本論文提出一個全自動工作四軸飛行器系統，此系統以一台四軸飛行器以及一個磁共振無線充電站為基礎，結合影像處理以達成自行補充能源之目的。現今市面上的四軸飛行器考量到飛行時的靈活度以及其他附加零件的載重問題，多數不會配有大容量電池，因此飛行時間約為30~40分鐘。隨著自動化時代來臨，機器人必須減少倚賴人力支援，若飛行器每進行一小段時間的工作就需要更換電池，會浪費掉不必要的人力。本論文針對這個問題設計出一套系統，四軸飛行器平時進行大氣細懸浮微粒(PM2.5)的量測工作，按照預先規劃的路徑飛行。一旦電池電壓低於要求，飛行器能夠以靠GPS以及影像辨識的能力找到充電站進行充電。 實驗結果證實，提出的系統能讓四軸飛行器降落在目標平台上，誤差距離不超過5公分。而磁共振無線供電系統在發射與接收端垂直距離7公分時可以提供10W的能量，效率約為80%。 ;This thesis proposed a fully automatic quadcopter system, which is based on a quadcopter and a magnetic resonance wireless power charging station, combined with image processing to achieve the purpose of charging its own power automatically. The commercial quadcopters today mainly focus on the flexibility while flying and the loading while other additional parts need to be added, thus most of them are not equipped with large capacity batteries, causing the flight time less than 30 to 40 minutes. In nowadays, robots need to reduce the reliance on human support, and if UAVs needs to replace their battery for a short period of time, unnecessary manpower can be wasted. In this thesis, the proposed system is designed to solve this problem. The quadcopter usually carry out the measurement of atmospheric particulate matter (PM2.5) while following a planned path. Once the battery voltage is lower than a threshold value, the quadcopter can find the wireless power charging station depending on GPS and image recognition capabilities. The experimental results confirm that the proposed system allows the quadcopter to land on the target platform with an error distance less than 5 centimeters. The magnetic resonance wireless power supply system can provide 10W of energy with efficiency is about 80% while the transmitting coil and receiving coil in a distance of 7 cm.
