小型水上無人載具開發用於水質檢測

水庫的水質是否安全，對民生用水是一項問題，目前傳統的水庫水質檢測，主要是人員到達特定地點進行採樣，除了必須進行現場地理環境與氣象水文地勘查，還必須安排工作人員與交通工具，這伴隨的一定的危險性且需要耗費大量的時間、金錢與人力，因此中原機械與中原環工合作，致力於開發無人檢測船。因此針對現今的檢測作業，本論文希望開發一種無人監測船，並對船體進行控制，進而讓船體到達檢測人員不易或者無法到達的檢測點進行採樣。此論文主要挑戰在於船體的改造與控制，首先會對船體進行穩定性的評估，計算船體在風浪的干擾下會不會翻覆，並且繪製出靜穩度曲線；在機構部分，則會對船體的動力系統進行改良，使之有更大的動力裝載檢測儀器進行作業；最後到水庫進行實驗，確認是否能夠收集到水質資料。

關鍵字

船；無人船；水質檢測

並列摘要

The quality of water in reservoir is an issue to water consumption nowadays. The traditional way of water quality is tested by sampling at specific location by staffs. Asides from investigating the geographic environment and hydrology before sampling, arranging human resource and transportation are also needed. With such dangerous, time-and-cost-consuming works, therefore CYME and CYEE dedicate to marine drone development. In order to improve the problems above, authors expect to develop a manual marine drone to let staffs have access to sampling at some unreachable locations. This Thesis mainly challenge the alteration and control of the boat. First, we do the evaluation of stability of the boat and assess if the boat would overturn with interference of wind and waves. Then we made statical stability curve. On mechanic construction aspect, we upgraded the power system, making it has more power to load the equipment in order to proceed sampling. And last, we tested the boat in reservoir and ensure the water sampling could be done.