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系統識別號 U0026-2207202007510000
論文名稱(中文) 稻田除草機器人之研製
論文名稱(英文) Design and Implementation of a Rice Field Weeding Robot
校院名稱 成功大學
系所名稱(中) 工程科學系
系所名稱(英) Department of Engineering Science
學年度 108
學期 2
出版年 109
研究生(中文) 黃柏文
研究生(英文) Po-Wen Huang
學號 N96084484
學位類別 碩士
語文別 中文
論文頁數 105頁
口試委員 指導教授-周榮華
口試委員-陳澤生
口試委員-王榮泰
口試委員-王宗一
口試委員-侯廷偉
口試委員-何明字
中文關鍵字 稻田  除草機器人  農業自動化 
英文關鍵字 Rice Field  Weeding Robot  Agricultural Automation 
學科別分類
中文摘要 稻田中使用除草劑,是目前大多數農民的做法,然而,近年來有機農業興起,民眾的環保意識提升下,開始有更多的農民不使用除草劑,不過除草問題依然是必須面對的課題,在炎熱的天氣加上泥濘狀況下之稻田中進行除草,對於農民而言是非常辛苦的事情甚至可能造成熱傷害,如能使用自動化技術處理此問題,將對於環境與農民有益。
本研究針對「稻田除草機器人」進行研製,完成整體設計與實作,並已於國立成功大學工程科學系構裝及系統整合實驗室、台南市黃金海岸與彰化縣秀水鄉金興村自家稻田進行測試,驗證其功能及整體操作順暢度,主要測試項目包括:(1)測試皮帶行走機構順暢度,(2)測試超音波測於迴彎時的偵測成果,(3)測試影像辨識導引表現,(4)測試除草機構可行性(5)驗證機器人整體自走除草執行成果,本研究根據以上測試項目大部份以3D列印完成設計與驗證,實際應用時,部份材料可使用金屬材料製作,以達成實際用途之目的。
本研究成果期能替代目前大部份農民所使用的除草劑與部份有機農業所採取的人工除草,而有助於自動化技術、農業機械及工程科學等相關研究領域的發展。
英文摘要 Currently, many farmers use herbicides in rice fields. However, in recent years, with the rise of organic agriculture and the increase in public awareness of the environmental protection, more farmers have begun not to use herbicides. But weeding is still a big problem that must be faced. Weeding in rice fields under hot weather and muddy conditions is not an easy job for farmers and may even cause heat syndromes. If we can use automated technology to deal with this problem, it will be beneficial to the environment and farmers.
This research has developed a Rice Field Weeding Robot for weeding automation by 3D printing. It has been tested in the Packaging and System Integration Laboratory of the Department of Engineering Science, National Cheng Kung University, the Golden Coast of Tainan City and the author family’s rice field at Jinxing Village, Changhua County. The goal of the tests is to verify the smoothness of its function and overall operation. The main test items include: (1) Test the smoothness of the belt driving mechanism; (2) Test the result of ultrasonic sensor when turning; (3) Test the performance of image recognition with OpenCV; (4) Test the performance of the weeding mechanism and (5) Verification of the overall results of the robot's autonomous weeding. This research is based on the above test items.
The results show that the weeding rate is about 98% and demonstrate the feasibility of the developed robot. The performance can be improved by using stronger materials to replace the 3D printing material adopted in this study.
論文目次 摘要 I
Extended Abstract II
誌謝 VIII
目錄 IX
表目錄 XII
圖目錄 XIII
第一章 緒論 1
1-1前言 1
1-2研究動機與目的 2
1-3研究課題描述與分析 2
1-4文獻回顧 6
1-5論文架構 35
第二章 背景技術介紹 36
2-1色彩空間轉換 36
2-2邊緣偵測 37
2-3霍夫轉換 39
2-4最小平方法 41
第三章 系統架構與軟硬體介紹 42
3-1系統架構 42
3-1-1幾何尺寸介紹 44
3-2硬體介紹 45
3-3軟體介紹 50
3-3-1機構設計:SolidWorks 50
3-3-2控制程式:Python 50
3-3-3通訊協定:Pyfirmata 50
3-3-4遠端操控:Xrdp 51
第四章 機構設計與自走控制 52
4-1機構設計 52
4-1-1前段機構 54
4-1-2中段機構 56
4-1-3後段機構 57
4-2自走控制 58
4-2-1牛耕田路徑規劃 59
4-2-2行走控制 60
第五章 實驗流程與結果討論 62
5-1實驗流程 62
5-2基本行進測試 66
5-3地形測試 68
5-4稻田環境測試 71
5-5整合測試 75
5-6分析與討論 84
第六章 結論與建議 98
6-1結論 98
6-2建議 99
參考文獻 101
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