臺灣博碩士論文加值系統

四軸飛行器近幾年風行，容易操控且穩定的特性，可以輕易地執行空拍、競技飛行、救難等任務，本文使用arduino NANO與MPU6050模組來製作四軸飛行器，並認識與熟悉四軸系統的飛行原理，再透過PID控制器的調整，來達成四軸飛行器的穩定飛行，而無線感應裝置的興起，讓手勢辨識得以實現，透過Leap Motion裝置，了解手勢的邏輯，並測試各個手勢的成功率，最後結合Parrot Ardrone2.0來達成手勢辨識控制，發現了手勢間銜接的問題，並更改手勢控制程式中的程式碼，來改善其問題並完成手勢控制實驗，實驗結果顯示手勢辨識的高性能並且達到控制四軸飛行器的需求。

The quadcopter has been popular in recent years because it is stable and easy to control. Therefore, it is applied to many fields, such as shooting, competitive flight, rescue and so on. In this article, Arduino NANO and MPU6050 module were used to make the quadcopter. Understanding the four-axis system flight principles and theories as well as adjusting the PID controller helped to achieve flight stablility of the four-axis aircraft. With the rise of wireless induction devices, the gesture recognition could be realized. Through the Leap Motion device, we could understand the logic of gestures and test the success rate of each gestures. Finally, with combination of Parrot Ardrone2.0 and gesture recognition control, we found the connection problem. The program code in gesture control was changed to solve it, and this experiment was completed then. The experimental results showed the high performance of gesture recognition and the success in controling the quadcopter.

目 錄
目 錄 iv
圖 次 vi
表 次 viii
第一章 緒 論 1
第一節 研究背景與動機 1
第二節 四軸飛行機與PID控制器 2
第三節 Leap Motion 控制器與手勢辨識 5
第二章 四軸飛行器製作與PID控制測試 7
第一節 原理與零件介紹 7
第二節 飛控板焊接與機體組裝 10
第三節 四軸飛行器程式設定與PID控制實驗 13
第四節 四軸飛行器製作與PID控制實驗小結 19
第三章 LEAP MOTION手勢資訊分析 21
第一節 Leap Motion分析與使用 21
第二節 靜態手勢與動態手勢 25
第三節 Leap Motion手勢實驗 29
第四章 手勢控制 31
第一節 手勢控制程式概念與流程 31
第二節 四軸飛行器之手勢控制實驗 34
第五章 結論與建議 37
第一節 結論 37
第二節 建議 37
參考文獻 39
附錄 44
附錄一 四軸飛行器材料表 44



圖 次
圖2-1. 四旋翼螺旋槳與控制方向之示意圖 8
圖2-2. 飛控電路板、單頭排針、杜邦膠座、電阻與LED排列示意圖 11
圖2-3. 飛控板焊接示意圖 11
圖2-4. 飛控板完成圖 12
圖2-5. 四軸飛行器成品 13
圖2-6. Arduino程式編輯之四軸設定 14
圖2-7. Arduino程式編輯之模組設定 14
圖2-8. Multiwiiconf 程式介面 15
圖2-9. PID控制器調整之P值 17
圖2-10. PID控制器調整之I值 18
圖2-11. PID控制器調整之D值 19
圖3-1. 用windows 命令提示字元開啟LeapSDK的開發檔案 21
圖3-2. 使用Microsoft Visual Studio
執行LeapSDK之Leap Motion擷取的手部影像 22
圖3-3. Processing之手指影像模擬 23
圖3-4. Processing之手部影像模擬與詳細資訊 24
圖3-5. 手部Pitch、Roll、Yaw軸向之數據 25
圖3-6. 手與四軸飛行器對應圖 26
圖3-7. 靜態手勢控制四軸飛行器方向移動之實際手勢模擬 26
圖3-8. 動態手勢概念圖 27
圖3-9. 動態手勢控制四軸飛行器運動之實際手勢模擬 28
圖3-10. 手勢測試電腦畫面 29
圖3-11. Leap Motion手勢辨識測試數據 30
圖4-1. 手勢控制程式流程圖 32
圖4-2. 手勢控制Parrot Ardrone2.0實際練習狀況 35
圖4-3. 手勢辨識控制實驗數據 36


表 次
表2-1 Arduino nano 規格表 9
表2-2 MPU6050 規格表 10

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