因電子與航太科技的快速發展，無人機的應用範圍逐漸擴大，市售無人機產品已難滿足各項特殊任務的要求，比較自行組裝的無人機與市售無人機產品，自行組裝的無人機具較佳的操控性，能因應不同任務需求做特殊設計，市售無人機常見的測距感測器為超聲波感測器，但超聲波特性易受環境干擾，如環境溫度和雜訊干擾，在不同的環境下量測出不同的距離結果，為使自行組裝的無人機能具備對周圍物體的感知與精準測距的能力，本論文提出一套以光學雷達(LiDAR)結合無人機(UAV)之設計，藉由光學雷達的特性得到更較佳的偵測解析度和精準度，並設計圖形化地面監控站，建構各式應用功能畫面，整合雷達顯示器、衛星地圖和障礙物距離量測於單一視窗，藉由圖形化設計能顯示各感測器資訊及選擇使用模式，利用5G無線通訊技術，系統能即時探測障礙物、測距、測不明飛行物等功能，提供使用者對系統做即時的操控。
本論文設計之雷達系統可使用於各式多旋翼機無人機，具備(1)障礙物搜索、(2)障礙物避碰、(3)目標物自動追蹤等三項功能，可應用於航拍、農業、表演、電影製、森林保育與農作保全等，利用障礙物搜索與障礙物避碰功能，可從掃描圖得知物體相對無人機的位置和與物體的距離，避免意外碰撞事件，物體自動追蹤功能可用於軍事與空域保護等應用，用以追蹤鎖定不明物體，精準的距離量測不僅可達到與物體保持一定的飛行距離，當起飛與降落時，也能即時量測相對地面高度，可應用於地勢多變的場域保持高度低空飛行和起飛與降落時安全的操作，藉由本系統設計之三項掃描功能和整合雷達追蹤功能提供地面監控站感測資訊與飛行數據，全面提升無人機於國防與民生的應用與飛行安全。

Due to the rapid development of electronics and aerospace technology, the application range of drones has gradually expanded, and commercially available drone products have been difficult to meet the requirements of various special tasks. Compared with self-assembled drones and commercially available drone products, self-assembled drones has better controllability and can be specially designed to meet the needs of different tasks. The common ranging sensor of commercially available drones is an ultrasonic sensor, but the ultrasonic characteristics are easily disturbed by the environment, such as ambient temperature and noise interference. Different distance results are measured in different environments. In order to enable self-assembled UAVs to have the ability to perceive surrounding objects and measure distances accurately, this paper proposes a combination of LiDAR and unmanned aerial vehicle. Use the characteristics of LDAR to get better detection resolution and accuracy, and design a graphical ground monitoring station, construct various application function screens, integrate radar display, satellite map and obstacle distance measurement, through the graphical design, can display the information of each sensor and select the use mode. Using 5G wireless communication technology, the system can detect obstacles, measure distances, measure unknow obstacles and other functions in real time, providing users with real-time control of the system manipulation.
The radar system designed in this paper can be used in various multi-rotor UAVs. It has three functions: (1) obstacle search, (2) obstacle avoidance, and (3) automatic target tracking. It can be applied to aerial photography, agriculture, performances, film production, forest conservation and agricultural security, etc., use the obstacle search and obstacle avoidance functions to know the position of the object relative to the drone and the distance to the object from the scanned image, avoiding accidental collisions, and the object automatically The tracking function can be used in military and airspace protection applications to track and lock unknown objects. Accurate distance measurement can not only maintain a certain flight distance with the object, but also measure the relative ground height in real time when taking off and landing. Applied to fields with changing terrain to maintain high altitude and low altitude flight and safe operation during takeoff and landing. With the three scanning functions and integrated radar tracking function designed by this system, it can provide ground monitoring station sensing information and flight data, and comprehensively improve drones. Applications and flight safety for national defense and people's livelihood.

摘要...i
Abstract...iii
誌謝...v
目錄...vi
表目錄...viii
圖目錄...ix
第一章 緒論...1
1.1前言...1
第二章 文獻與技術探討...3
2.1文獻探討...3
2.2相關技術...3
2.2.1 無人機障礙物探測技術分析...3
2.2.2 無人機系統...6
2.2.3物聯網技術...6
第三章 系統架構...8
3.1系統架構...8
3.2無人機架構...9
3.3設備聯網架構...10
第四章 硬體設備設計...11
4.1無人機...11
4.2飛控電腦...12
4.3微控制電腦...14
4.3.1單晶片微處理器...14
4.3.2Arduino...16
4.4飛行資料溝通...17
4.5無線通訊...19
4.5.15G無線通訊模組...19
4.5.2虛擬區域網路...20
4.6光學雷達...21
4.7即時影像...25
第五章 軟體設計...26
5.1雲端資料庫...26
5.1.1資料庫架設...26
5.2地面監控站...27
5.2.1圖形化介面實現...27
5.2.2雷達掃描圖...29
5.2.3電子地圖...32
5.2.4飛行儀表...34
第六章 系統測試...38
6.1系統功能設計...38
6.2無人機設計...38
6.3障礙物探測測試...40
6.3.1室內測試...40
6.3.2戶外測試...45
6.4雷達測高測試...47
6.5系統功能執行...50
6.6執行流程圖...53
第七章 結論...55
參考文獻...56
Extended Abstract...58

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