TWM438448U - Autonomous moving platform for use in water - Google Patents

Description

M438448 | i〇l·年年〇月月ζ日按正正页5, new description:.

[0001] [New Technical Field] This creation relates to an autonomous mobile platform suitable for use in water, especially a central control system, a navigation subsystem, an obstacle avoidance subsystem and a power subsystem The autonomous mobile platform is suitable for underwater use with the function of autonomous mobile. • [0002] • [Prior Art] The ocean occupies about 70% of the Earth's surface area and contains a wealth of biological and mineral resources. Due to the abundance of resources in the ocean, meteorological, walrus or hydrological observations of the coast, the oceans and the oceans have become increasingly frequent. [0003] • In the early days, the crew used the crew to go to sea to measure and record observations, such as taking a boat trip to the sea to measure and record nearshore hydrology, water quality or topography. However, such observation methods consume more manpower and material resources, and the accuracy of observation is insufficient. If the walrus is bad, it is more likely to endanger the safety of workers. Subsequent development of automated observation vessels can overcome the aforementioned problems. It uses a vessel with automated equipment to measure and record observations, and then transmits the observations to a workstation on the coast using a network system, and finally processes and manages the observations. [0004] However, the aforementioned automated observation vessel needs to be controlled by the shore station to control its route, that is, the automated observation vessel does not have the function of autonomous movement. In addition, when the vessel is walking, the surrounding environmental conditions are highly variable, and sudden obstacles such as sudden occurrence of obstacles often occur. The workstation on the shore cannot control and change the navigation of the vessel in an instant and maneuverable manner according to the sudden situation. 1013265044-0 1〇画7严编01 Stomach 3 pages/Total 23 pages M438448 [0005] [0006] [0007] [ 0008] [0009] On July 12, 101, the nuclear replacement page line was replaced. All of the above are technical issues still to be solved. [New content] In view of the problems of the prior art, the author proposes an autonomous mobile platform suitable for water based on years of research and development and many practical experiences, as an implementation method and basis for improving the above shortcomings. One of the aims of the present invention is to provide an autonomous mobile platform suitable for use in water with autonomous mobile functions. Another object of the present invention is to provide an autonomous mobile platform suitable for use in water that does not require its workstation to control its route. A further object of the present invention is to provide an autonomous mobile platform suitable for use in water by means of an obstacle avoidance subsystem that effectively detects the presence or absence of obstacles around it. In accordance with the above objectives of the present creation, the present application provides an autonomous mobile platform suitable for use in water, including transmission systems, communication systems, central control systems, navigation subsystems, obstacle avoidance subsystems, power subsystems, and energy supply systems. The communication system is for communicating between the autonomous mobile platform and the remote workstation suitable for use in water. The navigation subsystem includes at least a target positioning unit and a navigation unit. The target positioning unit locates a target coordinate, and the target positioning unit transmits the target coordinate to the navigation unit by using the transmission system, and the navigation unit generates a plan according to the target coordinate. The navigation unit transmits the planning route to the central control system by the transmission system. The obstacle avoidance subsystem includes at least an obstacle detecting unit, and the obstacle detecting unit detects that there is no obstacle in the predetermined distance, and if the obstacle detecting unit detects an obstacle in the predetermined distance,

10022227^单编号A〇101 Page 4/Total 23 Page 1013265044-0 M438448 101.07月1Z日 Shuttle replacement page The obstacle avoidance subsystem generates an obstacle avoidance signal, and the obstacle avoidance subsystem uses the transmission system to The obstacle avoidance signal is transmitted to the central control system. [0010] The autonomous mobile platform suitable for use in water is powered by the dynamic subsystem

Move it together. The energy supply system provides the transmission system, the communication system, the central control system, the navigation subsystem, the obstacle avoidance subsystem, and energy required by the power subsystem, the energy supply system further having an energy monitoring unit, the energy monitoring system The unit monitors energy usage of the energy supply system, and when the energy usage exceeds a predetermined amount, the energy monitoring unit generates a notification signal, and the energy monitoring unit transmits the notification signal to the central control system by the transmission system, or borrows The notification signal is transmitted by the communication system to the remote workstation. [0011] the central control system dynamically generates a first direction of movement signal according to the planned route received, and the central control system transmits the first direction of movement signal to the power subsystem by the transmission system, the central control system And generating, according to the received obstacle avoidance signal, a second direction of movement signal, wherein the central control system transmits the second direction of movement signal to the power subsystem by using the transmission system, the power subsystem is based on the first The moving direction signal or the second moving direction signal is moved. [0012] In accordance with the above objects of the present invention, the present invention further provides an autonomous mobile platform suitable for use in water, which further includes a vision subsystem and a hydrological topographic measurement subsystem. The vision subsystem collects an environmental image surrounding the autonomous mobile platform for use in the water, the vision subsystem transmits the environmental image to the central control system by the transmission system, or transmits the environmental image through the communication system To the remote workstation, the vision subsystem can also be used as the obstacle detection unit in the obstacle avoidance subsystem. The water 1002222# single job deletion 1 page 5 / total 23 page 1013265044-0 M438448 101 July 101 revised replacement Baiwen terrain measurement subsystem measurement of the water resources around the autonomous mobile platform in the water First related information, the hydrological topographic measurement subsystem measures the second related information applicable to the terrain around the autonomous mobile platform in the water, and the hydrological topographic measurement subsystem uses the transmission system to the first related information Or transmitting the second related information to the central control system, or transmitting the first related information or the second related information to the remote workstation by the transmission system. [0013]

The autonomous mobile platform for underwater use of this creation has the function of autonomous movement by the central control system, navigation subsystem, obstacle avoidance subsystem and power subsystem. That is to say, the autonomous mobile platform that is suitable for use in the water does not need to be controlled by its workstations. And when the creation is suitable for moving from the k-type mobile platform in the water, the obstacle avoidance subsystem can effectively detect the presence or absence of obstacles around it, and the central control system can control the autonomous type suitable for water in an instant and mobile manner. The mobile platform's mobile route makes the autonomous mobile function for the autonomous mobile platform in the water more complete [0014] In order to make the reviewer have a better understanding of the technical features of the creation and the effects achieved. I understand that the preferred embodiment and the detailed description are as follows. [Embodiment] Hereinafter, the present invention is applied to a self-sustaining mobile platform in water with reference to the related drawings. For ease of understanding, the same elements in the following embodiments are denoted by the same reference numerals. [0016] 10022227^^^^1 A0101 First, please refer to FIG. 1 , which shows that the creation of this creation is applicable to page 6 / 23 pages 1013265044-0 M438448 101. July 12 A block diagram of a first preferred embodiment of an autonomous mobile platform in a page water. The autonomous mobile platform of the present invention suitable for use in water is, for example, a ship, preferably for example an observation ship. The autonomous mobile platform suitable for underwater in this creation includes transmission system 1, communication system 2, central control system 3, navigation subsystem 4, obstacle avoidance subsystem 5, power subsystem 6 and energy supply system [0017] navigation subsystem 4 At least the target positioning unit 41 and the navigation unit 42 are included. The target positioning unit 41 can position a target coordinate. The target locating unit 41 transmits the target coordinates to the navigation unit 42 by the transmission system 1. The navigation unit 42 generates a planning route based on the target coordinates. The navigation unit 42 transmits the planning route to the central control system 3 by the transmission system 1. [0018] The obstacle avoidance subsystem 5 includes at least an obstacle detecting unit 51 that detects obstacles within a predetermined distance. If the obstacle detecting unit 51 detects an obstacle in the predetermined distance, the obstacle avoiding subsystem 5 generates a avoidance signal, and the obstacle avoiding subsystem 5 transmits the obstacle avoidance signal to the central control system 3 through the transmission system 1. The aforementioned obstacle detecting unit 51 is, for example, an optical distance measuring element or an acoustic distance measuring element. The optical ranging component is again, for example, a laser range finder or a camera. The acoustic ranging component is, for example, a sonar range finder. [0019] The central control system 3 dynamically generates a first direction of movement signal in accordance with the received planning path. The central control system 3 transmits the first direction of movement signal to the power subsystem 6 via the transmission system 1. The central control system 3 further generates a second direction of movement signal based on the received obstacle avoidance signal. The central control system 3 transmits the second direction of movement signal to the power subsystem 6 via the transmission system 1. [0020] 10022227 single inspection A〇101 The autonomous mobile platform for water is moved by the power subsystem 6 page 7/23 page 1013265044-0 M438448 [The following year is the replacement page of the shuttle. The power subsystem 6 is moved according to the first moving direction signal or the second moving direction signal. [0021] The communication system 2 is for the autonomous mobile platform suitable for the water t to communicate with each other _ the retreating workstation A. The energy supply system 7 provides the aforementioned transmission system 1, the communication system 2, the central control system 3, and the navigation subsystem. 4. Energy required for the obstacle avoidance subsystem 5 and the power subsystem 6.

The energy supply system 7 further has an energy monitoring unit. The energy monitoring unit 71 monitors the energy usage of the energy supply system 7. When the energy usage exceeds the predetermined amount, the energy monitoring unit 71 generates a notification signal, and the energy monitoring unit 71 transmits the system. 1 transmitting the notification signal to the central control system 3' or transmitting the notification signal to the remote workstation a via the communication system 2. If the energy monitoring unit transmits the notification signal to the central control system 3', the central control system 3 generates a third mobile direction signal based on the received notification signal. The central control system 3 transmits the third moving direction signal to the power subsystem 6 through the transmission system 1, and the power subsystem 6 moves according to the third moving direction signal, further moving the autonomous mobile platform suitable for water. To an energy supply station B. Similarly, if the energy monitoring unit 71 transmits the notification signal to the remote workstation A, the remote workstation A generates an instruction according to the received notification signal. The remote workstation A then transmits the command to the central office via the communication system 2. The control system 3' central control system 3 generates a fourth direction of movement signal in accordance with the received command. The central control system 3 transmits the fourth moving direction signal to the power subsystem 6 through the transmission system 1, and the power subsystem 6 moves according to the fourth moving direction signal, further making the autonomous mobile platform suitable for use in the water Move to the energy supply station B. 10022227 Production Order No. A0101 ® 8 W ^ 9, w 1013265044-0 M438448 [0025]

[0026] Correction and replacement page of 101.07.12, please refer to FIG. 2 again, which is a schematic diagram showing the operation steps of the first preferred embodiment of the present invention for autonomous mobile platform in water. . The operation steps of the first preferred embodiment of the present invention for autonomous mobile platforms in water are as follows: Step 100: First, the target positioning unit of the navigation subsystem locates a target coordinate. Step 200: Next, the target positioning unit transmits the target coordinates to the navigation unit by the transmission system. Step 300: Next, the navigation unit generates a planning route according to the target coordinates. Step 400: Next, the navigation unit transmits the planning route to the central control system through the transmission system. Step 500: Next, the central control system dynamically generates a first direction of movement signal in accordance with the received planning path. Step 600: Next, the central control system transmits the first direction of movement signal to the power subsystem by the transmission system. Step 700: Next, the power subsystem moves according to the first moving direction signal, further moving the autonomous mobile platform suitable for use in the water. Please refer to FIG. 3 again, which is a schematic diagram showing the operational steps of the first preferred embodiment of the present invention for autonomous mobile platforms in water. During the foregoing steps 100-700, steps 101-601 are also performed synchronously. Steps 101-601 are as follows: Step 101: First, the obstacle detecting unit detects whether there is an obstacle within a predetermined distance. After the foregoing step 101 is completed, if the obstacle detecting unit detects that there is no obstacle within the predetermined distance, step 101 is repeated. If the obstacle detection unit detects 10022227, the early production 51 A0101, page 9 / 23 pages, 1013265044-0 M438448, on July 12, 101, the replacement of the obstacles within the predetermined distance, then proceed to step 201, The steps are as follows: Step 201: The obstacle avoidance subsystem generates an obstacle avoidance signal. Step 301: Next, the obstacle avoidance subsystem transmits the obstacle avoidance signal to the central control system through the transmission system. Step 401: Next, the central control system dynamically generates a second direction of movement signal according to the received obstacle avoidance signal.

Step 501: Next, the central control system transmits the second mobile direction signal to the power subsystem by the transmission system. Step 601: Next, the power subsystem moves according to the second moving direction signal, further moving the autonomous mobile platform suitable for water to move 0 [0027] Please refer to FIG. 4 again, which depicts the creation A schematic diagram of the operational steps of a first preferred embodiment of an autonomous mobile platform suitable for use in water. During the foregoing steps 100 to 700 and steps 101 to 601, steps 102 to 5021 or steps 102 to 7022 are also performed simultaneously, and the steps are as follows: Step 102: First, the energy monitoring unit of the energy supply system monitors The energy usage of the energy supply system, when the energy usage exceeds a predetermined amount, the energy monitoring unit generates a notification signal. Step 202: Next, the energy monitoring unit transmits the notification signal to a central control system through the transmission system or transmits the notification signal to a remote workstation through the communication system. If the energy monitoring unit transmits the notification signal to the central control system, steps 3021 to 5021 are performed, and the steps are as follows: Step 3021: The central control system generates the third 10022227 according to the received notification signal. Page / Total 23 pages 1013265044-0 M438448 101 years. July 12th, according to the positive replacement page movement direction signal. Step 4021: Next, the central control system transmits the third mobile direction signal to the power subsystem by the transmission system. Step 502 1: Next, the power subsystem moves according to the third moving direction signal, further moving the autonomous mobile platform suitable for water to the energy supply. If the energy monitoring unit transmits the notification signal to the remote workstation, steps 3022 to 7022 are performed, and the steps are as follows:

Step 3022: The remote workstation generates an instruction according to the received notification signal. Step 4022: The remote workstation then transmits the command to the central control system via the communication system. Step .5022: Next, the central control system generates a fourth moving direction signal according to the received command. Step 6022: Next, the central control system transmits the fourth mobile direction signal to the power subsystem by the transmission system. Step 7022: Next, the power subsystem moves according to the fourth moving direction signal, further moving the autonomous mobile platform suitable for water to the energy supply. [0028] Referring to FIG. 5, it is a block diagram showing a second preferred embodiment of the present invention for autonomous mobile platforms suitable for use in water. The second preferred embodiment of the present invention differs from the first preferred embodiment described above in that the autonomous mobile platform for water applications of the present invention further includes a visual subsystem 8 and a hydrographic topography subsystem 9. The autonomous mobile platform of the present invention suitable for use in water is, for example, a ship, preferably for example an observation ship. 1002222 Shovel No. A〇101 Page 11/Total 23 Page 1013265044-0 M438448 [0030] [0032] 101 July 0 July 12 Shuttle Positive Replacement Page Vision Subsystem 8 can be collected for use in water Environmental imagery around the autonomous mobile platform. The vision subsystem 8 transmits the environmental image to the central control system 3 via the transmission system 1, or transmits the environmental image to the remote workstation A via the communication system 2. It should be noted that the vision subsystem 8 can also be used as the obstacle detection unit 51 in the obstacle avoidance subsystem 5. The hydrological topographical measurement subsystem 9 measures the first relevant information for the water resources surrounding the autonomous mobile platform in the water. The aforementioned first relevant information is, for example, water temperature, salinity, dissolved oxygen amount, electrical conductivity, chlorophyll content, acidity, turbidity or pH value. The hydrological topographical measurement subsystem 9 can measure the second relevant information for the terrain around the autonomous mobile platform in the water. The second related information is, for example, a coastal terrain or a seabed terrain. The hydrological topographical measurement subsystem 9 transmits the first related information or the second related information to the central control system 3 via the transmission system 1, or transmits the first related information or the second related information to the remote workstation through the transmission system 1. A. The aforementioned hydrological topographical measurement subsystem 9 includes, for example, a water quality sensor and an underwater acoustic detector. The energy source required by the aforementioned vision subsystem 3 and hydrological topographical measurement subsystem 9 is provided by the energy supply system 7. In summary, the autonomous mobile platform of this creation suitable for use in water has at least the following advantages: [0033] The autonomous mobile platform of the present application applicable to water is controlled by a central control system, a navigation subsystem, and an obstacle avoidance subsystem. And the power subsystems work together with each other and have the function of autonomous movement. That is to say, the autonomous mobile platform for water created in this creation does not need to be controlled by its workstations. And when the creation is suitable for the movement of the autonomous mobile platform in the water, the obstacle avoidance subsystem can effectively detect the obstacles around it. 10022227 Yan No. A0101 Page 12 / Total 23 Page 1013265044-0 M438448 July 12, 101 By replacing the page or not, the central control system can control the mobile route of the autonomous mobile platform suitable for the water in an instant and mobile manner, so that the autonomous mobile function suitable for the autonomous mobile platform in the water is more complete. . [0034] The foregoing is illustrative only and not limiting. Any equivalent modifications or changes made to the spirit and scope of this creation shall be included in the scope of the appended patent application. [Simple description of the map]

[0035] FIG. 1 is a block diagram of a first preferred embodiment of an autonomous mobile platform suitable for use in water; FIG. 2 is a first comparison of an autonomous mobile platform suitable for use in water. A schematic diagram of the operational steps of the preferred embodiment; FIG. 3 is a schematic diagram of the operational steps of the first preferred embodiment of the autonomous mobile platform for water creation; Schematic diagram of the operational steps of the first preferred embodiment of the mobile platform;

Figure 5 is a block diagram of a second preferred embodiment of an autonomous mobile platform suitable for use in water. [Main component symbol description] [0036] 1 transmission system 2 communication system 3 central control system 4 navigation subsystem 41 target positioning unit 42 navigation unit 5 obstacle avoidance subsystem 1002222? ^ · single number A 〇 101 page 13 / total 23 pages 1013265044-0 M438448 Revised replacement page on July 12, 101

51 obstacle detection unit 6 power subsystem 7 energy supply system 71 energy monitoring unit 8 vision subsystem 9 hydrological topographic measurement subsystem A remote workstation B energy supply station 100 ~ 700 steps 101 ~ 601 steps 102 ~ 202 step 3021 - 5021 Steps 3022 to 7022

1002222?/·卩号 A0101 Page 14 of 23 1013265044-0

Claims (1)

101 years. July 12th, the replacement page M438448 6. Patent application scope: An autonomous mobile platform suitable for water, including: a transmission system; a communication system for the autonomous type of water The mobile platform and a remote workstation communicate with each other; a central control system; a navigation subsystem, the navigation subsystem at least comprising: a target positioning unit, the target positioning unit positioning a target coordinate; and a navigation unit, the target The positioning unit transmits the target coordinate to the navigation unit by using the transmission system, and the navigation unit generates a planning route according to the target coordinate, and the navigation unit transmits the planning path to the central control system by using the transmission system; The obstacle avoidance subsystem includes: at least one obstacle detecting unit, the obstacle detecting unit detects that there is no obstacle in a predetermined distance, and if the obstacle detecting unit detects an obstacle in the predetermined distance, The obstacle avoidance subsystem generates an obstacle avoidance signal, and the obstacle avoidance subsystem uses the transmission system to The obstacle avoidance signal is transmitted to the central control system; a power subsystem, the autonomous mobile platform suitable for water is moved by the power subsystem; and an energy supply system, the energy supply system provides the transmission system, a communication system, the central control system, the navigation subsystem, the obstacle avoidance subsystem, and energy required by the power subsystem, the energy supply system further having an energy monitoring unit, the energy monitoring unit monitoring one of the energy supply systems The energy monitoring unit generates a notification signal when the energy usage exceeds a predetermined amount, and the energy monitoring unit uses the transmission 1()() 22227f single number A0101 page 15 / 23 pages 1013265044-0 M438448 2 3 July 12, 101, the nuclear replacement page system transmits the notification signal to the central control system, or transmits the notification signal to the remote workstation by the communication system; wherein the central control system is based on receiving The planning path dynamically generates a first direction of movement signal by which the central control system The first movement direction signal is transmitted to the power subsystem, and the central control system further generates a second movement direction signal according to the received obstacle avoidance signal, and the central control system moves the second movement by the transmission system The direction signal is transmitted to the power subsystem, and the power subsystem is moved according to the first moving direction signal or the second moving direction signal. 1 . The autonomous mobile platform applicable to water according to claim 1 , wherein if the energy monitoring unit transmits the notification signal to the central control system, the central control system receives the notification signal according to the notification Generating a third direction of movement signal, the central control system transmits the third direction of movement signal to the power subsystem by the transmission system, and the power subsystem moves according to the third direction of movement signal, further The autonomous mobile platform suitable for use in water is moved to an energy supply station; if the energy monitoring unit transmits the notification signal to the remote workstation, the remote workstation generates an instruction according to the notification signal of the accident. The remote workstation transmits the command to the central control system via the communication system, and the central control system generates a fourth direction of movement signal according to the received command, and the central control system uses the transmission system to perform the fourth a moving direction signal is transmitted to the power subsystem, and the power subsystem is based on the fourth moving direction The signal is moved to further move the autonomous mobile platform suitable for use in the water to the energy supply. An autonomous mobile platform suitable for use in water as described in claim 1, wherein the obstacle detecting unit is an optical ranging component or an acoustic ranging 1002222?^·卩卩A〇101 page 16/ A total of 23 pages 1013265044-0 101 years. July 12th nuclear replacement page M438448 components. 4. An autonomous mobile platform suitable for use in water as described in item 3 of the boxing field, wherein the optical distance measuring element is a laser range finder or a camera. 5. If the autonomous mobile platform is suitable for use in water as described in the application for the benefit range, the acoustic ranging component is a sonar rangefinder. 6. An autonomous mobile platform suitable for use in water, comprising: a transmission system; a communication system for communicating between the autonomous mobile platform suitable for use in water and a remote workstation; a central control system a navigation subsystem, the navigation subsystem at least comprising: a target positioning unit, the target positioning unit positioning a target coordinate: and a navigation unit, wherein the target positioning unit transmits the target coordinate to the a navigation unit, the navigation unit generates a planning route according to the target coordinate, the navigation unit transmits the planning path to the central control system by using the transmission system; and an obstacle avoidance subsystem, the obstacle avoidance subsystem includes at least: an obstacle detection The obstacle detecting unit detects whether there is a barrier condensate within a predetermined distance, and if the obstacle detecting unit detects an obstacle within the predetermined distance, the obstacle avoiding subsystem generates an obstacle avoidance signal, and the obstacle avoiding obstacle The system transmits the obstacle avoidance signal to the central control system by the transmission system; a power subsystem, An autonomous mobile platform suitable for use in water is moved by the power subsystem; a vision subsystem that collects an environmental image surrounding the autonomous mobile platform for use in the water, the vision subsystem by Pass 1002222#Single job deletion 1 Page 17/Total 23 page 1013265044-0 M438448 Modified the replacement page transmission system on July 12, 101 to transmit the environmental image to the central control system, or to image the environment through the communication system Transmitted to the remote workstation, the vision subsystem can also be used as the obstacle detection unit in the obstacle avoidance subsystem; a hydrological topographical measurement subsystem, the hydrological topographical measurement subsystem measuring the first relevant information of one of the water resources surrounding the autonomous mobile platform in the water, the hydrological topographical measurement subsystem measuring the applicable a second related information of one of the terrains surrounding the autonomous mobile platform in the water, the hydrographic topographic measurement subsystem transmitting the first related information or the second related information to the central control system by the transmission system, or borrowing Transmitting the first related information or the second related information to the remote workstation by the transmission system; An energy supply system providing the transmission system, the communication system, the central control system, the navigation subsystem, the obstacle avoidance subsystem, the power subsystem, the vision subsystem, and the hydrological topographic measurement subsystem The energy supply system further includes an energy monitoring unit that monitors energy usage of the energy supply system, and when the energy usage exceeds a predetermined amount, the energy monitoring unit generates a notification signal, and The energy monitoring unit transmits the notification signal to the central control system by the transmission system, or transmits the notification signal to the remote workstation by the communication system; wherein the central control system is maneuver according to the planned route received Generating a first direction of movement signal, the central control system transmits the first direction of movement signal to the power subsystem by the transmission system, and the central control system is further generated according to the obstacle avoidance signal a second direction of movement signal, the central control system will be A second moving direction of the signal transmitted to the power subsystem, the power subsystem of the train according to the order number A〇101 10022227 Page 18 / Total 23 1013265044-0 M438448 Οο. 101.07月12日 Shuttle replacement page The first movement direction signal or the second movement direction signal is moved. An autonomous mobile platform suitable for use in water as described in claim 6 wherein if the energy monitoring unit transmits the notification signal to the central control system, the central control system generates a notification signal according to the received notification signal. a third direction of movement signal, the central control system transmits the third direction of movement signal to the power subsystem by the transmission system, and the power subsystem moves according to the third direction of movement signal, further making the The autonomous mobile platform in the water is moved to an energy supply station; if the energy monitoring unit transmits the notification signal to the remote workstation, the remote workstation generates an instruction according to the received notification signal, the remote workstation And transmitting, by the communication system to the central control system, the central control system generates a fourth direction of movement signal according to the received command, and the central control system transmits the fourth direction of movement signal by the transmission system To the power subsystem, and the power subsystem is based on the fourth mobile direction Be moved further so that the water available in autonomous mobile platform to be moved at the energy supply. An autonomous mobile platform suitable for use in water as described in claim 6 wherein the first relevant information is water temperature, salinity, dissolved oxygen content, electrical conductivity, chlorophyll content, acidity, turbidity or pH value. The second related information is coastal terrain or seabed topography. An autonomous mobile platform suitable for use in water as described in claim 6 is characterized in that the obstacle detecting unit is an optical ranging component or an acoustic ranging component, and the hydrological topographical measurement subsystem includes a water. A mass sensor and an underwater acoustic detector. An autonomous mobile platform suitable for use in water as described in claim 9 of the patent application, wherein the optical distance measuring component is a laser range finder or a camera, the acoustic 10022227^ single number A 〇 101 page 19 / total 23 Page 1013265044-0 M438448 _l July 12, 101 The replacement page is a sonar rangefinder. 1002222?#单织 A〇101 Page 20 of 23 1013265044-0