政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/152568

政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/152568

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政大典藏 > College of Informatics > Department of Computer Science > Theses > Item 140.119/152568

Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/152568

Title:	人機協作與視覺導航應用於無人機河川巡檢任務研究 The Study of Human-Robot Collaboration and Visual Navigation Applied to Unmanned Aerial Vehicle River Patrol Missions
Authors:	陳佳彣 Chen, Chia-Wen
Contributors:	劉吉軒 Liu, Jyi Shane 陳佳彣 Chen, Chia-Wen
Keywords:	無人機人機協作河川巡檢自主跟隨任務控制人機互動介面 UAV Human-Robot Collaboration River Patrol Mission Control Graphical User Interface
Date:	2024
Issue Date:	2024-08-05 12:45:05 (UTC+8)
Abstract:	近年來，隨著無人機技術的進步，其應用範圍從最初的軍事用途逐漸擴展至民生服務和公共事業等領域，其中包括河川巡檢及人員搜救等重要議題。無人機以其低部署成本和高機動性等特點，成為解決方案中靈活且高效益的選擇。然而在控制方面，若僅依賴傳統搖桿操作，會對操作人員帶來諸多不便，包括操作的複雜性、受限的自由度以及無法同時觀看無人機影像等困難。此外，操作人員為了掌握無人機控制，可能還需要接受專業培訓以習得執行任務所需的技能，這不僅提高了操作門檻，也降低了系統應用的普及性。為了建立直觀且易於操作的無人機控制系統，本研究提出了一種基於視覺導航的人機協作方法，透過視覺化平台進行即時半自動化的飛行調控，並將其應用於河川巡檢及人員搜救的任務場景中。在任務執行過程中，無人機作為環境感知和執行任務的工具，以河川作為跟隨目標，採用全球定位系統（GPS）作為大範圍定位的基礎，並融合視覺導航和語意分割模組，以建立精準、穩定的河川跟隨模型。同時，操作人員可以通過介面即時監控無人機的飛行數據和影像，以便根據需求做出即時決策。本研究所提出的人機協作系統不僅適用於河川巡檢任務，亦可應用於其他河川相關任務，如水位追蹤、水污染檢測和垃圾檢測等情境。 In recent years, UAV technology has advanced, leading to its increased use in civilian applications such as river inspection and personnel rescue. UAVs are cost-effective and highly mobile, making them efficient solutions for various scenarios. However, traditional joystick operations for UAV control present challenges for operators, including complexity, limited freedom, and the inability to check UAV images simultaneously. Furthermore, operators need specialized training for mission execution, raising the operational threshold and reducing accessibility to the system. To address these issues, this study proposes a vision-based human-robot collaboration method for intuitive and easy UAV control. This method involves a visual platform for monitoring and real-time semi-automated flight control, specifically applied to river inspection and personnel rescue missions. During mission execution, UAV uses GPS for broad-range positioning and integrates visual navigation and semantic segmentation modules to accurately and stably follow the river as a target. Operators can monitor the UAV’s flight data and images in real time through the visual platform, allowing for timely decision-making based on mission needs. Importantly, the human-machine collaboration system proposed in this study is not limited to river inspection tasks but also extends to other river-related activities such as water level tracking, water pollution detection, and waste detection.
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Description:	碩士國立政治大學資訊科學系 111753119
Source URI:	http://thesis.lib.nccu.edu.tw/record/#G0111753119
Data Type:	thesis
Appears in Collections:	[Department of Computer Science ] Theses

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