DC 欄位 值 語言 DC.contributor 光機電工程研究所 zh_TW DC.creator 蘇許武 zh_TW DC.creator Hsu-Wu Su en_US dc.date.accessioned 2018-8-15T07:39:07Z dc.date.available 2018-8-15T07:39:07Z dc.date.issued 2018 dc.identifier.uri http://ir.lib.ncu.edu.tw:88/thesis/view_etd.asp?URN=105327004 dc.contributor.department 光機電工程研究所 zh_TW DC.description 國立中央大學 zh_TW DC.description National Central University en_US dc.description.abstract 本論文將使用Arduino作為主控，利用IMU融合四元數之算法偵測機身俯仰、翻滾、偏航之角度及角速度，並且透過多層PID的結構進行負回授控制以實現機身的自平衡，機器視覺方面是使用RaspberryPi作為影像處理之工具，並將解算後的訊號透過UART回傳至Arduino對姿態進行補償，其中有利用光流法實現懸停，以及霍夫轉換實現追蹤地面目標，本論文將會介紹系統架構、姿態算法、PID回授控制結構、感測器校正、以及如何使用機器視覺補償姿態之原理。 zh_TW dc.description.abstract Thesis will use Arduino as the main control, using IMU fusion quaternion algorithm to detect the pitch, roll, yaw angle and angular velocity of the fuselage, and negative feedback control through the structure of multi-layer PID to achieve self-balancing of the fuselage, In machine vision, RaspberryPi is used as a tool for image processing, and the decoded signal is transmitted back to the Arduino through the UART to compensate for the attitude. Among them, the optical flow method is used to achieve hovering, and the Hough transform is used to track the ground target. thesis will introduce the system architecture, attitude algorithm, PID feedback control structure, sensor calibration, and how to use machine vision to compensate for the attitude. en_US DC.subject 四軸機 zh_TW DC.subject 機器視覺 zh_TW DC.subject 光流 zh_TW DC.subject 霍夫轉換 zh_TW DC.subject 四元數 zh_TW DC.subject Arduino en_US DC.subject RaspberryPi en_US DC.subject Qudacopter en_US DC.subject Machine Vision en_US DC.subject Optical flow en_US DC.subject Hough transform en_US DC.subject IMU en_US DC.subject quaternion en_US DC.title 四軸機結合機器視覺之開發 zh_TW dc.language.iso zh-TW zh-TW DC.title Quadcopter combined with machine vision development en_US DC.type 博碩士論文 zh_TW DC.type thesis en_US DC.publisher National Central University en_US