本文旨在開發一套無人機智慧巡檢系統。此研究乃考量廠房設備檢查仍以人力巡檢為主，因此研究一套可在室內執行自動導航之智慧無人機輔助巡檢系統。此系統能夠在無人操控下完成巡邏任務，並且具備自動巡邏、自動閃避、入侵者偵測及遠端影像監控功能，不僅能夠降低人力成本，並能有效提升巡檢效能。本文首先應用無人機單鏡頭的影像視覺及識別標誌，建立一套立體座標及測距方法，接著採取物聯網技術協助照明偵測，同時強化人員偵測及閃避，完整達成設定之巡邏路線，本文將所設計之系統進行實測巡檢，並經由不同情境加以評估，測試結果輔以證實本研發成果可提供無人機巡檢開發技術參考。

This thesis aims to develop a smart drone with applications to auxiliary inspection systems. Considering that the most of inspection works of factory equipment are carried out manually, the study proposes a smart drone-aided auxiliary inspection system capable of completing in-door automatic navigation, where the automatic dodge, intruder detection and remote image-monitoring functions are all included so that it not only reduces labor costs, but also improves the efficiency of inspection. This thesis starts with the utilization of single-lens image vision and identification mark to establish an approach of three-dimensional coordinates and methods of distance measurements. It also adopts the internet of things technology to assist in the lighting detection while strengthening personnel detection and evasion to complete a set patrol route. This designed system is tested and evaluated under different scenarios. Test results confirm that the outcome gained from this study serves as beneficial references for the research and development of drone inspections.

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