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標題: | 溫室精準栽培之光度感測飛行機器人之研究 The Study of Flying Robot with Quantum Sensing for Precision Cultivation in Greenhouses |
作者: | Te-Hung Lu 盧德鴻 |
指導教授: | 陳世銘(Suming Chen) |
關鍵字: | 精準農業,溫室,光量子感測器,四軸飛行器,飛行機器人, Precision Agriculture,Greenhouse,Quantum Sensor,Quadcopter,Flying Robot, |
出版年 : | 2015 |
學位: | 碩士 |
摘要: | 近年來,精準農業 (Precision Agriculture) 技術倍受重視,除了應用於田間生產之外,也應用於溫室內的設施栽培。有許多相關溫室設施栽培及感測系統之研究陸續被提出,大部分研究之感測系統多使用有限數量的感測器,僅以其少量之量測數據代表整個環境資訊,此種作法會造成很大的誤差,對於分佈不均勻的環境影響更大。倘若以增加感測器數量來擴增量測的資訊,則會大幅增加系統的建置費用。 本研究以四軸飛行器搭載輕量級自製光量子感測器,研發可應用於溫室設施內進行特定位置作物管理 (Site Specific Crop Management) 之太陽光光度感測飛行機器人。本研究除進行設備研發外,還進行自製光量子感測器及整體飛行機器人之性能測試。以市售光量子感測器校正自製光量子感測器之結果,其Rc2值等於0.9967、SEC值為26.87 μmole/m2/s、RSEC值等於6.67%。另分析並比較動態飛行機器人與靜態感測器之量測結果,以評估使用動態飛行機器人之準確度,其標準誤差及相對標準誤差各為62.15μmole/m2/s、6.25%,產生誤差之原因,研判主要來自於空間的差異。 由實驗結果可結論,光度感測飛行機器人有別於傳統設施栽培使用之感測系統,能完整地呈現光資訊的分佈情形與不均勻性,並在建構成本與難易度上較使用移動機構之動態感測系統更為優秀,故在溫室之光資訊感測應用上,具有可行性。 In recent years, the technique of Precision Agriculture (PA) has been highly focused. It was applied not only to the filed production but also to the greenhouses. Many research results about greenhouses and the sensing systems have been reported that current sensing systems in the greenhouses use a limited number of sensors to represent the information of the entire region. However, such sensing systems could cause information errors, even worse in non-uniform environments. The cost will be increased if more sensors are used to measure the non-uniform environments. A quantum-sensing flying robot has been developed in this study to realize the site specific crop management in greenhouses, which consists of a quadcopter and a light-weight quantum sensing module. The performances of the flying robot and quantum sensor carried by the flying robot were also evaluated. The results of customized quantum sensor made in this study being calibrated by commercial quantum sensor gave Rc2 value of 0.9967, SEC of 26.87μmole/m2/s, and RSEC of 6.67%. The comparison between flying robot with quantum sensing and static sensing system shows that the error mainly cause by spatial difference, and the standard error is 62.15μmole/m2/s with the relative standard error of 6.25%. The conclusions show that the flying robot with quantum sensing can used to sense the light spatial information in the greenhouses and show the non-uniform light distribution. On the comparison with the dynamic sensing system using moving carriers, the flying robot seems a better option in view of the construction cost and difficulty. Therefore, the flying robot with quantum sensing is feasible to apply to light spatial information sensing in greenhouses. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/51808 |
全文授權: | 有償授權 |
顯示於系所單位: | 生物機電工程學系 |
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