碩士 / 國立臺灣海洋大學 / 通訊與導航工程學系 / 106 / The purpose of this study is to use a quadcopter to detect the hull of a ship and improve the detection mode of the quadcopter. In terms of application, we let the quadcopter fly automatically, if there is a sudden situation during the process, manual control can be used as an aid to avoid losing control. With the image transmission system which can immediately return the scene seeing by the quadcopter, the status information of the quadcopter can be displayed on the screen. A voice broadcast chip is used to report the current status of the quadcopter so that the inspectors do not need to pay attention to the quadcopter and only need to listen to the horn. The broadcast has made the task more convenient and humane. The distance from the hull can be obtained by the RPlidar sensor as a function of distance measurement. For autonomous obstacle avoidance, fuzzy rules are applied to control the direction of flight of the quadcopter. The Pixy (CMUcam5) camera is used as the image tracking device and is used to identify whether the hull is rusty or not. The above components are integrated in a quadcopter, and the signals are transmitted to the Arduino Mega 2560 control board. In this study, different sensing elements are used to make the quadcopter have hull investigation function.
| Identifer | oai:union.ndltd.org:TW/106NTOU5300017 |
| Date | January 2018 |
| Creators | Din-Jim Hsu, 徐鼎峻 |
| Contributors | Jih-Gau Juang, 莊季高 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 75 |
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