Vector Thrust Multi-Rotor Vehicle for Infrastructure Inspection

• Main Authors: Yi-Chi Hsieh, 謝伊輯
• Other Authors: Chen-Ming Kuo
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/69062750268432137646

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.