臺灣博碩士論文加值系統

本論文針對精準農業體系下之變率噴藥車的變率施噴系統進行設計，使其能依照事先判斷之病蟲害類別或雜草蔓延程度進行定點、定量的變率噴藥/除草作業。
本研究以一農用桿式噴藥車為研究對象，於該噴藥車上安裝全球定位系統定位儀以便即時獲取噴藥車在田區的空間座標，並於噴藥車的施噴系統加入比例式流量控制閥。比例閥閥口開度所對應的相對流量與定位儀即時定位精度則由實驗結果獲得，從而找出系統施噴工作曲線與定位儀即時定位誤差。
實驗方法如下：首先個別設計變率施噴系統以及定位系統，再對系統進行實驗模擬與分析。在施噴系統方面，應用控制系統的回流量來改變施噴量，以動態方式測試此系統在不同幫浦設定壓力下比例閥閥口開度與回流量關係，最後將實驗數據迴歸分析，以了解比例閥開度特性，並找出其工作曲線。另一方面，定位系統則是對定位儀進行靜態點位觀測與動態路線定位等實測作業，再以地理資訊系統軟體處理並分析定位資料以了解定位儀之定位誤差。
實驗結果分析顯示：定位儀即時靜態與動態定位誤差在3公尺之內，應用於噴藥車的導引施噴是可行的。比例閥閥口對流量可控制開度在11﹪∼64﹪間，若將開度以三段20﹪、40﹪、60﹪設定再配合五種設定壓力，則產生施噴量從7 LPM∼34 LPM的 15段變率施噴效果，可以運用在多變的環境上。

The purpose of this thesis is to develop a variable-rate spraying equipment for a boom sprayer operated under a precision agriculture system. The variable-rate spraying equipment, which is used to achieve pesticide and herbicide applications according to predetermine spraying rate that is judge in classification of insect pests and spread of weeds in the field at the right location and use the right spraying quantity.
In the field, the real time position of the boom sprayer is obtained from a GPS receiver according to its space coordinate data. For the spraying system in the boom sprayer the feasibility is investigated by adding a proportional flow rate control valve. The opening of this control valve corresponding to the flow rate and real time error of the GPS receiver are obtained by experiment.
Experiment methods are described as fallowed. First, a variable-rate spraying system and a positioning system was designed and tested separately. In the spraying system, system backflow rate is used to control spraying rate. Then this system was tested dynamically in order to study the influence of various setting values of the proportional control valve vs. backflow rate under the different pressure setting values of the pump. Finally, the data was analyzed by means of the regression method to predict the characteristics of the system performance. On the other hand, GPS receiver was tested in point positioning statically and route positioning dynamically. The experimental data was post-processed and analyzed by a GIS software to know the positioning error of this GPS receiver.
The experimental results show that the GPS receiver’s real time positioning error is less than 3 meters either statically or dynamically, so it is sufficient to guide a boom sprayer for spraying；for the backflow rate the proportional valve controllable range is within 11﹪∼64﹪. The range is then divided into 3 stages： 20﹪、40﹪and 60﹪,with 5 various pump spraying pressures, we could get 15 different variable-rate spraying effects. For the purpose of variable environment, the spraying capacity is from 7 LPM to 34 LPM.

第一章 前言……………………………………………………1
第二章 文獻探討…….…………………….…………………3
2.1精準農業的特性……………………………………………3
2.2精準農業的運作……..……………………………………5
2.2.1精準農業的運作流程………………………………5
2.2.2精準農業的應用…………………………………..7
2.3變率施噴系統…..………………………………………..13
2.4 全球定位系統……………..…………….…………... 23
2.4.1全球定位系統發展概況………………………….23
2.4.2 GPS系統架構………………………….…………25
2.4.2.1太空部分…………………..………….25
2.4.2.2地面控制追蹤站部分……..………….27
2.4.2.3使用者部分…………………………….29
2.4.3 GPS時間與空間系統…………………..……….30
2.4.3.1時間系統（GPS Time﹐GPST）……….30
2.4.3.2空間系統（WGS-84）…………………32
2.4.4 GPS衛星訊號…………………………………….34
2.4.5 GPS定位原理…………………………………….38
2.4.6 GPS誤差分析及影響…………………………….42
2.4.7差分定位（DGPS）原理…………………………48
2.4.8座標系統轉換…………………………………….49
2.5 地理資訊系統…………………………………………59
2.5.1地理資訊系統的發展…………………………….61
2.5.2地理資訊系統的定義…………………………….62
2.5.3地理資訊系統所能處理的基本問題…………….64
第三章 實驗設備與方法………………………………………67
3.1實驗設備………………………………………………….67
3.1.1全球定位系統的硬體及軟體設備……………….67
3.1.2 施噴系統………………………………………….73
3.1.2.1實驗施噴系統………………………….73
3.1.2.2桿式噴藥車施噴系統………………….81
3.2.實驗方法………………………………………………85
3.2.1全球定位系統的實測作業……………………….87
3.2.1.1 實驗室操作…………………………….87
3.2.1.2 GPS實測作業………………………….87
3.2.2實驗施噴系統動態流量測試………………..… 90
3.2.3噴藥車變率施噴系統動態流量測試…………… 92
第四章 結果與討論……………………………………………96
4.1全球定位系統實測成果………………………………….96
4.2實驗施噴系統動態流量測試……………………………112
4.3噴藥車變率施噴系統動態流量測試……………………119
4.4 討論…………………………………..…………………128
第五章 結論……………………………………………………129
第六章 建議……………………………………………………130
第七章 參考文獻………………………………………………132
附錄………………………………………………………………135

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