無人水面載具應用於水域測深

本論文的目的在應用遠距監控技術於無人水面載具上，以低成本，低風險的方式執行各種水域探測任務。例如水域測深、環境監測、港灣水道巡弋等作業，除可應用於電廠建造以及營運工程作業，或是水庫斷面淤積調查，更可成為多功能之機動水面探測載台。無人載具在軍事、商用以及科學上使用日廣。國內外在飛行載具方面亦有相當多的研究成果與應用實例，然而無人水面載具的使用，卻顯得較為少見。在水資源日益枯竭以及各水庫有效蓄水量逐年降低的今日，對於河川水庫等水資源的探勘與保育更顯得刻不容緩。而無人水面載具正可在近岸海域或是陸域水體的調查與保育扮演重要的角色。以水庫斷面水深量測為例，拜微電子技術發展所賜，所需的定位與測深儀器已日漸小型化，可整合於小尺寸的無人水面載台中，進行精密的水深量測，以較低的成本與更少的人員風險，達成與有人載具一樣的目的。類似的遠距監控技術早已為軍事用途而開發，然成本不斐，本研究整合成本低且取得容易之相關設備與技術，成功的研製出無人水面載具，搭載精密定位與測深儀器，有效的達成與有人載具相同的任務。本研究之結果除可應用於藍色國土的保育外，亦可用於其他特定需要即時同步大量資料傳輸之監控系統。

關鍵字

無人載具；水域探測；遠端監控

並列摘要

Prosecuting the hydrographic surveying with unmanned surface vehicles (USV) using remote monitoring and control protocol is the main purpose of this thesis. It is the technique of a low cost and risk free for water surveying, illustrating as water depth detecting, environment monitoring, harbor tray cruising, and so on. Indeed, the application of USV is not only for power planet and architecture constructing but also for deposited cross-section reservoir estimation. More, it can be the mobile multifunctional surface detector carrier. The diversity of unmanned vehicles usage in military, commercial, and scientific fields is getting more popular. In overall view, it is rare to find USV for metering in international journal reviews but in unmanned aerial vehicles with variety research and applications. Today, for the water resource exhausted and the decline of valid reservoir capacity, it is urgent prospecting and doing ecosystem care of water resource, such as rivers, creeks, and reservoirs. Actually, the USV plays an important role in inshore bank or in-land water for investigating and ecology care. Taking deposited cross-section reservoir estimation for example, the accurate water depth with low cost and risk free for staff achieve the same measurement as the manned vehicles by using small size of position detector and water depth instrument combined into small USV depending on giant electronics growth. The similar remote monitoring and control system have been developed for military. Actually, the amount of these instruments is extremely expensive. Comparing to above, the relevant research equipments and technique is successfully developed into easy available and lower cost of our USV system combined with accurate position detector and water depth instrument. It is the same result as manned vehicles effectively. This research can be not only applied in sea ecosystem care but also for other specific monitoring system demanding for huge amount synchronized data transferring.