention. The unmanned ship offset reset system 1 includes a hull 2 and 1. Main power component 3.

其中該船體2內設置有一中央處理單元21，該中央處理單元21內儲存有至少一航道資料211及至少一定點資料212，又該中央處理單元21設置有一定位模組213，並該中央處理單元21係與伺服端無線連接，而其中該中央處理單元21內之航道資料211係為船體2在待採樣水域所規劃設定之航行路線，而在航道資料211中便會有多個需探測水質之探測點，變將其探測點設定為定點資料212，以使該船體2可透過中央處理單元21控制行進在其航道資料211上，而其中央處理單元21主要是透過定位模組213來判斷其船體2之所在位置是否有偏移航道資料211與定點資料212。The hull 2 is provided with a central processing unit 21. The central processing unit 21 stores at least one channel data 211 and at least a certain point data 212. The central processing unit 21 is also provided with a positioning module 213, and the central processing unit 21 stores at least one channel data 211 and at least a certain point data 212. The unit 21 is wirelessly connected to the server, and the channel data 211 in the central processing unit 21 is the navigation route planned and set by the hull 2 in the waters to be sampled, and there will be multiple channels that need to be detected in the channel data 211 The water quality detection point is set as fixed point data 212, so that the hull 2 can be controlled to travel on its channel data 211 through the central processing unit 21, and the central processing unit 21 mainly uses the positioning module 213 To determine whether the position of the hull 2 has offset channel data 211 and fixed point data 212.

其中該主動力組件3係設置於所述船體2上，且該主動力組件3係訊號連接所述中央處理單元21，又該主動力組件3具有一第一推進馬達部件31及一第二推進馬達部件32及一第三推進馬達部件33及一第四推進馬達部件34及一升降部件35，而該升降部件35係組設於該船體2，而該第一推進馬達部件31及第二推進馬達部件32及第三推進馬達部件33及第四推進馬達部件34係分別經由一延伸桿36連接該升降部件35，又該第一推進馬達部件31與該第二推進馬達經由該延伸桿36相對設置於該船體2之一側邊，另該第三推進馬達部件33經由該延伸桿36設置於該船體2另一側且相對該第一推進馬達部件31之對角位置處，而該第四推進馬達部件34經由該延伸桿36設置於該船體2另一側且相對該第二推進馬達部件32之對角位置處，並該第一推進馬達部件31及第二推進馬達部件32及第三推進馬達部件33及第四推進馬達部件34係設置於該船體2四邊角落，而以該船體2正中線來舉例，最佳設置位置為第一推進馬達部件31與第二推進馬達部件32間之垂直線J係平行於該船體2正中線K，而第三推進馬達部件33與第四推進馬達部件34之垂直線L係平行於該船體2正中線K，另該第一推進馬達部件31與第四推進馬達部件34間之水平線M垂直該船體2正中線K，而該第二推進馬達部件32與第三推進馬達部件33間之水平線N垂直該船體2正中線K；又該第一推進馬達部件31及第二推進馬達部件32及第三推進馬達部件33及第四推進馬達部件34係斜向設置於該船體2四邊角落；該第一推進馬達部件31及第二推進馬達部件32及第三推進馬達部件33及第四推進馬達部件34與該船體2正中線係為斜角設置，而其最佳角度為45度。The main power component 3 is disposed on the hull 2 and is connected to the central processing unit 21 via signals. The main power component 3 has a first propulsion motor component 31 and a second propulsion motor component 31 . The propulsion motor part 32 and a third propulsion motor part 33 and a fourth propulsion motor part 34 and a lifting part 35 are assembled on the hull 2, and the first propulsion motor part 31 and the The second propulsion motor part 32, the third propulsion motor part 33 and the fourth propulsion motor part 34 are respectively connected to the lifting part 35 via an extension rod 36, and the first propulsion motor part 31 and the second propulsion motor are connected via the extension rod 36. 36 is disposed opposite to one side of the hull 2, and the third propulsion motor component 33 is disposed on the other side of the hull 2 via the extension rod 36 at a diagonal position relative to the first propulsion motor component 31, The fourth propulsion motor component 34 is disposed on the other side of the hull 2 via the extension rod 36 at a diagonal position relative to the second propulsion motor component 32, and the first propulsion motor component 31 and the second propulsion motor The component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 are arranged at the four corners of the hull 2. Taking the center line of the hull 2 as an example, the optimal placement location is the first propulsion motor component 31 and the fourth propulsion motor component 34. The vertical line J between the two propulsion motor components 32 is parallel to the center line K of the hull 2, and the vertical line L between the third propulsion motor component 33 and the fourth propulsion motor component 34 is parallel to the center line K of the hull 2. In addition, the horizontal line M between the first propulsion motor component 31 and the fourth propulsion motor component 34 is perpendicular to the center line K of the hull 2, and the horizontal line N between the second propulsion motor component 32 and the third propulsion motor component 33 is perpendicular to the vessel. The centerline K of the hull 2; and the first propulsion motor component 31, the second propulsion motor component 32, the third propulsion motor component 33 and the fourth propulsion motor component 34 are obliquely arranged at the four corners of the hull 2; the first The propulsion motor part 31, the second propulsion motor part 32, the third propulsion motor part 33 and the fourth propulsion motor part 34 are arranged at an oblique angle to the center line of the hull 2, and the optimal angle is 45 degrees.

而其中該船體2經由伺服端操控出發後，而該中央處理單元21則產生有動力訊號至所述第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34並啟動且控制馬達轉速，該中央處理單元21經由調配其第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34之啟動與馬達轉速來控制該船體2之行進方向。After the hull 2 is controlled by the servo terminal, the central processing unit 21 generates a power signal to the first propulsion motor component 31, the second propulsion motor component 32, the third propulsion motor component 33 and the fourth propulsion motor component 32. To propel the motor component 34 and start and control the motor speed, the central processing unit 21 adjusts the starting and motor functions of the first propeller motor component 31 and the second propeller motor component 32 and the third propeller motor component 33 and the fourth propeller motor component 34. The rotational speed is used to control the traveling direction of the hull 2.

另請參閱前述附圖及第3圖至第7圖所示，係為本發明無人船偏移復位系統之船體移動於航道資料之示意圖及側視示意圖及升降部件之升降示意圖，由圖中可清楚看出，其中中央處理單元21經由所述動力訊號來控制所船體2行駛於航道資料211上且於定點資料212進行水質探測，而中央處理單元21可控制所述船體2多方向移動。Please also refer to the aforementioned drawings and Figures 3 to 7, which are schematic diagrams of the movement of the hull in the channel data of the unmanned ship offset reset system according to the present invention, as well as a side view and a schematic diagram of the lifting components. From the figures, It can be clearly seen that the central processing unit 21 controls the hull 2 to travel on the channel data 211 and perform water quality detection on the fixed point data 212 through the power signal, and the central processing unit 21 can control the hull 2 in multiple directions. Move.

又因為該第一推進馬達部件31及第二推進馬達部件32及第三推進馬達部件33及第四推進馬達部件34與該船體2正中線係為斜角設置，所以其各馬達部件會分別產生有水平推進力與垂直推進力，而單一馬達部件驅動時，便藉由其水平推進力與垂直推進力而產生斜向推進力，且其各馬達部件係可依設備需求進行控制正轉及反轉，又其中於本實施例中，馬達部件正轉係為將水往船體2外推動，而反轉係為將水往船體2內推動。And because the first propulsion motor component 31, the second propulsion motor component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 are arranged at an oblique angle to the center line of the hull 2, their respective motor components will move separately. There are horizontal propulsion force and vertical propulsion force generated. When driven by a single motor component, oblique propulsion force is generated by its horizontal propulsion force and vertical propulsion force, and each of its motor components can be controlled to rotate forward and reverse according to the equipment requirements. Reverse rotation, in this embodiment, the forward rotation of the motor component is to push the water out of the hull 2 , and the reverse rotation is to push the water into the hull 2 .

其中當該船體2欲往前方移動時，該中央處理單元21可啟動所述第二推進馬達部件32與第三推進馬達部件33正轉驅動，而其第二推進馬達部件32與第三推進馬達部件33之水平推進力會相互抵銷，僅剩下其第二推進馬達部件32與第三推進馬達部件33之垂直推進力，以使該第二推進馬達部件32與第三推進馬達部件33產生向前推進力且使船體2往前方移動，該中央處理單元21也可控制該第一推進馬達部件31與第四推進馬達部件34正轉驅動，以使該第一推進馬達部件31與第四推進馬達部件34產生向後推進力且使船體2往前方直線移動，而於本實施例中，其中央處理單元21係控制其第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34正轉驅動為主要說明。When the hull 2 wants to move forward, the central processing unit 21 can start the second propulsion motor component 32 and the third propulsion motor component 33 to drive forward, and the second propulsion motor component 32 and the third propulsion motor component 33 can be driven forward. The horizontal propulsion force of the propulsion motor part 33 will cancel each other out, leaving only the vertical propulsion force of the second propulsion motor part 32 and the third propulsion motor part 33, so that the second propulsion motor part 32 and the third propulsion motor part 33 33 generates forward propulsion force and moves the hull 2 forward. The central processing unit 21 can also control the first propulsion motor component 31 and the fourth propulsion motor component 34 to drive forward, so that the first propulsion motor component 34 can be driven forward. 31 and the fourth propulsion motor component 34 generate a backward propulsion force and move the hull 2 straight forward. In this embodiment, the central processing unit 21 controls the first propulsion motor component 31 and the second propulsion motor component. 32, the third propulsion motor component 33 and the fourth propulsion motor component 34 are driven to rotate forward as the main description.

而當該船體2欲往後方移動時，該中央處理單元21可啟動所述第二推進馬達部件32與第三推進馬達部件33反轉驅動，而其第二推進馬達部件32與第三推進馬達部件33之水平推進力會相互抵銷，僅剩下其第二推進馬達部件32與第三推進馬達部件33之垂直推進力，以使該第二推進馬達部件32與第三推進馬達部件33產生向後推進力且使船體2往後方移動。When the hull 2 wants to move backward, the central processing unit 21 can start the second propulsion motor component 32 and the third propulsion motor component 33 to reversely drive, and the second propulsion motor component 32 and the third propulsion motor component 33 can be driven backward. The horizontal thrust of the motor components 33 will cancel each other out, leaving only the vertical thrust of the second thrust motor component 32 and the third thrust motor component 33 , so that the second thrust motor component 32 and the third thrust motor component 33 A backward propulsion force is generated and the hull 2 is moved backward.

另當該船體2欲往左方移動時，該中央處理單元21可啟動所述第三推進馬達部件33與第四推進馬達部件34正轉驅動，而其第三推進馬達部件33與第四推進馬達部件34之垂直推進力會相互抵銷，僅剩下其第三推進馬達部件33與第四推進馬達部件34之水平推進力，以使該第三推進馬達部件33與第四推進馬達部件34產生向左推進力且使船體2往左方移動，反之，另當該船體2欲往右方移動時，該中央處理單元21則啟動所述第一推進馬達部件31與第二推進馬達部件34，使該船體2往右方移動；又或者該船體2被水流帶離行進航道時，該船體2欲往左前方移動時，該中央處理單元21則啟動所述第三推進馬達部件33或利用第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34間相互動力之增減來控制其船體2往左前方移動，換言之，該船體2則可透過中央處理單元21經由調配及控制其第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34之啟動與推進速度來控制該船體2之行進方向。In addition, when the hull 2 wants to move to the left, the central processing unit 21 can start the third propulsion motor component 33 and the fourth propulsion motor component 34 to drive forward, and the third propulsion motor component 33 and the fourth propulsion motor component 34 can be driven forward. The vertical propulsion forces of the propulsion motor components 34 will cancel each other out, leaving only the horizontal propulsion forces of the third propulsion motor component 33 and the fourth propulsion motor component 34, so that the third propulsion motor component 33 and the fourth propulsion motor component 34 34 generates a leftward propulsion force and causes the hull 2 to move to the left. On the contrary, when the hull 2 wants to move to the right, the central processing unit 21 starts the first propulsion motor component 31 and the second propulsion The motor component 34 makes the hull 2 move to the right; or when the hull 2 is taken away from the traveling channel by the water flow and the hull 2 wants to move to the left front, the central processing unit 21 starts the third The propulsion motor component 33 may control the hull 2 to move forward and left by using the increase or decrease in mutual power between the second propulsion motor component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34. In other words, the hull 2 The central processing unit 21 can be used to control the starting and propulsion speed of the first propulsion motor part 31 and the second propulsion motor part 32 and the third propulsion motor part 33 and the fourth propulsion motor part 34 to control the hull 2 direction of travel.

以使該船體2可透過中央處理單元21控制行駛於航道資料211上，而中央處理單元21控制船體2至定點資料212所設定之探測點時，該中央處理單元21係產生有升降訊號控制所述升降部件35升起，使該第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34升起離開水面，而後進行探測水質之動作，直至該探測點水質探測完畢後或船體2被水流帶離探測點時，該中央處理單元21經由該升降訊號控制所述升降部件35降下使該第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34升起降至水面下，且該中央處理單元21經由所述定位模組213判斷定點資料212之經緯度與偏移後之經緯度，進而控制其第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34之啟動與馬達轉速來控制該船體2之行進方向至下一個定點資料212或回復至原始定點資料212，藉此，所述主動力組件3係可直接組裝於船體2上，達到組裝方便之功效者，另該第一推進馬達部件31及第二推進馬達部件32及第三推進馬達部件33及第四推進馬達部件34相對設置於船體2之兩側邊，而於使用時直接降下至水面下，以避免行進時增加阻力而達到省電且可快速回復無人船探測位置之功效者。So that the hull 2 can be controlled to travel on the channel data 211 through the central processing unit 21, and when the central processing unit 21 controls the hull 2 to the detection point set by the fixed point data 212, the central processing unit 21 generates a lifting signal. Control the lifting component 35 to rise, causing the first propulsion motor component 31, the second propulsion motor component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 to rise out of the water surface, and then perform the action of detecting water quality, After the water quality detection at the detection point is completed or the hull 2 is taken away from the detection point by the water flow, the central processing unit 21 controls the lifting component 35 to lower through the lifting signal to cause the first propulsion motor component 31 and the second propulsion motor component to lower. 32, the third propulsion motor component 33 and the fourth propulsion motor component 34 are raised and lowered to the water surface, and the central processing unit 21 determines the longitude and latitude of the fixed point data 212 and the offset longitude and latitude through the positioning module 213, and then controls The starting and motor speed of the first propulsion motor part 31, the second propulsion motor part 32, the third propulsion motor part 33 and the fourth propulsion motor part 34 control the traveling direction of the hull 2 to the next fixed point data 212 or to return. To the original fixed point data 212, the main power component 3 can be directly assembled on the hull 2 to achieve the effect of convenient assembly. In addition, the first propulsion motor component 31, the second propulsion motor component 32 and the third The propulsion motor component 33 and the fourth propulsion motor component 34 are disposed oppositely on both sides of the hull 2 and are directly lowered to the water surface during use to avoid increasing resistance during travel, thereby saving power and quickly returning to the detection position of the unmanned ship. The effect of it.

請參閱第8圖及第9圖所示，係為本發明無人船偏移復位系統1之方塊圖二及示意圖二，其中所述無人船偏移復位系統1更包括有一第一副動力組件4及一第二副動力組件5，而以船體正中線K來舉例，該第一副動力組件4係相對設置於船體2後端且位於正中線K左側並訊號連接所述中央處理單元21，而該第二副動力組件5係相對設置於船體2後端且位於正中線K右側並訊號連接所述中央處理單元21。Please refer to Figures 8 and 9, which are block diagram 2 and schematic diagram 2 of the unmanned ship offset reset system 1 of the present invention. The unmanned ship offset reset system 1 further includes a first auxiliary power component 4 and a second auxiliary power component 5. Taking the centerline K of the hull as an example, the first auxiliary power component 4 is relatively disposed at the rear end of the hull 2 and is located on the left side of the centerline K and is signal-connected to the central processing unit 21 , and the second auxiliary power component 5 is relatively disposed at the rear end of the hull 2 and is located on the right side of the midline K and is connected to the central processing unit 21 with signals.

而其中該無人船偏移復位系統1設置有所述第一副動力組件4及第二副動力組件5時，其該中央處理單元21係經由所述升降訊號控制所述升降部件35升起，使該第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34呈現離開水面之狀態，而該船體2經由伺服端操控出發後，該中央處理單元21則產生有一控制訊號啟動該第一副動力組件4與第二副動力組件5且控制其推進方向。When the unmanned ship offset reset system 1 is provided with the first auxiliary power assembly 4 and the second auxiliary power assembly 5, the central processing unit 21 controls the lifting component 35 to rise through the lifting signal. After the first propulsion motor part 31 and the second propulsion motor part 32 and the third propulsion motor part 33 and the fourth propulsion motor part 34 are out of the water, and the hull 2 is controlled by the servo end, the central processing unit The unit 21 generates a control signal to activate the first auxiliary power assembly 4 and the second auxiliary power assembly 5 and control their propulsion direction.

因此，該第一副動力組件4與第二副動力組件5同時正轉且產生相同轉速之推進力時，該船體2係可往前方移動，反之，該第一副動力組件4與第二副動力組件5同時反轉且產生相同轉速之推進力時，該船體2係可往後方移動，而當該船體2欲改變行進方向時且船頭往左轉動時，該中央處理單元21則產生有所述控制訊號控制所述第二副動力組件5之轉速大於第一副動力組件4之轉速，以使船體2會往左轉動直至船頭調整至欲行進之方向，而後再控制所述第一副動力組件4與第二副動力組件5為相同轉速之推進力行進至，而當該船體2欲改變行進方向時且船頭往右轉動時，該中央處理單元21則產生有所述控制訊號控制所述第一副動力組件啟動，以使船體2會以第二副動力組件5為中心轉動且控制其船頭往右轉動直至船頭調整至欲行進之方向，而後再啟動所述第二副動力組件5，以使該船體2可依照設置方向前進。Therefore, when the first auxiliary power assembly 4 and the second auxiliary power assembly 5 rotate forward at the same time and generate propulsion force at the same speed, the hull 2 can move forward. On the contrary, the first auxiliary power assembly 4 and the second auxiliary power assembly 5 can move forward. When the two auxiliary power assemblies 5 are reversed at the same time and generate propulsion at the same speed, the hull 2 can move backward. When the hull 2 wants to change the direction of travel and the bow rotates to the left, the central processing unit 21 Then the control signal is generated to control the rotation speed of the second auxiliary power component 5 to be greater than the rotation speed of the first auxiliary power component 4, so that the hull 2 will rotate to the left until the bow is adjusted to the desired direction of travel, and then control all The first auxiliary power assembly 4 and the second auxiliary power assembly 5 travel with the same rotational speed of propulsion. When the hull 2 wants to change the direction of travel and the bow rotates to the right, the central processing unit 21 generates something. The control signal controls the start of the first auxiliary power component, so that the hull 2 will rotate around the second auxiliary power component 5 and control its bow to rotate to the right until the bow is adjusted to the desired direction of travel, and then start the The second auxiliary power assembly 5 enables the hull 2 to move forward according to the setting direction.

因此，該無人船偏移復位系統1可透過所述第一副動力組件4及第二副動力組件5來使船體2轉動並進行前進或後退，而當該船體2至定點資料212所設定之探測點時，再透過所述第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34升起降至水面下，該中央處理單元21經由調配其第一推進馬達部件31與第二推進馬達部件32與第三推進馬達部件33與第四推進馬達部件34之啟動與推進速度，使該船體2可維持在定點資料212所設定之探測點，以避免行進時增加阻力而達到省電且可快速回復無人船探測位置之功效者，且若當主動力組件3或第一副動力組件4及第二副動力組件5故障時，可彼此當作故障時的備案，更能增加無人船偏移復位系統1的可靠度。Therefore, the unmanned ship offset reset system 1 can rotate the hull 2 and move forward or backward through the first auxiliary power component 4 and the second auxiliary power component 5. When the hull 2 reaches the fixed point data 212, When the detection point is set, the first propulsion motor part 31, the second propulsion motor part 32, the third propulsion motor part 33 and the fourth propulsion motor part 34 are raised and lowered to the water surface, and the central processing unit 21 passes through Adjust the starting and propulsion speeds of the first propulsion motor part 31 and the second propulsion motor part 32 and the third propulsion motor part 33 and the fourth propulsion motor part 34 so that the hull 2 can maintain the detection set by the fixed point data 212 point to avoid increasing resistance while traveling, thereby saving power and quickly returning to the detection position of the unmanned ship, and if the main power component 3 or the first auxiliary power component 4 and the second auxiliary power component 5 fail, each other can As a record in case of failure, it can further increase the reliability of the unmanned ship offset reset system 1.

再請參閱前述附圖及第10圖至第13圖所示，係為本發明無人船偏移復位系統之復位示意圖一至四，其中該船體2若因水流過大而導致脫離定點資料212所設定之探測點時，該中央處理單元21會透過所述定位模組213判斷該船體2與探測點之相對位置，進而計算出該船頭與探測點相互間之角度大小，若該船頭與探測點相互間之角度小於90∘時，該中央處理單元21則產生有所述控制訊號啟動，以控制其船頭往左轉動直至船頭調整至往探測點位置，而後再啟動所述第一副動力組件4，使該船體2可前行往探測點方向前進，反之，若該中央處理單元21計算出該船頭與探測點相互間之角度大於90∘時，該中央處理單元21則啟動第一副動力組件4，以控制其船尾往右轉動直至船尾調整至往探測點位置，而後再控制該第一副動力組件4與第二副動力組件5同時往前產生動力所述第二副動力組件5，使該船體2可後退往探測點方向前進，藉此，該船體2可透過所述中央處理單元21選擇轉動角度小的轉動方向來控制其第一副動力組件4或第二副動力組件5，進而達到省電且可快速回復無人船探測位置之功效者。Please refer to the above-mentioned drawings and Figures 10 to 13, which are reset schematic diagrams 1 to 4 of the unmanned ship offset reset system of the present invention. If the hull 2 is separated from the fixed point data 212 due to excessive water flow, When the detection point is detected, the central processing unit 21 will determine the relative position of the hull 2 and the detection point through the positioning module 213, and then calculate the angle between the bow and the detection point. If the bow and the detection point are When the mutual angle is less than 90∘, the central processing unit 21 generates the control signal and starts to control the bow to rotate left until the bow is adjusted to the position of the detection point, and then starts the first auxiliary power assembly 4 , so that the hull 2 can move forward in the direction of the detection point. On the contrary, if the central processing unit 21 calculates that the angle between the bow and the detection point is greater than 90∘, the central processing unit 21 starts the first auxiliary power. Assembly 4 is used to control the stern to rotate to the right until the stern is adjusted to the detection point position, and then controls the first auxiliary power assembly 4 and the second auxiliary power assembly 5 to simultaneously generate power forward of the second auxiliary power assembly 5, The hull 2 can retreat and move forward in the direction of the detection point, whereby the hull 2 can select the rotation direction with a small rotation angle through the central processing unit 21 to control its first auxiliary power component 4 or second auxiliary power component 5. It can achieve the effect of saving power and quickly returning the detection position of the unmanned ship.

以上已將本發明做一詳細說明，惟以上所述者，僅為本發明之一較佳實施例而已，當不能限定本發明實施之範圍，即凡依本發明申請範圍所作之均等變化與修飾等，皆應仍屬本發明之專利涵蓋範圍。The present invention has been described in detail above. However, the above is only a preferred embodiment of the present invention. It cannot limit the scope of the present invention, that is, all equivalent changes and modifications can be made according to the scope of the present invention. etc., should still fall within the scope of the patent of the present invention.

1:無人船偏移復位系統 2:船體 21:中央處理單元 211:航道資料 212:定點資料 213:定位模組 3:主動力組件 31:第一推進馬達部件 32:第二推進馬達部件 33:第三推進馬達部件 34:第四推進馬達部件 35:升降部件 36:延伸桿 4:第一副動力組件 5:第二副動力組件 1: Unmanned ship offset reset system 2:Hull 21:Central processing unit 211: Channel information 212: Fixed point data 213: Positioning module 3: Main power components 31:First propulsion motor component 32: Second propulsion motor component 33: Third propulsion motor component 34:Fourth propulsion motor component 35: Lifting parts 36:Extension rod 4: First auxiliary power component 5: Second auxiliary power component

第1圖係本發明無人船偏移復位系統之方塊圖一。 第2圖係本發明無人船偏移復位系統之示意圖一。 第3圖係本發明無人船偏移復位系統之船體移動於航道資料之示意圖。 第4圖係本發明無人船偏移復位系統之側視示意圖。 第5圖係本發明無人船偏移復位系統之升降部件之升降示意圖。 第6圖係本發明無人船偏移復位系統之往前方移動推進力示意圖一。 第7圖係本發明無人船偏移復位系統之往前方移動推進力示意圖二。 第8圖係本發明無人船偏移復位系統之方塊圖二。 第9圖係本發明無人船偏移復位系統之示意圖二。 第10圖係本發明無人船偏移復位系統之復位示意圖一。 第11圖係本發明無人船偏移復位系統之復位示意圖二。 第12圖係本發明無人船偏移復位系統之復位示意圖三。 第13圖係本發明無人船偏移復位系統之復位示意圖四。 Figure 1 is a block diagram 1 of the unmanned ship offset reset system of the present invention. Figure 2 is a schematic diagram 1 of the unmanned ship offset reset system of the present invention. Figure 3 is a schematic diagram of the movement of the hull in the channel data of the unmanned ship offset reset system of the present invention. Figure 4 is a schematic side view of the unmanned ship offset reset system of the present invention. Figure 5 is a schematic diagram of the lifting components of the unmanned ship offset reset system of the present invention. Figure 6 is a schematic diagram of the forward movement propulsion force of the unmanned ship offset reset system of the present invention. Figure 7 is a schematic diagram of the forward movement propulsion force of the unmanned ship offset reset system of the present invention. Figure 8 is a block diagram 2 of the unmanned ship offset reset system of the present invention. Figure 9 is a schematic diagram 2 of the unmanned ship offset reset system of the present invention. Figure 10 is a reset schematic diagram of the unmanned ship offset reset system of the present invention. Figure 11 is the second reset schematic diagram of the unmanned ship offset reset system of the present invention. Figure 12 is the reset schematic diagram 3 of the unmanned ship offset reset system of the present invention. Figure 13 is the reset schematic diagram 4 of the unmanned ship offset reset system of the present invention.

1:無人船偏移復位系統 1: Unmanned ship offset reset system

2:船體 2:Hull

21:中央處理單元 21:Central processing unit

211:航道資料 211: Channel information

212:定點資料 212: Fixed point data

213:定位模組 213: Positioning module

3:主動力組件 3: Main power components

31:第一推進馬達部件 31:First propulsion motor component

32:第二推進馬達部件 32: Second propulsion motor component

33:第三推進馬達部件 33: Third propulsion motor component

34:第四推進馬達部件 34:Fourth propulsion motor component

35:升降部件 35: Lifting parts

Claims (1)

一種無人船偏移復位系統，係包括：一船體，該船體設置有一中央處理單元，該中央處理單元儲存有至少一航道資料及至少一定點資料且具有一定位模組，並該中央處理單元以所述定位模組判斷該船體之所在位置；一主動力組件，該主動力組件係設置於所述船體上且訊號連接所述中央處理單元，且該主動力組件具有一第一推進馬達部件及一第二推進馬達部件及一第三推進馬達部件及一第四推進馬達部件，且該第一推進馬達部件與該第二推進馬達相對設置於該船體之一側邊，而該第三推進馬達係設置於該船體另一側相對該第一推進馬達之對角位置處，另該第四推進馬達係設置於該船體另一側相對該第二推進馬達之對角位置處，使該第一推進馬達部件及第二推進馬達部件及第三推進馬達部件及第四推進馬達部件係分別設置於該船體四邊角落，且該第一推進馬達部件及第二推進馬達部件及第三推進馬達部件及第四推進馬達部件係斜向設置於該船體四邊角落且與該船體正中線為斜角設置，另該主動力組件更設置有一升降部件，該升降部件係組設於該船體，而該第一推進馬達部件及一第二推進馬達部件及一第三推進馬達部件及一第四推進馬達部件係分別經由一延伸桿連接該升降部件，而該中央處理單元係產生有一升降訊號控制所述升降部件升降於船體上，進而控制該第一推進馬達部件與第二推進馬達部件與第三推進馬達部件與第四推進馬達部件升降，且該中央處理單元另產生有一動力訊號至所述第一推進馬達部件與第二推進馬達部件與第三推進馬達部件與第四推進馬達部件並啟動且控制推進速度來控制該船體之行進方向，以於該船體被水流帶離航道資料時，該船體由該中央處理單元調配其第一推進馬達部件與第二推進馬達 部件與第三馬達部件與第四馬達部件之啟動與推進速度來控制該船體之行進方向，以使該船體可透過中央處理單元控制行進在其航道資料上；一第一副動力組件，該第一副動力組件係相對設置於船體後端一側，且該第一副動力組件係訊號連接所述中央處理單元，該中央處理單元產生有一控制訊號啟動該第一副動力組件且控制其推進方向；以及一第二副動力組件，該第二副動力組件係設置於所述船體後端相對第一副動力組件另一側，且該第二副動力組件係訊號連接所述中央處理單元，該中央處理單元產生有一控制訊號啟動該第二副動力組件且控制其推進方向。 An unmanned ship offset reset system includes: a hull, the hull is provided with a central processing unit, the central processing unit stores at least one channel data and at least a certain point data and has a positioning module, and the central processing unit The unit uses the positioning module to determine the location of the hull; a main power component, the main power component is arranged on the hull and is connected to the central processing unit via signals, and the main power component has a first a propulsion motor component and a second propulsion motor component, a third propulsion motor component and a fourth propulsion motor component, and the first propulsion motor component and the second propulsion motor are disposed opposite to one side of the hull, and The third propulsion motor is disposed on the other side of the hull at a diagonal position relative to the first propulsion motor, and the fourth propulsion motor is disposed on the other side of the hull at a diagonal position relative to the second propulsion motor. The position is such that the first propulsion motor component, the second propulsion motor component, the third propulsion motor component and the fourth propulsion motor component are respectively disposed at the four corners of the hull, and the first propulsion motor component and the second propulsion motor component The components, the third propulsion motor component and the fourth propulsion motor component are arranged obliquely at the four corners of the hull and at an oblique angle to the center line of the hull. In addition, the main power component is further provided with a lifting component, and the lifting component is It is assembled on the hull, and the first propulsion motor component, a second propulsion motor component, a third propulsion motor component and a fourth propulsion motor component are respectively connected to the lifting component via an extension rod, and the central processing unit The unit generates a lifting signal to control the lifting component to rise and fall on the hull, thereby controlling the lifting of the first propulsion motor component, the second propulsion motor component, the third propulsion motor component and the fourth propulsion motor component, and the central processing unit A power signal is also generated to the first propulsion motor component, the second propulsion motor component, the third propulsion motor component and the fourth propulsion motor component to start and control the propulsion speed to control the traveling direction of the hull so as to move the ship When the hull is carried away from the channel data by the current, the central processing unit allocates its first propulsion motor component and second propulsion motor to the hull. The starting and propelling speed of the component and the third motor component and the fourth motor component are used to control the traveling direction of the hull, so that the hull can travel on its channel data under the control of the central processing unit; a first auxiliary power component, The first auxiliary power component is disposed opposite to the rear end side of the hull, and the first auxiliary power component is connected to the central processing unit via a signal. The central processing unit generates a control signal to activate the first auxiliary power component and control the first auxiliary power component. Its propulsion direction; and a second auxiliary power component, the second auxiliary power component is arranged on the other side of the rear end of the hull relative to the first auxiliary power component, and the second auxiliary power component is signal connected to the center A processing unit, the central processing unit generates a control signal to activate the second auxiliary power component and control its propulsion direction.
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TW448116B (en) * 2000-01-21 2001-08-01 Strong Engineering Consulti Ng Unmanned carrier on water surface with automatic navigation
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