中山大學海下所於2012 年自行開發深海拖曳式即時攝影系統(ATIS)，並應用在臺灣西南海域天然氣水合物調查。經過多次實海域探測作業後，發現ATIS 某些功能的限制與不足，包括電池續航力、感測儀器擴充性、目標物尺寸量測、四周障礙物偵測、艏向修正。因此本研究開發新一代的深海拖曳式即時攝影系統ATIS II，除了改善ATIS 的功能限制之外，還新增功能與整合其他感測儀器，以提昇探測作業效率。在提昇電池續航力方面，ATIS 配備鋰電池約可運作2.5 個小時，經過成本評估之後，ATIS II 採用AGM 鉛蓄電池，將單次作業時間提昇至5 小時左右。在感測儀器擴充性方面本研究於載台上增設接線盒設計，將複雜的感測器配線由水密艙移至接線盒，使載台上可以安裝較多感測儀器。在目標物尺寸量測功能擴充方面，希望增加觀看即時影像便可估算海床目標物尺寸的功能，因此本研究進行平行點雷射之固定座設計，可調整兩支雷射射線之平行度，並將平行雷射安裝於載台上，依據攝影機即時影像畫面中兩雷射光點的像素距離，便能夠快速估算海床目標物的實際尺寸。在障礙物偵測方面，本研究於載台上增設環場掃描聲納，用於偵測載台四周環境中是否有障礙物，以減少ATIS 在拖曳探測時碰撞到周遭障礙物，造成載具受損。在艏向修正方面，本研究將原ATIS 固定尾翼的設計變更為可動態調整角度的設計，利用旋轉馬達來驅動尾翼改變角度，提供操作者改變載台艏向的功能，使載台艏向能儘量對齊其拖曳方向。依據上述功能改善與功能擴充設計，本研究也進行ATIS II 之水密艙以及新機架設計。

In 2012, the Abyss Twisted-pair Imaging System (ATIS) was built by the National Yat-sen University for gas hydrate investigation off southwest Taiwan. After several deep-towed operations, we found that the battery life of the ATIS is a bit short for its video storage and recording capacity. In addition, we found that, on the ATIS, the capabilities of adding optional sensors, sizing objects, obstacle avoidance, and heading adjustment are absent. Therefore, in this study, a new vehicle ATIS II was developed to extend battery life and to allow for providing the capabilities of adding optional sensors, sizing objects, obstacle avoidance, and heading adjustment. On the issue of increasing battery life, the ATIS was originally equipped with the lithium ion batteries which can provide power for as long as 2.5 hours. Considering the cost of the battery, the ATIS II adopted the Absorbent Glass Mat (AGM) batteries as the power source.
By the use of the AGM batteries, the ATIS II can sustain the operation for 5 hours that is the average recording storage time for the ATIS video system. For adding optional sensors on the ATIS II, a junction box was designed to provide a simple, compact and low cost solution to the problem of accessing optional sensor data inputs. For object scaling, a parallel laser system was incorporated into the imaging system of the ATIS II. Two parallel lasers separated by a known distance (30 cm) are projected onto the seafloor object. When a video is taken, the laser projections on the target provide a scale bar that can be used to measure the size of objects in the image. As for obstacle avoidance, it is extremely important to always know whether there is obstacle in the way or not while towing an underwater vehicle. Therefore, a scanning sonar was integrated into the ATIS II for detecting the obstacle during the tows. Considering the issue of heading adjustment, a fixed fin was mounted on the ATIS for stabilizing the
vehicle in yaw motion while towing the ATIS. However, the heading of the ATIS can be difficult to maintain on the course direction when environmental forces act on the vehicle in an unpredictable manner. When the vehicle heading deviates from the course direction, heading adjustment is needed for better quality of seafloor video observation. Therefore, an adjustable fin was designed for the ATIS II so that the fin angle can be altered to maintain the vehicle’s heading on the towing direction. Based on the improvement designs mentioned above, the water proof housings for batteries and electronics are redesigned. As well, a new frame for ATIS II are designed for optimum placement of electronic housings, junction box, the imaging system, sensors, and the adjustable fin.

論文審定書. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i
致謝. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii
摘要. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
圖目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
表目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
第一章緒論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 前言. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 動機與目的. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 文獻回顧. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.4 論文架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
第二章ATIS 簡介. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.1 開發歷程. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2 系統性能. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3 實海域探測成果. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.4 性能限制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
第三章ATIS II 規劃與設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.1 感測器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2 電力系統. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.2.1 電池選用. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.2.2 AGM 鉛蓄電池性能測試. . . . . . . . . . . . . . . . . . . . . . 32
3.2.3 電壓偵測. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.2.4 ATIS II 電力架構. . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.3 通訊系統. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.4 控制系統. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
第四章電力、通訊與控制系統結構設計. . . . . . . . . . . . . . . . . . . . . . . . 54
4.1 電池水密艙設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.1.1 艙件設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.1.2 電池固定機構設計. . . . . . . . . . . . . . . . . . . . . . . . . 57
4.2 水下通訊單元水密艙設計. . . . . . . . . . . . . . . . . . . . . . . . . 60
4.3 水下控制單元水密艙設計. . . . . . . . . . . . . . . . . . . . . . . . . 63
4.4 接線盒設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
第五章附屬功能與機架設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.1 水下平行雷射設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.2 旋轉尾翼設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
5.2.1 尾翼機構設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
5.2.2 驅動馬達選用. . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
5.3 水下聽音器固定座設計. . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.4 機架設計與載具元件配置. . . . . . . . . . . . . . . . . . . . . . . . . 86
第六章結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
參考文獻. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

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