運用光源追蹤水下載具方位之中繼系統整合開發

Development of Power/Signal Management System with Light-Sourced Carrier Tracking Function

本研究開發一套中繼電力／訊號管理（power/signal management system，PSMS）系統，來因應台灣海域海流較強的作業環境要求。此系統介於母船與水下載具間，由水文絞機與鎧裝纜纜繩連接母船，而以副纜繩與ROV連結。此系統整合岸端系統、主體結構、電力系統、推進系統、通訊與感測系統等五個功能不同的子系統，遂行中繼站下沉上浮、水下載具影像取得、環境資訊蒐集、水下載具佈放等動作。另外，依據水下光源追蹤的概念，應用影像處理與模糊控制的技術，控制中繼站的推進器，使中繼站自動旋轉來追蹤水下載具方位。此系統在拖航水槽的測試結果顯示：開發的中繼系統可以連結ROV正確地運作之外，同時證實在短距離的應用上，以光源為目標配合影像辨識於水下方位追蹤的可行性。 This study developed a Power/Signal Management System (PSMS) to cope with complex ocean environment which ROV/AUV operates in. System connects with mother ship by a high-tensile armored cable and is able to carry underwater vehicle by a neutral buoyancy cable. It integrates five different functional sub-systems: shore-end system, the main structure, power system, propulsion system, communication and sensor system, to perform sinking, floating, underwater image acquisition, environmental information gathering, and underwater vehicle laying. Besides, we use light source as the target, and apply image processing and fuzzy theory to control the propulsion system to performance automatically underwater vehicle tracking.Several tests including laying the ROY, AUV, and power/signal transmission and tacking function carried out in towing tank show that the performance of PSMS is appropriate. In addition, the PSMS is able to find out a fixed light source within several seconds, and catch up with a moving light source. The feasibility of light source tracking function in short distance application is verified.