本研究旨在開發一款無人飛行載具系統，並將其應用於室內農業，如溫室中的自動化番茄授粉作業。儘管四軸無人機已廣泛發展且技術成熟，但其飛行時間短和負載能力有限，限制了應用範圍。
為了解決這些限制，我們提出了一種創新的航空載具，將無人機與充滿輕於空氣氣體的氣球結合，利用氣球提供的自然浮力來抵消重力。這種設計增了飛行載具的慣性，因此需要透過設置傾斜旋翼，犧牲部分垂直推力以獲得側向推力保持其機動性。飛行測試中驗證了不同設置傾角和方向控制的有效性，我們透過進行PID控制定點偏航運動和閉環路徑跟踪任務，驗證了飛船的可控性並展示其潛在應用價值。
此設計的主要優勢在於通過氣球的浮力減少能量消耗，增強了載重能力。靈活的硬體平台和可定制的軟體使該系統不僅適用於農業，還能適應多種工業應用。透過將無人機與氣球結合，飛船能夠長時間懸浮在空中，並且具備攜帶額外傳感器和授粉設備的能力，擴展了其應用範圍和功能。
總之，這種創新的飛船設計擴大了無人飛行載具的應用範圍，提供了一個具成本效益、節能且可客制化的解決方案，適用於室內農業和其他工業應用。未來的研究將致力於進一步優化飛船的結構設計和控制系統，並探索更多的實際應用場景，以提升其實用性和效率。

This research aims to develop an unmanned aerial system for indoor agriculture applications, such as pollination in greenhouse tomato cultivation, through automatic blimp flights. Conventional quadcopters are limited by short hovering times and payload capacity, restricting their application range.
To address these limitations, we propose an innovative aerial vehicle combining a drone with balloons filled with lighter-than-air gas, providing natural buoyancy to counteract gravity. This design increases inertia, necessitating tilted rotors to regain maneuverability by compromising vertical thrust for lateral forces. Flight tests demonstrated the blimp's effectiveness with different rotor angles and orientations. Our PID control work for fixed-point yaw motion and closed-loop path-following validated the blimp's controllability and potential applications.
The primary advantage of this design is its ability to remain airborne with reduced energy expenditure due to the balloons' buoyancy. This reduces power consumption and enhances payload capacity. The flexible hardware and customizable software make the system adaptable for various industrial applications beyond agriculture.
In conclusion, this innovative blimp design expands the potential applications of unmanned aerial vehicles, offering a cost-effective, energy-efficient, and customizable solution for indoor agricultural tasks and other industrial uses.

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