| Summary: | 碩士 === 中原大學 === 機械工程研究所 === 105 === Infrastructure deterioration is one of the biggest problem in
engineering, thus, regular inspection of the bridge is a must. Traditional
inspection method involving human inspector using aerial ladder, which is
dangerous and most importantly, the inspection visual only. For these
reason, many enterprise and university are using unmanned aerial vehicle
to capture aerial image/video to perform building inspection. However, all
vehicle suffer attitude change when performing translation x and y
direction, which effect the qualities of photos.
This thesis aims at tackle the problem to increase the photo qualities
by removing attitude change. The method that will be applied is vector
thrust propulsion system, which instead of attitude change in vehicle, the
motor will change its attitude to allow the vehicle to maneuver to perform
building inspection and collect image data.
By constructing conventional multi-rotor vehicle mathematical model
as starting point, this thesis will focus on the modeling of vector thrust and
actual mechanism for the multi-rotor vehicle. Hardware realization will be
based on the modification of “motor arm” in the existing frame, and lastly,
the inspection experiment will be carry out to compare image qualities
between conventional design and vector thrust design.
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