臺灣博碩士論文加值系統

近年來，無人飛行載具(UAV)獲得廣泛的研究，它具有體積小、重量輕、高機動性、自主性等優點。目前國內外的研究都已相當成熟，尤其是在室外環境中，因為有全球定位系統(GPS)提供戶外座標，使得多旋翼飛行機器人能達到定點停懸與導航等功能。但是，由於室內空間中無法穩定接收到正確的GPS訊號，以至於無法達到上述等功能，需要使用其他的系統輔助進行定位以及導航。
本論文使用影像處理系統辨識地面上所黏貼之電工膠帶，並循線飛行來引導無人飛行載具在室內自主執行飛行任務。在飛行過程中如果辨識出特定目標物(投擲區)，則在目標物的上空準確投擲酬載的沙包。本研究也使用紅外線感測器來感測周圍環境，並作為避障系統來驗證是否能在室內環境中避開障礙物。為提高自主飛行機器人在室內環境中的測試安全性，本研究先透過全向輪機器人來驗證影像處理系統及避障系統之功能是否正確，最後製作飛行機器人，並將所有系統轉移到飛行機器人上進行實驗。
實驗中我們準備多項關卡來測試此系統可行性，其中包含循線飛行以及運送貨物到達指定地點後投擲，最後測試飛行機器人是否具有避障功能。
透過實驗結果證實，影像處理系統成功幫助飛行機器人，在室內環境辨識出電工膠帶軌跡，並且沿著軌跡前進與轉彎。在到達投擲區上空後投擲酬載的沙包，而後繼續向前飛行在沒有電工膠帶輔助的狀況下，避開障礙物後重新回到軌道上，最後在終點完成自動降落。

Due to the unmanned aerial vehicle (UAV) has the advantages of light weight, small size, and better dynamic performance, it has always been the highlight on research topics in recent years. Today, this item is very mature at outdoor environment, it can loiter and autopilot because of Global positioning System (GPS). But, GPS signal can’t be received that UAV can’t loiter and autopilot in indoor environment.
In this thesis, an image processing system is used to identify the electrical tape trailing line on the ground to guide the unmanned aerial vehicle to autonomously perform flight missions indoors. If a specific target is identified during the flight, the sandbag of the payload is accurately thrown over the target. This study also uses an infrared sensor to detect the surrounding environment and as an obstacle avoidance system to verify whether it can avoid obstacles in indoor environment, In order to improve the safety of the autonomous flying robots in indoor environment, This study first verified the function of the image processing system and the obstacle avoidance system through the omnidirectional wheel robot. Finally, the flying robot was made and all the systems were transferred to the flying robot for the experiment.
In the experiment, we prepared a number of levels to test the feasibility of this system, which includes transporting goods by air route and arrived at the designated place throwing, and finally testing whether the flying robot has the obstacle avoidance function.
Through experimental results, it was confirmed that the image processing system successfully assisted the flying robot in recognizing the path of the electrical tape in the indoor environment, and proceeded and turned along the trajectory, throwing the sandbag after reaching a specific target position, and then continued to move forward. With the aid of visual tracking flying robot can avoid obstacles and return to the track.

中文摘要......................................i
英文摘要....................................iii
誌謝..........................................v
目錄.........................................vi
表目錄........................................x
圖目錄.......................................xi
符號說明.....................................xv
第一章 緒論..................................1
1.1 前言......................................1
1.2研究動機....................................2
1.3 論文架構...................................3
第二章 文獻探討...............................4
2.1 多旋翼飛行載具起源..........................4
2.2影像處理應用................................6
2.2.1西安交通大學..............................6
2.2.2綿陽師範學院數學與計算機科學學院............6
2.3避障相關應用................................9
2.3.1超音波感測器避障應用.......................9
2.3.2紅外線感測器避障應用......................10
2.3.3雷射感測器避障應用........................11
2.3.4 視覺感測器避障應用.......................13
第三章 研究內容與方法.........................18
3.1影像處理系統原理............................18
3.1.1色彩空間.................................20
3.1.2明亮度...................................22
3.1.3顏色過濾.................................22
3.1.4二值化...................................23
3.1.5侵蝕與膨脹...............................24
3.1.6輪廓取得.................................27
3.1.7影像處理輸出資料..........................28
3.1.8影像處理輸出資料程式流程圖.................28
3.2避障系統...................................30
3.2.1 紅外線測距模組GP2Y0A02YK0F介紹...........30
3.2.2 紅外線測距模組安裝方式...................33
3.2.3紅外線避障演算法..........................34
3.2.4雷射測距模組TF Mini LiDAR(ToF)介紹........36
3.2.5雷射測距模組安裝方式......................37
3.2.6雷射避障演算法............................38
3.3光流模組...................................39
3.3.1光流模組介紹..............................40
3.3.2光流模組安裝方式..........................41
3.3.3光流模組參數設定..........................42
3.4雷射感測器..................................44
3.4.1雷射感測器介紹............................44
3.4.2雷射感測器安裝方式.........................45
3.4.3雷射感測器參數設定.........................46
3.5飛行機器人控制系統...........................47
3.6 研究步驟...................................49
第四章 全向輪機器人...........................50
4.1 全向輪機器人運動方程式......................51
4.2 全向輪機器人硬體架構........................54
4.3全向輪機器人程式流程圖.......................55
第五章 四旋翼飛行機器人........................57
5.1 飛行原理介紹...............................57
5.2 四旋翼飛行機器人之運動方程式.................60
5.3 飛行控制電腦介紹............................62
5.3.1硬體架構..................................63
5.3.2控制理論..................................64
5.4 四旋翼飛行機器人製作流程....................66
5.5四旋翼飛行機器人硬體架構.....................68
5.6 自主導航演算法.............................69
5.7四旋翼飛行機器人程式流程圖...................70
第六章 實驗結果...............................72
6.1 影像處理測試結果............................72
6.2光流模組測試結果.............................74
6.3全向輪自走車測試結果.........................75
6.3.1循線實驗結果..............................75
6.3.2投擲區實驗結果............................76
6.3.3避障系統實驗結果..........................77
6.4多旋翼飛行機器人測試結果.....................78
6.4.1循線實驗結果..............................78
6.4.2投擲區實驗結果............................78
6.4.3避障系統實驗結果..........................79
第七章 結論與未來展望.........................80
7.1結論.......................................80
7.2未來展望....................................80
參考文獻.......................................81
附錄一 第21屆TDK飛行組比賽規則..................86
附錄二 自製遙控器...............................90
英文論文大綱...................................97

[1]第21屆TDK比賽官網, June 2018
HTTP://TDK.NFU.EDU.TW/21TH/
[2]gyroplanepassion.com, " Juan de la Cierva", September 2015.
http://www.gyroplanepassion.com/Juan_de_la_Cierva.html
[3]Wikipedia, " Coriolis effect", June 2014.
http://en.wikipedia.org/wiki/Coriolis_effect
[4]All the world’s rotorcraft, "Convertawings Model A", June 2011.
http://www.aviastar.org/helicopters_eng/convertawings.php
[5]Yi-yong Yao , Yu-tao Hu, "Recognition and location of solar panels based on machine vision", 2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), 2017
[6]Peng Shengze , Wen Yongge, "Research based on the HSV humanoid robot soccer image processing", 2010 Second International Conference on Communication Systems, Networks and Applications, 2010
[7]Zhao Xu , Xu Baojie , Wu Guoxin, "Canny edge detection based on Open CV", 2017 13th IEEE International Conference on Electronic Measurement & Instruments (ICEMI), 2017
[8]Yangguang Yu , Xiangke Wang , Zhiwei Zhong , Yongwei Zhang, " ROS-based UAV control using hand gesture recognition", 2017 29th Chinese Control And Decision Conference (CCDC), 2017
[9]Meng Dong , Lin Cao , Dong-Ming Zhang , Ru Guo, "UAV flight controlling based on Kinect for Windows v2", 2016 9th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI), 2016
[10] Nimai Stansfield , B Bothma, "Android based semi-autonomous collision avoidance robot", 2013 6th Robotics and Mechatronics Conference (RobMech), 2013
[11] Gwo-Ruey Yu , Pei-Yen Liu, Yuan-Kai Leu, "Design and implementation of a wheel mobile robot with infrared-based algorithms", 2016 International Conference on Advanced Robotics and Intelligent Systems (ARIS), 2016
[12] Farshad Arvin , Khairulmizam Samsudin , Abdul Rahman Ramli, " A Short-Range Infrared Communication for Swarm Mobile Robots", 2009 International Conference on Signal Processing Systems, 2009
[13]Hsin-Yi Huang, Yun-Wen Hu , Meng-Fang Lu , Song-Shyong Chen, Jin-Tsong Jeng, Wen-Ping Chen, "An obstacle avoidance of large-scale indoor tricycle drive cleaning robot using laser scanner" , 2017 Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems (IFSA-SCIS), 2017
[14]Jinshan Yu , Hao Wu , Xin Wang, " The research on obstacle avoidance of hospital ward inspection robots in complex environment", 2016 Chinese Control and Decision Conference (CCDC), 2016
[15]Yan Peng , Dong Qu , Yuxuan Zhong , Shaorong Xie , Jun Luo , Jason Gu, " The obstacle detection and obstacle avoidance algorithm based on 2-D lidar", 2015 IEEE International Conference on Information and Automation, 2015
[16]Jia Hu , Yifeng Niu , Zhichao Wang, " Obstacle avoidance methods for rotor UAVs using RealSense camera", 2017 Chinese Automation Congress (CAC), 2017
[17]Suolin Duan , Yunfeng Li , Shuyue Chen , Lanping Chen , Jijiang Min , Ling Zou , Zhenghua Ma , Ji Ding, " Research on obstacle avoidance for mobile robot based on binocular stereo vision and infrared ranging", 2011 9th World Congress on Intelligent Control and Automation, 2011
[18]Nils Gageik , Paul Benz , Sergio Montenegro, " Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors",IEEE Access ( Volume: 3 ), 2015
[19]Abrar M. Alajlan , Marwah M. Almasri , Khaled M. Elleithy, " Multi-sensor based collision avoidance algorithm for mobile robot", 2015 Long Island Systems, Applications and Technology, 2015
[20]Liu Pingzeng , Bi Shusheng , Zang Guansheng , Wang Wenshan, Gao Yushu , Deng Zhenmin, " Obstacle avoidance system for agricultural robots based on multi-sensor information fusion", Proceedings of 2011 International Conference on Computer Science and Network Technology, 2011
[21]Cheng-Pei Tsai , Chin-Tun Chuang , Ming-Chih Lu , Wei-Yen Wang , Shun-Feng Su , Shyang-Lih Chang, " Machine-vision based obstacle avoidance system for robot system", 2013 International Conference on System Science and Engineering (ICSSE), 2013
[22]Fairul Azni Jafar , Kazutaka Yokota , Yasunori Suzuki , Takeshi Matsuoka, " Autonomous mobile robot self-localization based on environmental visual features", 2009 4th International Conference on Autonomous Robots and Agents, 2009
[23]Wikipedia，”HSL和HSV色彩空間”, June 2018
https://zh.wikipedia.org/wiki/HSL%E5%92%8CHSV%E8%89%B2%E5%BD%A9%E7%A9%BA%E9%97%B4
[24]部落格，”阿洲的程式教學”, June 2018
http://monkeycoding.com/?page_id=12
[25]Saman Kumpakeaw, " Twin low-cost infrared range finders for detecting obstacles using in mobile platforms", 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012
[26]Saptadeep Debnath , Jagadish Nayak, " Visual odometry data fusion for indoor localization of an unmanned aerial vehicle", 2017 IEEE International Conference on Power, Control, Signals and Instrumentation Engineering (ICPCSI), 2017
[27]Angelo Nikko Catapang , Manuel Ramos, " Obstacle detection using a 2D LIDAR system for an Autonomous Vehicle", 2016 6th IEEE International Conference on Control System, Computing and Engineering (ICCSCE), 2016
[28]Wikipedia, " Omni wheel", September 2015.
https://en.wikipedia.org/wiki/Omni_wheel
[29]陳家康，"全方位運動機器人之設計與製作"，國立雲林科技大學，碩士論文，2006年7月。
[30]曾宥竣，「四旋翼飛型機器人與影像追蹤之整合應用」，國立虎尾科技大學，碩士論文，2012年7月。
[31]Sastry, S., "A Mathematical Introduction to Robotic Manipulation" Boca Raton, FL. pp.166-168, 1994
[32]Chriette, A., "Contribution à la commande et à la modélisation des hélicoptères : asservissement visuel et commande adaptative", Phd Thesis, Th`ese de l'Universit´e d'Evry Val d'Essonne, CEMIF-SC FRE 2494, Universit´e d'Evry, France, 2001
[33] Arducopter, "Pixhawk", September 2015.
http://copter.ardupilot.com/
[34]鄭瑞鋒，"油電混合動力多旋翼無人飛行載具之研製"，國立虎尾科技大學，碩士論文，2015年1月。
[35]王啟義，"基於動態捕捉定位系統之群組飛行機器人研製"，國立虎尾科技大學，碩士論文，2015年10月。