應用於台灣溫室農業之噴藥機器人設計與分析

目前在一些先進國家中，農業機器人被廣泛地使用，藉此提高農業的勞動生產率，解決農業勞動力不足的問題；改善農業的作業環境，避免農藥、化肥等對人體造成傷害；提升作業質量等。但卻不容易找尋到一款適用於臺灣農業環境的機器人，本研究主要是針對臺灣農業環境進行分析，設計出一款適用於目前溫室農業的機器人，期望在未來可大大減少中毒事件的發生，還可解決日趨嚴重的農業勞動人力減少及老化的問題。本論文利用溫室農地有規律的環境分析出環境特徵，以這些特徵圖塊作為定位的基礎，朝向提高機器人對環境的適應性、簡化操作複雜度及降低成本的目標，以農民為使用者的原則做各種設計的考量，讓理論能盡量接近實際。以Parallax的Propeller 8核心單晶片做為控制核心，運作8個超音波來得知環境的特徵，並依照演算法的運行來完成巡場的動作，透過Encoder的回授，使輪胎能隨時依各種狀況來修正，保持車體定速前進來達到【定量】噴灑的功能。本研究目的希望能夠以台灣農民的需求為考量，著重於降低機器人成本及簡化操作的二大方向來努力。

關鍵字

農業機器人；特徵圖塊

並列摘要

In advanced countries, the agricultural robot quite extensive. It is to improve labor productivity, and solve the labor shortage. To improve the agricultural production environment, and to prevent pesticides, chemical fertilizers harm the human body. But it is not easy to find a robot for Taiwan's agricultural environment. The research that analysis Taiwan's agricultural environment, and design a greenhouse agricultural robot. Hope for the future can reduce the incidence of poisoning and solve the increasingly serious agricultural labor force decreased and the problem of aging. In this thesis, use the greenhouse agricultural land laws of the environmental analysis of environmental characteristics. These characteristics Block is as the basis of the positioning. Towards to improve the adaptability of the robot on the environment, and simplify the complexity of the operation and reduce costs. So that theory can be as close as possible to reality. The Propeller microcontroller is as a control center. I use eight ultrasonic distance sensor to know the characteristics of the environment. And follow the run of the algorithm to complete the actions of the marshals. Use the Encoder feedback, so that the tire to fix at any time in accordance with various conditions. Keep the body at constant speed ahead to quantitative spraying. The concept of characteristics Blocks used in the agricultural robot is a prototype. During the experiment will be subject to ultrasound error, control error, calculation error, and tire slip influence. In the future there is a lot to improve matters. But the focus is to consider the needs of farmers. Focus on lower costs and streamline operations.

並列關鍵字

Agricultural Robot ； Characteristic Blocks

參考文獻

[14] 洪宇箴、白　璐、林金定、高森永、簡戊鑑，台灣地區1986-2007年意外中毒死亡趨勢分析，台灣衛誌，2010。

[7] G. Belforte 等人編著，Robot Design and Testing for Greenhouse Applications，2006。

[15] By Helder P. Oliveira, Armando J. Sousa, A. Paulo Moreira and Paulo J. Costa，Modeling and Assessing of Omni-directional Robots with Three and Four Wheels, 2009。

[22] Oliveira, H.; Sousa, A.; Moreira, A. & Costa, P. (2008), Dynamical models for omni-directional robots with 3 and 4 wheels, Proceedings of the 5th International Conference on Informatics in Control, Automation and Robotics, pp. 189-196, 2008.

[23] Maxon Motor, Maxon Motor Catalogue, http://www.maxonmotor.com , 2009。

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應用於台灣溫室農業之噴藥機器人設計與分析

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