設施內自走載具之研發與應用
Other Title
Development of the Automatic Guidance System for Self-propelled Carrier in Greenhouse
Start Page
50
End Page
55
ISBN
978-986-03-9618-8
Date Issued
2013-12
Date
2013-12
Author(s)
Abstract
設施栽培作業過程中，肥料、資材、介質、種苗、農產品等之搬運作業，目前可運用的設備有人力運搬車、動力運搬車、軌道式台車、輸送帶、自動化搬運系統與龍門樑架系統等，概分為無軌式與軌道式。本研究為解決農產品搬運及小型管理作業機械移動之自動化需求，進行多功能泛用型電動雛型載具導引控制技術研究，分別運用影像、磁帶感應與RFID定位技術，於設施走道間依規劃路徑自主移動，作為設施內區域間搬運或管理作業機械用小型載台。系統分有：自走載具、影像擷取導引系統、磁帶導引與RFID定位模組。經研製與測試後，影像擷取導引系統雖已可達到預期之載具導引功能，但受限於設施環境光線角度與亮度變化，易造成演算法則的誤判。改採用磁帶導引與RFID定位技術後，藉由自走載具前方裝置磁性感應器感測地面磁帶，迴授訊號給全向輪控制器修正行進方向；載具底部的RFID reader可感應目前載具的定位，比對資料庫設定的地圖與規劃路徑後，執行左右轉、直行或迴轉的動作。
The operation processes in greenhouse cultivation, including fertilizers, materials, growing media, seedlings and agricultural products handling currently exercised by manpower cart, powered cart, rail trolley, conveyor, automated handling systems and gantry systems. There are classified into two system of non-rail and rail-mounted. The automation carrier capable of moving between aisles with diversity, flexibility, safety as well as carrying capacity and other functions for transporting in the greenhouse to handle agricultural products and compact management machineries needs to be designed and built. The image identification and guidance technology, magnetic guidance system and RFID locating were applied to drive and control the carrier in accordance with planned path in greenhouse. The system includes self-propelled omni-wheel carrier, image identification and guidance system, magnetic guidance module. After developing and testing, image identification system although can achieve, but restrained by ambient light changes, algorithms could easily lapses from fuction. Therefore, the magnetic guidance system and RFID locating technology substituted for image system. The magnetic sensor equiped in front of self-propelled carrier can sense magnetic ribbon on the ground. The feedback signals are transmitted the controller to correct the drection. The RFID reader at the bottom of carrier can identify the current location, as compared to the database map settings. Then, the carrier decides to turn around, go straight or U-turn.
Event(s)
102年度農業工程與自動化計畫成果研討會
Proceedings of the Symposium on Agricultural Engineering and Automation Project Achievements, 2013
Subjects
自走載具
磁帶導引
RFID定位
AGV
Magnetic guidance system
RFID locating
Publisher
農業試驗所
Type
book part
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no177-9.pdf
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1.56 MB
Format
Adobe PDF
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