摘要
本研究旨在透過四旋翼無人機作為載具平台，建構基於電腦視覺技術之全自動室內無人機系統。本系統使用X形配置之四旋翼無人機為核心，搭配Pixhawk4飛行控制器和外部感測器、動力旋翼單元等為核心，並透過由USB網路攝影機、樹梅派4 (Raspberry PI4) 、OpenCV 函式庫等，實現電腦視覺系統。該系統可自動偵測並追蹤放置於地面之標記(線段和色塊)，並將其做為參考點，實現室內環境中之定位。此外本系統採用基於比例、微分、積分之控制演算法(PID控制演算法) 和DroneKit-Python函式庫，將視覺定位系統所提供之位置資訊轉換為飛行控制命令，完成無人載具之姿態、移動控制。在控制測試過程中，該系統展現出優秀的穩定性、可靠性、和抗干擾能力，尤在面對非理想環境時，該系統仍可保持良好的控制性能，本系統具有良好的擴展可能性，如可透過增加更多感測器以實現全自動之物體避障，透過多無人機協作以完成複雜任務…等，以進一步提高系統之靈活性和泛用性。
關鍵詞：無人機、電腦視覺、特徵追蹤、室內定位
Abstract
This paper focuses on building an autonomous indoor drone system based on computer vision technology. The system is built on an X-configuration quadcopter, equipped with a Pixhawk 4 flight controller, external sensors, and rotor units. The computer vision system comprises a USB webcam, Raspberry Pi 4, and the OpenCV library, enabling automatic detection and tracking of floor markers to facilitate loitering and maneuvering in indoor environments. The system employs a PID control algorithm and the DroneKit-Python library to integrate location data from the computer vision system with sensor data from the flight control unit for precise movement control. The system demonstrated stability, reliability, and robust performance during testing, even under non-ideal environmental conditions. The system also has strong potential for future upgrades, including additional sensors for obstacle avoidance and multi-drone collaboration, enhancing flexibility and efficiency.
Keywords: Drone, Computer vision, Features tracking, Indoor navigation