臺灣博碩士論文加值系統

因應高都市化所帶來的負面影響以及環保意識的抬頭，都市綠化已成為現代都市中不可或缺的要素之一。然而，傳統的綠化為水平方式綠化，在寸土寸金的大都市中，此種綠化顯然較不可行。因此近年來有學者紛紛提出垂直綠化的概念，利用都市隨處可見的高樓大廈，將綠色植物覆蓋其建築牆面，形成綠色植生牆，又稱綠牆。我國於2007年開始建議重大工地圍籬需進行垂直綠化，至今在全台各地工地建築中，均可看到垂直綠牆的身影。目前綠牆所栽種之植物主要為景觀園藝為主，相關專家學者提出能否將景觀園藝植物更換為農作物，除了能保有綠牆本身功能外，在工期期滿整體綠牆需拆除之際，能對牆上農作物進行採收，同時也輔助垂直農場等都市農業體系。
本研究基於上述之目的下，運用三軸龍門機構開發出一台應用於綠牆掛盆自動搬運系統，其功能為利用影像辨識分析技術進行掛盆放置及卸盆動作以及在作物生長過程中，若發現到有植株枯萎，能將該掛盆置換等功能。

In response to the negative impact of high urbanization and the rise of environmental awareness, urban greening has become one of the indispensable elements in modern cities. However, the traditional greening is horizontal greening, which is obviously less feasible in metropolises. Therefore, in recent years, some scholars have put forward the concept of vertical greening, using high-rise buildings everywhere in the city to cover green walls with green plants to form green plant walls, also known as green walls. In 2007, Taiwan began to recommend that vertical fences should be planted on major construction site fences. Up to now, vertical green walls can be seen in all construction sites all over Taiwan. At present, the plants planted in the green wall are mainly landscape gardening. Relevant experts and scholars have proposed whether to replace the landscape garden plants with crops. In addition to keep the features of the green wall itself, when the overall green wall needs to be demolished at the end of the construction period, it can harvest crops on the wall, and also assist urban agricultural systems such as vertical farms.
Based on the above purposes, this research uses a three-axis gantry mechanism to develop an automatic transportation system for green wall hanging pots. Its function is to use image recognition analysis technology to place and unload pots and during the growth of crops, if a plant is found to wither, the hanging pot can be replaced and other functions.

誌謝 i
摘要 ii
Abstract iii
目錄 iv
圖目錄 vi
表目錄 viii
第一章 緒論 1
1.1 研究源起 1
1.2 研究目的 3
第二章 文獻探討 4
2.1 垂直綠牆 4
2.1.1 綠化外牆 4
2.1.2 植生外牆 5
2.1.3 綠牆栽種作物 6
2.2 機械自動化採收 8
2.3 機器視覺 9
2.4 影像處理 10
2.4.1 色彩空間 10
2.4.2 形狀紋理分析 11
2.5 相機校正 12
2.5.1 徑向失真 12
2.5.2 切向失真 13
第三章 材料與方法 14
3.1 Farmbot 平台 14
3.2 樹莓派 15
3.3 Farmduino 開發板 15
3.4 步進馬達 16
3.5 編碼器 17
3.6 螺桿系統位移量 18
3.7 時規皮帶系統位移量 19
3.8 掛盆位置分析 20
3.8.1 中值濾波 20
3.8.2 形態學開運算 21
3.9 相機校正 23
3.10 像素距離與實際距離之轉換 25
3.11 實驗環境架設 26
3.11.1 垂直綠牆 26
3.11.2 掛網與掛盆 27
3.11.3 綠牆植株 28
第四章 結果與討論 29
4.1 步進馬達轉矩與轉速試驗 29
4.2 馬達移動偏差量試驗 31
4.3 掛盆位置分析結果 33
第五章 結論與建議 41
參考文獻 42

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