臺灣博碩士論文加值系統

近年來自主飛行的無人機研究方興未艾，各種無人機的應用也應運而生，而本論文主要提出對於下述兩種情境的研究成果：（1）於低照度環境使用無人機和多重亮度打光器執行夜間搜救任務 （2）應用於自主飛行和閃避障礙物的無人機的設計和製作，並且使用指定的深度攝影機。執行夜間搜救的無人機，本篇論文首先提出多重亮度打光器各項性能測試，包含：使用現有的深度學習模型YOLOv3和YOLOv4測試行人偵測的有效範圍，使用不同的亮度參數設定，並評估較佳的參數。接著我們將進行模擬空拍視角的攝影實驗，最後再以實際空拍的影像來做行人偵測的可用性評估。對於應用在自主飛行和閃避障礙物的無人機，本篇論文將提出設計流程和設計方法，並根據無人機實際飛行所收集到的感測器數據，來評估無人機穩定性。

In recent years, research on autonomous drones has been in the ascendant, and various applications of drones have also emerged. In this thesis research, results for the following two scenarios are included: (1) using drones and multi-intensity lighting in low-light environments (2) building an unmanned aerial vehicle that performs autonomous flight and avoid obstacles based on depth information from onboard stereo cameras. For night search and rescue based on (1), this thesis first proposes various performance tests for different image brightness levels, through quantitatively evaluating several state-of-the-art object detectors based on deep learning by analyzing the effective range of different settings of brightness change. Then, we perform a photographic experiment that simulates the aerial view angle, and finally using actual aerial imagery to evaluate the usability of pedestrian detection. For (2), we propose a design process and design method, and evaluate the stability of the UAV based on the sensor data collected during its actual flights.

摘要 i
Abstract ii
目錄 iii
圖目錄 v
表目錄 viii
第一章 緒論 1
1.1研究動機與背景 1
1.1.1低照度環境的空拍人形影像資料收集 1
1.1.2應用於自主飛行無人機之設計方法 1
1.2相關研究與文獻綜覽 2
1.2.1多重亮度紅外線攝影機 2
1.2.2夜間紅外線行人偵測 2
1.2.3基於多重亮度打光器的視訊摘要演算法 2
1.2.4基於深度資訊自主飛行無人機 3
1.3論文架構 3
第二章 低照度環境空拍無人機之應用 4
2.1多重亮度打光器架構 4
2.2攝影機規格 5
2.3無人機架構 7
2.4多重亮度影片撥放介面 11
第三章 無人機設計、製作 13
3.1設計流程 13
3.2設計工具 14
3.2.1 TINKERCAD 14
3.2.2 Fusion 360 15
3.3 設計方法 16
3.3.1 機體重心的設計考量 16
3.3.2 裝置的安裝位置考量 17
3.4 無人機架構 19
3.5姿態模型 24
3.5.1座標系 24
3.5.2座標系轉換 24
3.5.3運動方程式 25
3.6 PID控制器 26
第四章 實驗設置與分析 27
4.1多重亮度打光器有效範圍評估 27
4.2多重亮度打光器亮度變化評估 28
4.3低照度環境模擬空拍影像資料 30
4.4低照度環境實際空拍影像資料 32
4.5四軸旋翼機飛行穩定性分析 34
4.5.1 振動值測量 34
4.5.2 PID參數調整 35
第五章 結論和未來展望 38
參考文獻 39

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