請用此 Handle URI 來引用此文件：
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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏炳郎(Ping-Lang Yen) | |
| dc.contributor.author | Hsiu-Yu Hsu | en |
| dc.contributor.author | 許修瑜 | zh_TW |
| dc.date.accessioned | 2022-11-24T03:08:52Z | - |
| dc.date.available | 2022-03-07 | |
| dc.date.available | 2022-11-24T03:08:52Z | - |
| dc.date.copyright | 2022-03-07 | |
| dc.date.issued | 2022 | |
| dc.date.submitted | 2022-02-10 | |
| dc.identifier.citation | Bechar, A., Vigneault, C. 2016. Agricultural robots for field operations: Concepts and components. Biosystems Engineering, 149, 94-111. Council of Agriculture, Executive Yuan. 2019. Basic Agricultural Statistics 2019. Taipei: Council of Agriculture, Executive Yuan. Clearpath Robotics. 2019. Intro to ROS. Available at: https://clearpathrobotics.com/. Eizicovits, D., Berman, S. 2014. Efficient sensory-grounded grasp pose quality mapping for gripper design and online grasp planning. Robotics and Autonomous Systems, 62(8), 1208-1219. Han, Y., Xiao, H., Qin, G., Song, Z., Ding, W., Mei, S. 2014. Developing situations of tea plucking machine. Engineering, 2014. Hiremath, S. A., Van Der Heijden, G. W., Van Evert, F. K., Stein, A., Ter Braak, C. J. 2014. Laser range finder model for autonomous navigation of a robot in a maize field using a particle filter. Computers and Electronics in Agriculture, 100, 41-50. Kohlbrecher, S., Von Stryk, O., Meyer, J., Klingauf, U. 2011. A flexible and scalable SLAM system with full 3D motion estimation. In 2011 IEEE international symposium on safety, security, and rescue robotics (pp. 155-160). IEEE. Kootstra, G., Wang, X., Blok, P. M., Hemming, J., Van Henten, E. 2021. Selective harvesting robotics: current research, trends, and future directions. Current Robotics Reports, 2(1), 95-104. Lai, Y. L., Chen, P. L., Yen, P. L. 2020. A Human-robot cooperative vehicle for tea plucking. In 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT) (Vol. 1, pp. 217-222). IEEE. Lai, Y. L., Chen, P. L., Su, T. C., Hwang, W. Y., Chen, S. F., Yen, P. L. 2022. A Collaborative Robot for Tea Harvesting with Adjustable Autonomy. Cybernetics and Systems, 53(1), 4-22. ROS Wiki: ar_track_alvar. 2016. Available at: https://wiki.ros.org/ar_track_alvar. ROS.org: ROS. 2021. Available at: http://www.ros.org. ROS Wiki: hector_mapping. 2021. Available at: http://wiki.ros.org/hector_mapping. Vasconez, J. P., Kantor, G. A., Cheein, F. A. A. 2019. Human–robot interaction in agriculture: A survey and current challenges. Biosystems Engineering, 179, 35-48. Wu, C. C. 2015. Developing situation of tea harvesting machines in Taiwan. Engineering, Technology Applied Science Research, 5(6), 871-875. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/80539 | - |
| dc.description.abstract | 在目前的臺灣採茶情況中，雙人式採茶機仍佔主要使用比例，因應臺灣小而零碎的茶園環境。在這背景下，本研究欲開發茶葉採收之人機協作介面，使用於一人機協作載具，能夠在維持農夫原有使用雙人式採茶機的操作習慣，進行協作採收。在較為複雜的農業環境，引入人的操作，能夠簡化系統複雜度及成本，最終目標是希望能夠為農業缺工的現象做出貢獻。 本研究著重在兩種協作採收介面的評估與比較: 一為Side-by-side[自動]模式，透過相機去捕捉操作者身上的標誌，以獲得操作者相對於載具的姿態，以進一步地控制載具運行；二為[手動]按鈕操控模式，透過加裝兩組按鈕在雙人式採茶機的把手上，讓操作者能直接控制載具系統的運行。經過茶園實地試驗後，分析結果，得知[自動]模式之自動避障功能運作良好，再進一步優化後將更有實用潛力；[手動]模式則提供相對穩定地操控移動，然其使用前提為操作者需具已熟習此操作模式之能力。未來若能結合[自動]避障及[手動]穩定操作的優點，將有望優化此一人機協作載具之輔助效果，使之更具商業實用價值。 | zh_TW |
| dc.description.provenance | Made available in DSpace on 2022-11-24T03:08:52Z (GMT). No. of bitstreams: 1 U0001-1002202213205800.pdf: 3357718 bytes, checksum: c75800f3a20ce5d8f5a7f6960d6bfe63 (MD5) Previous issue date: 2022 | en |
| dc.description.tableofcontents | 誌謝 i 摘要 ii Abstract iii Table of Contents iv List of Figures vi List of Tables vii Chapter 1 Introduction 1 1.1 Background 1 1.2 Research Motivation 3 1.3 Literature Review 5 1.4 Research Objective 8 1.5 Thesis Organization 9 Chapter 2 Material and Method 10 2.1 Hardware Architecture 10 2.1.1 Mainboard and Sensor 11 2.1.2 Motor and Driver 12 2.2 Software Architecture 13 2.2.1 Robot Operating System 14 2.2.2 AR tags 16 2.2.3 Auxiliary tool: Hector SLAM 17 Chapter 3 Human-Robot Cooperative Interface 19 3.1 Human-Robot System 19 3.1.1 Coordinate Transformation 19 3.2 Cooperative Interface 1: Side-by-side 22 3.3 Cooperative Interface 2: Manual Control 26 3.4 Experiment 28 3.4.1 Experiment 1: Cooperative Interface Comparison 28 3.4.2 Experiment 2: Workload Evaluation 30 Chapter 4 Result and Discussion 31 4.1 Result: Experiment 1 31 4.2 Result: Experiment 2 41 4.3 Discussion 42 Chapter 5 Conclusion and Future Work 43 Reference 44 | |
| dc.language.iso | en | |
| dc.subject | 農業機器人 | zh_TW |
| dc.subject | 採茶機 | zh_TW |
| dc.subject | 採收作業 | zh_TW |
| dc.subject | 人機協作介面 | zh_TW |
| dc.subject | Human-Robot Cooperative Interface | en |
| dc.subject | Tea Plucking Machine | en |
| dc.subject | Harvesting Work | en |
| dc.subject | Agricultural Robot | en |
| dc.title | 應用於茶葉採收之人機協作介面開發 | zh_TW |
| dc.title | Development of Human-Robot Cooperative Interface for Tea Harvester | en |
| dc.date.schoolyear | 110-1 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 陳世芳(Mike Y. Chen),劉天麟(Bing-Yu Chen),蘇彥碩(Hsin-Ruey Tsai) | |
| dc.subject.keyword | 農業機器人,人機協作介面,採收作業,採茶機, | zh_TW |
| dc.subject.keyword | Agricultural Robot,Human-Robot Cooperative Interface,Harvesting Work,Tea Plucking Machine, | en |
| dc.relation.page | 45 | |
| dc.identifier.doi | 10.6342/NTU202200519 | |
| dc.rights.note | 同意授權(限校園內公開) | |
| dc.date.accepted | 2022-02-11 | |
| dc.contributor.author-college | 生物資源暨農學院 | zh_TW |
| dc.contributor.author-dept | 生物機電工程學系 | zh_TW |
| 顯示於系所單位： | 生物機電工程學系 | |
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