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研究生： 沈時雨
Shih-Yu Shen
論文名稱： 四軸飛行器搭配機器視覺進行燈泡卸載
Quadcopter With Machine Vision For Bulb Uninstall
指導教授： 羅吉昌
口試委員:
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2022
畢業學年度： 110
語文別： 中文
論文頁數： 73
中文關鍵詞： 四軸飛行器 、機器視覺 、STM32 、IMU 、IoT
相關次數： 點閱：11  下載：0 
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    • 本論文使用STM32F103C8T6 作為主控制器，透過慣性測量單元
    (IMU) 配合尤拉角等數學公式取得無人機的俯仰(pitch)、翻滾(roll)、
    偏擺(yaw) 之角度及加速度，最後使用PID 進行回授控制完成四軸飛
    行器的平衡。機器視覺則是考慮大小、耗電量、價錢等問題，決定使
    用ESP32-CAM 為本論文之影像處理裝置，將取得之影像透過Wi-Fi 傳
    送到瀏覽器配合OpenCV.js 進行影像處理之運算，並傳送控制訊號回
    ESP32-CAM，再透過I2C 將控制訊號傳送給主控制器STM32 進行位置
    微調，完成定位後將會進入卸除或安裝燈泡的程序。

    STM32F103C8T6 is used as the main controller in this thesis, and
    use the inertial measurement unit (IMU) and mathematical formulas such
    as the Euler angle to obtained the angle and acceleration of the UAV’s
    pitch, roll, and yaw. Finally, use PID feedback control to complete the
    balance of the quadcopter. For machine vision, considering the issues
    of size, power consumption, and price, this thesis uses ESP32-CAM as
    the image processing device, and transmits the obtained image to the
    browser through Wi-Fi, to complete image processing with OpenCV.js,
    and the control signal is sent to ESP32-CAM. Finally, the control signal
    is sent to the main controller STM32 through I2C to complete the positioning
    in air. After the positioning in air is completed, the procedure of
    removing or installing the light bulb will be execute.

    目錄 頁次 摘要iv 英文摘要v 目錄vi 一、緒論1 1.1 背景介紹.................................................................. 1 1.2 研究目的與動機......................................................... 1 1.3 文獻回顧.................................................................. 2 1.4 論文架構.................................................................. 3 二、系統架構及硬體介紹4 2.1 系統架構.................................................................. 4 2.2 硬體介紹.................................................................. 7 2.2.1 姿態感測......................................................... 7 2.2.2 遙控系統......................................................... 8 2.2.3 馬達及控制元件................................................ 10 2.2.4 電源供應......................................................... 15 2.2.5 機器視覺......................................................... 17 2.3 通訊協定.................................................................. 19 2.3.1 I2C................................................................. 19 2.3.2 MQTT............................................................. 20 vi 三、飛行姿態控制24 3.1 機身姿態.................................................................. 24 3.1.1 尤拉角............................................................ 24 3.1.2 旋轉矩陣......................................................... 25 3.2 慣性量測單元............................................................ 27 3.2.1 陀螺儀............................................................ 28 3.2.2 加速度計......................................................... 28 3.2.3 濾波器............................................................ 30 四、影像處理31 4.1 影像前處理............................................................... 32 4.1.1 色彩空間......................................................... 32 4.1.2 二值化............................................................ 33 4.1.3 捲積............................................................... 34 4.1.4 形態學............................................................ 36 4.1.5 高斯模糊......................................................... 38 4.2 辨識目標物............................................................... 41 4.2.1 輪廓偵測......................................................... 41 4.2.2 輪廓分析......................................................... 42 五、控制流程與實驗結果44 5.1 四軸飛行器之控制...................................................... 44 5.1.1 PID 控制......................................................... 44 5.1.2 飛行原理......................................................... 47 5.2 影像辨識與控制流程................................................... 49 5.2.1 影像中之目標物位置.......................................... 49 5.2.2 影像處理控制流程............................................. 50 vii 5.3 實驗結果.................................................................. 52 5.3.1 實驗環境......................................................... 52 5.3.2 安裝燈泡......................................................... 53 5.3.3 卸除燈泡......................................................... 55 六、結論與未來展望57 參考文獻59 viii

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    [7]OpenCV.js https://docs.opencv.org/4.x/
    [8]I2C 裝置連接示意圖https://rexpighj123.pixnet.net/blog/post/219960237-
    i2c
    [9]Publish/Subscribe 訊息傳送示意圖https://medium.com/swift-iosapp-/
    ios-x-iot-2-mqtt-e750aa420162
    [10]Qos：0 訊息傳送示意圖https://medium.com/swift-ios-app-/iosx-
    iot-2-mqtt-e750aa420162
    [11]Qos：1 訊息傳送示意圖https://medium.com/swift-ios-app-/iosx-
    iot-2-mqtt-e750aa420162
    [12]Qos：2 訊息傳送示意圖https://medium.com/swift-ios-app-/iosx-
    iot-2-mqtt-e750aa420162
    [13] 尤拉角示意圖https://silverwind1982.pixnet.net/blog/post/258069682
    [14]MPU-6050 晶片https://invensense.tdk.com/wp-content/uploads/
    2015/02/MPU-6000-Datasheet1.pdf
    [15]RGB 空間及HSV 空間示意圖https://docs.opencv.org/3.4/da/
    d97/tutorialtˍhresholdˍinRange.html

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