應用於設施作物行間智慧移動載具之研製

DEVELOPMENT OF A SMART MOBILE VEHICLE USED IN THE ROW SPACE FOR GREENHOUSE CROPS

徐武煥(Wu-Huan Hsu) ； 葉仲基(Chung-Kee Yeh) ； 李易樺(Yi-Hua Li) ； 陳俊仁(Chun-Jen Chen) ； 王毓華(Yu-Hua Wang) ； 楊智凱(Chih-Kai Yang)

《農業機械學刊》 29卷2期 (2020/06) Pp. 37-45

摘要

本論文旨在研發設施內輔助作物栽培管理作業之軌道式智慧移動平台載具，以溫室棚架栽培之大果番茄為目標作物，進行載具行走、導引及安全避障控制之改良測試及整合，進行作物資訊地圖建立及作業路徑之規劃等。控制著重於以可程式控制器（Programmable Logic Controller, PLC）與樹莓派（Raspberry Pi）系統間通訊之整合與應用，經由網路攝影機WEBCAM（羅技C270）獲得成熟番茄的影像資訊，同時將智慧載具的即時座標位置結合番茄顆數與植株的標籤，便可建構出包含番茄生長態勢的作物資訊地圖，並且將各項資訊整合透過RS232連接無線通訊設備（基於LoRa通訊技術）上傳至雲端伺服器。本研究已成功研製一組智慧平台載具，並於番茄溫室與高光譜感應模組、熱影像感測模組及採收機械手臂等設備進行同步作業，此對於後續溫室內感測及採收等作業之利用可提供相關成果之經驗。本研究之整合應用將來可針對溫室常用之PLC與最近常被應用之樹莓派元件做串接整合，未來有機會可對溫室常見以PLC控制的場域提供新型低成本控制之解決方案。

關鍵字

智慧移動載具 ； 溫室 ； 作物資訊地圖 ； 路徑規劃

並列摘要

The purpose of this paper is to develop a track-based smart mobile platform vehicle that assists crop cultivation management operations in the facility. The large-fruit tomato grown on a greenhouse scaffolding was used as the target crop to carry out improved tests on vehicle walking, guidance, and safety avoidance control. The establishment of crop information maps and the planning of operation paths were conducted. The control focuses on the integration and application of communication between the programmable controller (PLC) and the Raspberry Pi system. The image information of the mature tomato is obtained through WEBCAM (Logitech C270), and the real-time coordinate position of the smart vehicle is combined. The number of tomatoes and the labels of the plants can construct a crop information map containing the growth of the tomatoes, and the information can be integrated and uploaded to the cloud server via RS232 connected wireless communication equipment (based on LoRa communication technology). This research has successfully developed a set of smart platform vehicles, and synchronized operations in the tomato greenhouse with hyperspectral sensor modules, thermal image sensor modules, and harvesting robots. This is useful for subsequent sensing and harvesting in the greenhouse. The use of other operations can provide experience with relevant results. The integrated application of this research can be used in the future to integrate the PLC commonly used in greenhouses and the Raspberry Pi components that have been frequently used recently. In the future, there is an opportunity to provide new low-cost control solutions for the fields commonly used in greenhouses controlled by PLC.

並列關鍵字

Smart Mobile Vehicle ； Greenhouse ； Crop Information Map ； Path Planning