- 學位論文
智慧型土地面積量測自走車控制
Intelligent Area Measurement System for an Autonomous Cart
摘要
本文的研究目的為研製一套可安裝於自走車上的智慧型土地量測系統，透過低成本的感測器及自走車路徑規畫，可自動達成量測耕地面積的目的。系統架構包括一個可量測磁北方位的電子羅盤、一個可累計行車距離的霍爾感測器及一組可用以偵測土地邊緣的激磁充電電線。系統採用Arduino微控制器來整合控制自走車並演算土地面積，土地面積的演算方式有輪廓積分模式和及時模式兩種；輪廓積分模式用於農事前計算，只要操縱自走車繞行土地一周即可算得土地面積；及時模式則可在耕作的同時累計農地面積。經過實驗及分析，兩種土地演算模式均能有效的計算出誤差5%以內的土地面積。可預期，本研究將有助於推展精緻農業的自動化及標準化。
並列摘要
In this paper, an intelligent area measurement system(IAMS) with simple structure and low cost is developed on an autonomous cart in order to measure the cultivated land area automatically. It consists of a simple compass for position measurement, a Hall sensor for distance measurement and an excited electric wire for contour detection. Furthermore, an Arduino series microprocessor is employed to perform the algorithms required for area measurement and autonomous cart control. The system is designed to be operated in either contour integral or realtime mode for area measurement. In contour integral mode, the autonomous cart is programmed to track the contour for calculating the area of an closed contour. In the realtime mode, an agricultural mechinery with IAMS can simultaneously perform the land cultivation and area measurement. A comparative analysis with experimental results showed that the errors of the measured area in both operation modes are less than 2.5%. Hence, it is highly expected that this device can offer great contribution to agricultural automation.