基於ROS2和Web技術的農業機器人遠端監測和診斷系

Agricultural Robot Remote Monitoring and Diagnostic System Based on ROS2 and Web Technology

隨著自主移動機器人（Autonomous Mobile Robot; AMR）在農業領域中的應用發展，實現對這些機器人的有效監測和診斷變得尤為重要。本文提出了一種基於ROS2和Web技術的農業機器人遠端監測和診斷系統，旨在提升機器人的運維效率和預防性維護。本系統整合了現有的RTAB-MAP（Real Time Appearance-Based Mapping）和3D建圖技術，並通過數據處理和分析，實現對機器人導航系統和控制系統的即時監控。實驗結果顯示，該系統能夠有效地提高農業機器人的運行可靠性和維護效率，減少了因故障導致的停機時間。在未來工作方面，將持續探討如何進一步提升數據分析的深度和準確性，以及如何擴展系統以適應更多不同類型的農業機器人。

Autonomous mobile robots（AMRs）are being increasingly applied in agriculture, and effectively monitoring these robots and diagnosing problems is becoming increasingly crucial. This paper presents a remote monitoring and diagnostic system for agricultural robots based on the Robot Operating System 2 and web-based technology with the goals of enhancing operational efficiency and improving preventive robot maintenance. The system integrates existing real-time appearance-based mapping and 3D mapping technologies combined with data processing and analysis methods to achieve real-time monitoring of robot navigation and control systems. In evaluation experiments, the system effectively improved the operational reliability of agricultural robots and the efficiency of their maintenance, reducing downtime caused by malfunctions. In future work, the depth and accuracy of the data analysis could be enhanced, and the system could be expanded to accommodate more types of agricultural robots.