Tboat20 UNMANNED SURFACE VEHICLE www.toknav.cn Guangzhou TokSurvey Information Technology Co.,ltd Guangzhou TokSurvey Information Technology Co.,ltd Contents 1. Overview --------------------------------- 03 1.1 Control Console------------------------- 03 1.2 Motor Kit ------------------------------ 03 1.3 Receiver Kit ---------------------------- 04 1.4 Others--------------------------------- 06 2. Equipment Installation --------------------- 09 2.1 Tablet --------------------------------- 09 2.2 Motor --------------------------------- 09 2.3 Receiver ------------------------------- 10 3. Software Introduction ----------------------
3.1 Open the Software ----------------------
11 11 3.2 Icons ---------------------------------- 12 3.3 Icons In Settings------------------------ 13 3.4 Registration --------------------------- 14 3.5 Base Station Settings ------------------- 16 3.6 Vehicle Parameter Settings-------------- 17 3.7 Farm Tool Parameter Settings ----------- 19 Bathymetric Survey Water Quality Monitoring Tboat20-A Tboat20-B Water Quality Sampling Water Surface Inspection Tboat20-C Tboat20-D 2025 Copyright Guangzhou Toksurvey Information Technology Co., Ltd 1. Overview 1.1 Introduction to Unmanned Surface Vehicle Tboat20 Unmanned Surface Vehicle (USV) is built on a fully modular, plug-and-play architecture. The vehicle integrates seven line-replaceable moduleshull shell, mission-control core, propulsion unit, collision-avoidance suite, high-precision positioning package, wireless telemetry link, and hot-swappable power packinto a single, watertight assembly. The shore-side segment is a single Android-based, long-range telemetry controller that unifies differential corrections uplink, real-time data downlink and remote control. All onboard and post-mission workflows are handled by tSail, an integrated and hydrographic-processing application. Detailed functional descriptions of each hardware unit and software module are provided in the following sections. vessel-control 1.2 Hull and Hardware Architecture Positioning Antenna Signal Antenna Power/RC-link indicator light 360 Camera 4G Antenna Start Switch 2.4 G Antenna Differential-fix Indicator Light Hull Support Hatch Switch Radio-antenna Port Thruster Omnidirectional Bumper Positioning Antenna Obstacle Avoidance Radar 03 Thruster Single-beam Echosounder (SBES) Heat-dissipating Subsea Mounting & Expansion Rail 1.3 Heat-dissipating Subsea Mounting &
Expansion Rail
(1) The Remote Controller is built around a 6 nm, octa-core Qualcomm SoC running Android 13 (64-bit). A high-power 2.4 GHz / 5.8 GHz dual-band radio module delivers low-latency, high-definition video with extended range and robust interference rejection.
(2) A built-in 7-inch high-brightness HD panel (1920 1200) provides real-time video feedback from the survey payload. Dual internal fans maintain thermal stability for continuous field operation.
(3) Interfaces include SIM card, USB and Type-C ports for differential corrections uplink, data logging and peripheral expansion.
(4) A high-energy-density Li-ion pack gives 68 h of autonomous runtime per charge.
(5) It is made of meteorological silicone, matte rubber, and ABS material. The G20 has taken dust-proof protection 04 measures on the body, control switches, and all peripheral interfaces to ensure stable and smooth operation in harsh environments. 1.4 Controller Operations Controller Specifications Channels Operating voltage RF power Band 16 4.2 V (internal battery) 23 dBm @CE/FCC 2.4 GHz Dynamic FHSS hopping enabled Dimensions Weight Endurance Battery 277 mm (L)138 mm (W)96 mm (H) 1.2 kg 68 h 20000 mAh Firmware update OTA / on-line Charge port RAM Internal storage TYPE-C 4 GB 64 GB 1 2 3 4 5 6 7 8 9 10 11 12 13 1 2 3 4 5 6 7 8 9 10 11 12 2.4 GHz antenna 3-position toggle switch
(FWD: Auto / MID: Hold / AFT: Manual) Back key Left stick (forward/reverse control) Return-to-home (RTH) key L1 mission-planning shortcut L2 safety-settings shortcut Microphone R2 USV status shortcut R1 vessel-control parameters shortcut Power key Right stick (port/starboard control) 05 06 13 14 15 Data-logging stop key Battery Indicator Light Linking Indicator Light 16 17 18 19 20 21 22 23 24 B2 key (reserved) TF-card / SIM-card slot B1 key (reserved) Spring-return thumb-wheel for gimbal pan control Camera-view toggle key Lanyard eyelet TYPE-C port USB port Photo-capture key 07 Operating Environment a. Ambient temperature: 10 C to +45 C b. Storage temperature: 20 C to +50 C c. Relative humidity: 85 % RH d. Atmospheric pressure: 86 kPa 106 kPa e. Location must be free of explosive, corrosive or electrically conductive media; gases that attack metals or degrade insulation; significant water vapour; and heavy mould growth f. Site shall provide protection against rain, snow, wind-blown sand and dust Power Supply & Safety Notes a. The ground station contains an integrated, rechargeable Li-ion battery and can be charged through the market-standard TYPE-C port using any certified USB charger (e.g., phone or camera adapter). b. If smoke, odour or electrolyte leakage is observed during charging, discontinue immediately and return the unit to an authorised service centre. c. Keep the charging area out of reach of children to prevent electric-shock hazards. d. Do not charge at ambient temperatures exceeding 60 C. Pre-operation Checks a. Verify that the controller battery is adequately charged before use. b. Confirm that all antennas are positioned as specified to ensure optimum performance. c. Do not operate the unit while under the influence of 08 alcohol or any impairing substance. e. Use only certified, professional-grade chargers for the battery. f. The antennas are fragileavoid excessive force or impact. 2. Hardware Operation 2.1 Accessory Installation
(1) Install battery mate aviation power plug switch battery ON.
(2) Connect main-camera Ethernet and power cables.
(3) Close hatch; tighten thumb-screws. 2.2 Pre-Launch Checks
(1) Power On USV: Press and hold the stern power button for 3 s until the indicator light blinks rapidly, then release. After around 10 s the light turns solid, indicating the onboard mission computer is fully booted. Controller: Switch on the Controller, launch the tSail app and connect to the USV via video-link. A solid red LED on the port side of the hull confirms successful link establishment.
(2)Thruster airflow check Use the stick commands to verify correct blower direction:
Forward (left stick forward): both thrusters exhaust aft. Reverse (left stick back): no airflow from either thruster. Port turn (right stick left): port thrusterno airflow; stbd thrusterexhaust aft. Stbd turn (right stick right): port thrusterexhaust fwd; stbd thrusterno airflow.
(3) Power-on self-test (POST) After the tSail video-link is established the vessel runs its POST; all items must pass before launch 2.3 Battery Charging Procedure
(1) Charge both the lithium battery pack and the controller only with the supplied dedicated charger.
(2) Mating procedure:
Align and fully seat the charger plug into the battery port first. Then insert the charger mains plug into 220 V AC. LED logic:
POWER LED only no battery connected CHARGE LED red charging CHARGE LED green charge complete; battery ready for use
(3) Battery care a. New batteries are shipped with 30 % SOC; bring to 100 %
within two months. b. Recharge immediately when the one-bar (low-battery) indicator appears. c. A fully-charged battery may be stored for up to six months;
recharge again after this period. 09 10 3. Software Operations 3.1 Software Overview tSail is a proprietary, survey-ready control and post-processing suite developed for unmanned surface vehicles. It supports multiple survey modes, enabling unmanned vessels to execute tasks automatically and adapt to various scenarios. The software provides hull control, route planning, status display, safety alerts, and online upgrades; it uses an integrated remote, supports 4G communication and data-link connection, and allows real-time triple-view video display. It supports external sensors, whose data can be integrated and shown in the vessel-control app without carrying a computer;
post-processing overlays water-depth waveforms, so depth noise points are traceable; multiple data correction modes are offered to ensure accuracy and reliability. From the customers perspective, the software pursues more accurate measurement, more user-friendly operation, and simpler functions for rapid deployment.
(1) Technical specifications Operating environment: Android 13.
(2) Installation & removal Installation: copy the tSail vessel-control package (*.apk) to the local Download folder on the Controller; tap the desktop file icon, open the Download folder, and tap the installation; after successful tSail package to start installation the App icon appears on the desktop. Uninstall: Long-press the tSail icon, drag it to the uninstall area on the screen, tap OK when prompt of uninstalling appears, and the software is removed.
(3) Version check and update When the app is launched with an active network, it queries the server. If a newer build is available, a pop-up appears with the update details. If the handset is not on Wi-Fi, you will be asked whether to proceed with the download. The Controller comes with the tSail USV control app pre-installed; if it is missing, please contact the technical support for installation. Note: many features require a mobile data connection, and network RTK corrections for the vessel are delivered via the Internetensure a reliable network is available whenever the system is operated. 3.2 Establishing Connection
(1) Tap the tSail app icon to launch it; on the home screen tap the Tboat20 button in the lower-right corner to open the USV connection dialog, then select Video-Link Connect or 4G Connect. 11 12
(2) The USV offers two link options4G and video-link
(default: video-link). In 4G mode the vessel ID is its SN number and the password is ubinavi2023. After successful pairing Disconnect. the button changes to After configuring the project parameters, click |Next] to complete the projectsetup and enter the vessel control interface. 3.3 Project Creation
(1) Go to Task Management to select an existing project or create a new one. 3.4 (USV) Self-Test
(1) When the unmanned vessel is connected, the system will prompt for a startupself-test upon initial entry into the vessel control interface. Click [Confirm] toproceed to the next step. 13 14 12. Normal (Green) if connected successfully; otherwise, Abnormal (Red). Unmanned Vessel Battery:
13. Normal (Green) if connected successfully; otherwise, Abnormal (Red). Battery Level Indicators:
14. >50%: Green 15. 10%~50%: Yellow 16. 10%: Red 3.5 Navigation Route Planning Navigation to Route Planning Interface:
1. Access the vessel control interface, then locate and select the red-highlighted button on the right side. 2. Choose the "Route Planning" function to enter the route planning interface. Vessel Control Interface Status Indicators:
4G Network Signal:
Displays real-time network quality of the unmanned vessel. 1. 80%: Full bars (3 bars) 2. 60%: 2 bars 3. 40%: 1 bar 4. <40%: 0 bars GNSS Solution Mode:
Positioning status:
5. Single (White) 6. Float (Yellow) 7. Fixed (Green) Echosounder (Depth Sensor):
8. Normal (Green) if connected successfully; otherwise, Abnormal (Red). Propulsion System:
9. Normal (Green) if connected successfully; otherwise, Abnormal (Red). Camera:
10. Normal (Green) if connected successfully; otherwise, Abnormal (Red). Obstacle Avoidance Module:
11. Normal (Green) if connected successfully; otherwise, Abnormal (Red). Remote Controller:
15 16 3.6 Manual Route Drawing 1. Select Waypoints:
Click the red-highlighted button to activate selection mode. On the satellite map, click multiple locations to generate waypoints. The system will automatically determine the navigation path and direction based on the order of clicks. 2. Adjust Waypoint Order:
Use the blue-highlighted bidirectional arrow to swap the sequence of selected waypoints. 3. Delete Waypoints:
Click the yellow-bordered button to remove unwanted waypoints. 4. Polygon-Based Route Generation Instructions:
Click the red-highlighted button to activate polygon mode. Single click on the map adds a boundary point.Three clicks generate a triangular polygon; continue clicking to add more vertices. 5. Edit Polygon (Left Panel):
Ensure the "Edit Polygon" button remains selected to:
Drag & move the entire polygon. Delete points: Click a vertex to select it, then press the
"Delete Point" button. 6. Generate Route (Right Panel):
Click "Generate Route" to create a default path within the polygon. Customize routes by adjusting:
Spacing (between parallel tracks) Angle (route direction) Buffer (expand/shrink polygon edges) Start Point (initial waypoint). 17 18 3.7 Video Surveillance Camera View Operation:
1. Enter Camera View:
Click the camera feed icon (top-left corner) to enter the live video interface. Supports split-screen display for multitasking. 2. Main Video Feed:
Displays real-time environmental footage from the unmanned vessels perspective during navigation. 19 20 FCC Caution. This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
(1) This device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that may cause undesired operation. Any Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:
-Reorient or relocate the receiving antenna.
-Increase the separation between the equipment and receiver.
-Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.
-Consult the dealer or an experienced radio/TV technician for help. FCC Radiation Exposure Statement:
This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance 20 cm between the radiator & your body. CE Maintenance 1.Risk of explosion if battery is replaced by an incorrect type. Dispose of used batteries according to the instructions. 2.The product shall only be connected to a USB interface of version Type-C. 3.Adapter shall be installed near the equipment and shall be easily accessible. 3.EUT Operating temperature range: 0C to 55C. 4.Adapter: The plug considered as disconnect device of adapter Power supply and ADP(rating):
Input: AC 100-240V 50/60Hz 5A Output: DC 33.6V 12.5A 5.The device complies with RF specifications when the device used at 20cm youre your body. Declaration of Conformity Guangzhou Toksurvey Information Technology Co., Ltd hereby declares that this UNMANNED SURFACE VEHICLE is in compliance with the essential requirements and other relevant provisions of Directive 2014/53/EU. In accordance with Article 10(2) and Article 10(10),This product is allowed to be used in all EU member states. Frequency Bands:
GSM 900: 880 MHz to 915 MHz GSM1800: 1710 MHz to 1785 MHz WCDMA Band I: 1920 MHz to 19780 MHz WCDMA Band VIII: 880 MHz to 915 MHz LTE Band 1: 1920 MHz to 1980 MHz LTE Band 3: 1710 MHz to 1785 MHz LTE Band 7: 2500 MHz to 2570 MHz LTE Band 8: 880 MHz to 915 MHz LTE Band 20: 832 MHz to 862 MHz LTE Band 28: 703 MHz to 736 MHz LTE Band 38: 2570 MHz to 2620 MHz LTE Band 40: 2305 MHz to 2400 MHz LTE Band 41: 2496 MHz to 2690 MHz 2.4G SRD: 2411 MHz to 2477 MHz 5.8G SRD: 5730 MHz to 5840 MHz GPS: 1575.42 MHz 1.023 MHz LORA: 433.5 MHz to 434.5 MHz Max power:
GSM 900: 29.59dBm GSM1800: 26.13dBm WCDMA Band I: 23.96Bm WCDMA Band VIII: 24.23dBm LTE Band 1: 24.37dBm LTE Band 3: 24.47dBm LTE Band 7: 23.06dBm LTE Band 8: 24.07dBm LTE Band 20: 24.13dBm LTE Band 28: 24.23dBm LTE Band 38: 22.50dBm LTE Band 40: 22.26dBm LTE Band 41: 22.85dBm 2.4G SRD: 7.18dBm 5.8G SRD: 13.26dBm
