應用於商業雞舍之自主巡航機器人設計

Designing an Autonomous Cruising Robot in Commercial Chicken Farm

葉逸新(Yi-Hsin Yeh)

指導教授 ： 郭彥甫

國立臺灣大學/生物資源暨農學院/生物機電工程學系/碩士(2022年)

https://doi.org/10.6342/NTU202203348

摘要

在採用平飼法的商業雞舍中，養雞業者必須要經常的以人力進行徒步巡視，來監測雞隻的健康與環境狀態。然而對業者而言，這些巡視工作不僅費力更非常費時。因此，本研究的目標為開發一台可於商業雞舍中自主巡航且價格親民的機器人。有鑑於在臺灣商業雞舍的內部環境中，設備的配置大多較為密集。因此，機器人的體積被設計得緊湊小巧，以讓它能在狹窄的雞舍走道中穿梭。同時，機器人搭載了四輪驅動裝置和防塵外殼，使其可以順暢的在雞舍的米糠墊料上行駛。在軟體系統方面，本研究基於機器人作業系統（ROS）進行開發。機器人透過搭載的深度相機與光流里程計，運用同步定位與地圖構建（SLAM）和融合式定位兩種方法進行定位。由實驗結果顯示，同步定位與地圖構建和融合式定位在雞舍內的定位測試中分別僅有0.49和0.47公尺的平均絕對誤差，皆足以作為機器人在雞舍狹窄走道中的導航依據。為了讓機器人能自主巡航，機器人透過ROS navigation stack進行導航和障礙物迴避。本研究亦進行了一個實驗，藉此找出最適當的障礙物迴避參數值。透過實驗找出的最佳參數值，ROS navigation stack可以引導機器人在雞舍中順暢且有效率的行駛並避開障礙物。本研究所開發的機器人可以在商業雞舍中自主巡航，提供養雞業者一個自動化的巡視方案。

關鍵字

無人載具 ； 室內定位 ； 深度相機 ； 光流里程計 ； 雞

並列摘要

To manage a commercial floor rearing chicken farm, chicken farmers have to regularly patrol to observe chicken health and the environment conditions. However, the patrols are laborious and time-consuming. This study developed an affordable mobile robot that can autonomously cruise in commercial chicken farms. Considering the commercial chicken farms in Taiwan usually have narrow aisles between feed buckets, a compact robot was designed. The robot is equipped with a four-wheel drive module and a dust-proof case for driving on the litter in chicken farms. The system of the mobile robot was developed using robot operating system (ROS). Two localization approaches: simultaneous localization and mapping (SLAM) and fusion were utilized using a depth camera and an optical odometry as the sensors. Experiment results showed that the mean absolute errors of the SLAM and fusion were 0.49 m and 0.47 m, respectively, which comply with the requirements for navigating the robot in the narrow aisles of the chicken farm. The mobile robot performed navigation and obstacle avoidance using ROS navigation stack. An experiment was conducted to identify the appropriate values of ROS navigation stack parameters for obstacle avoidance. With the optimal parameters for the ROS navigation stack, the mobile robot avoided obstacles effectively and smoothly. The developed mobile robot can cruise in a commercial chicken farm autonomously, providing a solution to automate the regular patrols performed by chicken farmers.

並列關鍵字

Unmanned vehicle ； Indoor positioning ； Depth camera ； Optical odometry ； Chicken

參考文獻

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