Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/35760
DC FieldValueLanguage
dc.contributor.advisor欒家敏zh_TW
dc.contributor.advisorLUAN. JAR MIINen_US
dc.contributor.author簡大為zh_TW
dc.contributor.authorWEI, JIAN.DAen_US
dc.date1999zh_TW
dc.date.accessioned2014-06-06T07:52:53Z-
dc.date.available2014-06-06T07:52:53Z-
dc.identifier.urihttp://hdl.handle.net/11455/35760-
dc.description.abstractThis research focuses on the combination of image processing technology and cartesian coordinate robot to build a transplanting system for phalaenopsis tissue culture plantlets. This system includes computer vision, computer communication, automatic control, and barometric device. Visual Basic and Matrox Image Library were utilized to develop image-processing system. Phalaenopsis plantlets can be automatically analyzed by computer vision/image system and transplanted by robotic system. Experimental results showed that 78.1 to 86.6% of plantlets were transplanted successfully. The hand efforts of robot move plantlets to the specified position in the tray with an offset less than 2.06mm. If plantlets of transplanted failure were to do again, the 93.89% of plantlets were transplanted successfully in all. In this study, cycle of average was 16.48 second with a plantlets. The absent- plantlets rate was 3.09 with a tray. In efficiency of all was 0.68. The 81.26% of plantlets were transplanted successfully in absent- plantlets sensation and non-recover. If plantlets of transplanted failure were to do again, the 98.85% of plantlets were transplanted successfully in all. In this study, cycle of average was 18.27 second with a plantlets. The absent- plantlets rate was 0 with a tray. In efficiency of all was 0.94. The ratios of success in transplantation are between 78.1% and 86.6%. The reason of failure in transplantation always relates Phalaenopsis plantlets positon or length. Fiber senior were utilized to check effect of holding-plantlets in transplantation. This device was avoidable absent- plantlets and reduced capital.en_US
dc.description.abstract本研究是利用直角座標機器人結合影像處理設備與技術,建立一套組織培養苗的移植系統,試用於蝴蝶蘭實生苗之分瓶假植作業,以降低人工需求。直角座標機器人藉著電腦通訊、自動控制及氣壓輔助裝置及較無外界光源干擾的底部打光的設計之下,以自動化流程取得幼苗的數位影像,再以自行設計之影像處理系統分析出夾持點與夾持角度,透過機器人的控制,完成整個假植作業。影像處理系統以Visual Basic程式語言配合Matrox Image Library所寫成,能完全自動化進行蝴蝶蘭幼苗影像分析及假植作業,在假植作業的過程中,不需加入人為的判斷及作業。在自動化的移植作業中,扦插位置的平均偏移量為2.06mm。移植成功比例為78.1﹪至86.6﹪之間;移植失敗的原因是蝴蝶蘭種苗在輸送帶上的位置是否理想,以及種苗長度應介於16mm至25mm之間。利用光纖感測做為夾苗效果檢查設備可完全免除移植缺株的問題,有助於降低生產成本,提升電腦機器人系統及套裝程式的等級可做增加機器人移植作業的效率。在此實驗中,每一株的平均週期為16.48秒;每盤的缺株率為3.09株;整體效益為0.68。在缺株感測且假植失敗幼苗不回流實驗之平均成功率為81.26%;若將假植失敗幼苗再回流則成功率高達98.85%。在此實驗中,每一株的平均週期為18.27秒;每盤的缺株率為0株;整體效益為0.93。zh_TW
dc.description.tableofcontents誌謝Ⅰ 摘要Ⅱ ABSTRACTⅢ 目錄Ⅳ 圖目錄Ⅶ 表目錄Ⅸ 第一章 緒論1 第二章 研究目的與項目3 2.1 研究目的3 2.2 研究項目3 第三章 文獻探討7 3.1蘭花組織培養實生苗生產的方法7 3.2影像處理在農業上應用之案例9 3.3機器手臂在農業上應用之案例14 第四章 實驗設備之建立16 4.1實驗設備16 4.1.1硬體設備16 4.1.2系統軟體18 4.2人工視覺假植機器人之建立與研製19 4.2.1人工視覺假植機器人之功能19 4.2.2人工視覺假植機器人之機械結構19 4.2.3人工視覺假植機器人之控制系統23 4.2.4人工視覺假植機器人之感測裝置26 4.2.5人工視覺假植機器人之承苗盤設計29 4.2.6人工視覺假植機器人扦插動路規劃30 4.2.7人工視覺假植機器人之手動操作模式32 4.2.8人工視覺假植機器人之電腦操作模式33 4.2.9人工視覺假植機器人之打光取像系統設計41 4.2.10人工視覺假植機器人與電腦之控制連線42 4.3影像處理系統46 4.3.1影像擷取系統46 4.3.2影像分析與處理軟體46 第五章 實生苗性狀之影像分析52 5.1影像校正53 5.2影像區分54 5.3影像侵蝕56 5.4影像平滑56 5.5影像細線化58 5.6骨架節點之找尋61 5.7影像區域面積之計算62 5.8重心求取63 5.9角度之計算65 第六章 實驗步驟與方法68 6.1蝴蝶蘭組織培養實生苗及培養基之準備69 6.1.1蝴蝶蘭組織培養實生苗之準備69 6.1.2培養基之準備69 6.2蝴蝶蘭組織培養實生苗之影像擷取試驗71 6.3蝴蝶蘭組織培養實生苗之影像區分試驗73 6.4蝴蝶蘭組織培養實生苗之電腦影像模擬試驗74 6.5假植機器人扦插位置偏移之試驗75 6.6假植機器人缺株檢測與不檢測之比較試驗77 第七章 實驗結果與分析82 7.1假植機器人扦插位置偏移之試驗82 7.2假植機器人缺株檢測與不檢測之比較試驗85 7.2.1缺株不檢測實驗結果85 7.2.2缺株檢測實驗結果96 7.2.3缺株檢測與不檢測之效益分析107 7.3改善機器人移植效率之可行性109 第八章 結論112 參考文獻114 附錄一 全自動模式程式118 附錄二 半自動模式程式137 附錄三 影像處理模式程式131 附錄四 DEMO模式程式159 附錄五 其他附屬程式173 附錄六 PLC程式階梯圖180zh_TW
dc.language.isoen_USzh_TW
dc.publisher農業機械工程學系zh_TW
dc.subjectImage processingen_US
dc.subject影像處理zh_TW
dc.subjectRoboten_US
dc.subjectMachine visionen_US
dc.subjectPhalaenopsisen_US
dc.subjectTransplantingen_US
dc.subjectLightingen_US
dc.subject機器人zh_TW
dc.subject機器視覺zh_TW
dc.subject蝴蝶蘭zh_TW
dc.subject移植zh_TW
dc.subject打光zh_TW
dc.title蝴蝶蘭組織培養苗移植機構之開發研究zh_TW
dc.titleA Robotic System For Transplanting Phalaenopsis Tissue Culture Plantletsen_US
dc.typeThesis and Dissertationzh_TW
item.languageiso639-1en_US-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.openairetypeThesis and Dissertation-
item.fulltextno fulltext-
item.grantfulltextnone-
Appears in Collections:生物產業機電工程學系
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