四軸飛行器之偵測應用及其無線充電系統之探討

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姓名

蔡佳佑(Jia-Yo Tsai) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

四軸飛行器之偵測應用及其無線充電系統之探討
(An application of detection quadcopter and its wireless power transfer system)

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至系統瀏覽論文 ( 永不開放)

摘要(中)

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%。

摘要(英)

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.

關鍵字(中)

★ 四軸飛行器
★ 影像辨識
★ 無線充電
★ 磁共振

關鍵字(英)

★ quadcopter
★ image recognition
★ wireless power charging
★ magnetic resonant

論文目次

摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 vii
表目錄 x
第一章序論 1
1-1 研究背景及動機 1
1-2 文獻回顧 2
1-3 論文研究方法與成果貢獻 3
1-4 論文架構 5
第二章四軸飛行器之系統架構與軟硬體介紹 6
2-1 四軸飛行器之系統功能 6
2-2 四軸飛行器的系統模型 7
2-3 姿態控制PID控制器 10
2-4 硬體系統架構 11
2-4-1 圖形辨識和定位控制區塊 13
2-4-2 飛行器和飛控區塊 16
2-5 軟體及網頁工具 19
2-5-1 Mission Planner地面控制站 20
2-5-2 Thingspeak物聯網平台 22
第三章影像處理流程及目標判定演算法 23
3-1 影像處理理論 23
3-1-1 影像灰階化 23
3-1-2 影像模糊化 24
3-1-3 邊緣偵測(Edge detection) 27
3-2 圖形辨識演算法 31
3-2-1 OpenCV介紹 32
3-2-2 演算法相關流程 32
3-3 模糊控制 33
第四章磁共振無線充電理論及架構 39
4-1 技術背景 39
4-1-1 電磁感應 41
4-1-2 電磁共振 42
4-2 磁共振原理分析 43
4-3 系統架構與規劃 51
第五章實驗結果與討論 53
5-1 執行偵測任務 53
5-2 影像辨識結果 56
5-3 無線充電電路與波形數據 57
第六章結論與建議 64
6-1 結論 64
6-2 建議 65
參考文獻 66

參考文獻

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指導教授

鍾鴻源(Hung-Yuan Chung)

審核日期

2017-7-25

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