設施栽培智慧載具用定位、路徑演算及導航技術回顧

台灣從事農業相關產業的人口逐年下滑且有高齡化的現象，外加面臨少子化的衝擊，未來台灣的勞動力將會下降。若能將自動化種植、採收及搬運的技術，結合到農業上，提高平均勞動生產力，必能解決農業上供給的問題。為了營造出一個適合作物生長的環境，在台灣的設施栽培已經成為一個具有相當規模的生產方式。設施中利用環境裝置的調控，來改善傳統農業受外在因素限制的栽培技術，以利大幅提升設施栽培作物的品質與產量。收穫的機制在傳統農業市場上，熟成作物仰賴大量人力來進行採收，這種勞力密集的作業，在科技的發展下，越來越不符合經濟效益。現今農業市場上，在播種、施肥、預防病蟲害及收割上，已有越來越多使用自動化機器取代人力成本的案例。本篇文章著墨於探討載具車體在設施栽培的環境下，進行採收作業時，設施載具機體的機動性，並致力於設計出一台設施內的共用智慧載具。研究技術上，使用即時定位與地圖建構（Simultaneous Localization And Mapping, SLAM）為主，其中又以雷射SLAM為研究方向。雷射SLAM是當下最穩定且最主流的定位導航方法，其探測方法結合了地圖創建、路徑規劃及室內定位。透過光達的感測，我們可以建置周遭環境的地圖及感測出載具在該地圖中所在的位置。更進一步的規劃中，載具可透過感測器，得知外部環境後，對路徑加上新的限制，可使載具從起點航向目標點。

關鍵字

共用智慧載具；雷射SLAM ；地圖創建；路徑規劃；室內定位

並列摘要

The population of agriculture is declining year by year and is aging. Furthermore, the total population is facing the impact of declining birthrate in Taiwan. Therefore, the number of laborers would decrease in the future. If the technologies of automated planting, harvesting and handling can be combined with agriculture to increase the average labor productivity, it will be able to solve the problem of declining supply in agriculture. In order to create an environment suitable for crop growth, facility cultivation in Taiwan has become a considerable scale of production. The use of devices in the facility to improve traditional agriculture, subjected to external factors, and limited cultivation techniques, in order to greatly enhance the quality and yield of crops. For the mechanism of harvesting in the traditional agricultural market, mature crops rely on a large amount of manpower for harvesting. This labor-intensive operation is increasingly inconsistent with economic benefits under the development of science and technology. In today's agricultural market, there are more and more cases of using automated machines to replace labor costs in sowing, fertilizing, pest control and harvesting. This paper is to study the mobility of the facility cultivation vehicle during harvesting operation under the facility cultivation environment. And dedicate in designing a smart vehicle in the facility. Research technology is mainly based on laser SLAM (Simultaneous Localization And Mapping). Laser SLAM is the most stable and mainstream navigation method in auto-navigation domain. Laser SLAM detection method combines map creation, path planning and indoor positioning. Through LIDAR (LIght Detection And Ranging) sensor, we can build a map of the surrounding environment and detect the position of the vehicle in the map. In a further plan, the vehicle can pass through the sensor, and after knowing the external environment, a new condition is added to the path, so that the vehicle can move from the starting point to the target point.

並列關鍵字

Common intelligent vehicle ； Laser SLAM ； Map creation ； Path planning ； Indoor positioning

國際替代計量

設施栽培智慧載具用定位、路徑演算及導航技術回顧

全文下載

主題瀏覽