無人直昇機之影像輔助自動降落系統的開發

Development of an Image Based Augmented Automatic Landing System for Unmanned Aerial Helicopter

廖婉婷(Wan-Ting Liao)

指導教授 ： 曾百由

國立臺北科技大學/機電學院/機電整合研究所/碩士(2013年)

摘要

近年來無人飛行載具的應用日漸廣泛，對於其負載的提升、重量的減輕、系統的穩定性以及電池的續航力有了更高的要求。本研究藉由自行設計的降落圖示，以其顏色與幾何形狀之特殊組合做為影像辨識之特徵，找出降落目標的位置與方向，提供無人載具之飛航系統的方位校正。
而嵌入式系統具有體積小、重量輕、耗電量低，以及運算處理速度佳、穩定性高等特性，十分適用於無人飛行載具之飛航系統的開發。因此，本研究採用嵌入式系統為硬體架構，透過影像識別之演算法的程式開發，用來辨識自行定義的降落圖示，以達到直升機自動導航降落之目的。

關鍵字

無人直升機 ； 自動降落 ； 嵌入式系統 ； 機器視覺 ； 彩色影像辨識

並列摘要

Recently unmanned aerial vehicle (UAV) are more widely applied so that those demanding of function upgrade is required, such as increasing the payload, reducing its weight, the stability of control system, and battery life. In this study, there two key areas, landing target and embedded system, are focused to improve the UAV system.
This study uses specific landing mark to provide better guidance information to UAV control system. The landing mark, which combines color and geometry, is designed for image processing algorithms so that the control system can estimate position and direction of the landing target for modifying landing position.
On the other hand, embedded system is ideally suited for the development of UAV flight system, because there are several features, for example, small size, light weight, low power consumption, processing speed and stability.
The purpose of this research is to develop a machine vision system which can help unmanned aerial helicopter (UAH) can takeoff and landing automatically by identifying the landing mark by using the embedded system hardware architecture, and developing the required program through image recognition algorithms.

並列關鍵字

unmanned aerial helicopter ； auto landing ； embedded system ； machine vision ； color image recognition

參考文獻

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