指導教授：林達德臺灣大學：生物產業機電工程學研究所陳大宇Chen, Ta-YuTa-YuChen2014-11-262018-07-102014-11-262018-07-102014http://ntur.lib.ntu.edu.tw//handle/246246/261803蜜蜂在開花植物的授粉上扮演了重要的角色，許多的經濟作物都需要藉由蜜蜂來授粉。然而，人類對於蜜蜂的行為所掌握的資訊並不多，特別是蜂箱內的蜜蜂行為。本研究目的在於開發一套影像系統對蜂箱內蜜蜂的運動軌跡進行追蹤並建立運動行為指標評估蜂群狀態。為了順利地監測蜜蜂在箱內的活動，故挖空蜂箱的側邊並加裝透明玻璃，降低蜜蜂對影像系統的干擾。在影像系統硬體部分，以防水觀測箱當作系統外殼，內部架設2臺工業級CCD攝影機，並藉由紅外線燈板提供穩定光源使得攝影機取得高解析度的影像資訊。而影像系統的演算法可分為蜜蜂運動軌跡追蹤與行為分析。透過圓形貼紙標籤標記蜜蜂，並使用霍爾圓轉換與支持向量機來進行標籤的偵測與辨識，利用位置和編號資訊並搭配最小距離來追蹤軌跡，其軌跡辨識率為94%。透過軌跡分析，建立蜜蜂運動行為指標，依序是各時段有效軌跡次數、各時段蜜蜂移動距離、各時段長型軌跡與團型軌跡之比例和位置交互重疊次數。為了實際監測蜂箱內蜜蜂運動行為與探討益達胺 (imidacloprid) 對蜜蜂之影響，因此進行三種不同的實驗，依序為室內實驗、室內餵食農藥實驗、室外餵食農藥實驗。由室內實驗結果可得知，蜜蜂的運動行為在白天有較活躍的趨勢。由室內與室外餵食農藥實驗結果得知，餵食益達胺的蜜蜂在蜂箱內的交互關係強度較正常蜜蜂弱且運動行為也較不活躍。Honeybees play an important role in pollinating flowering plants. Many economic plants are pollinated by honeybees. However, human being has very little knowledge about honeybee behavior in the beehive especially. The objective of this research is to develop an imaging system for tracking honeybee trajectory and to build up activity indices for evaluating honeybee’s daily activity in the beehive. In order to observe honeybee, a side wall of the beehive was hollowed and inserted a transparent glass which prevented the imaging system influenced from the influence of honeybees. The hardware of imaging system was mainly constructed by a waterproof observation box which consisted of two CCD cameras and one rectangular infrared light panel. The infrared light panel provided stable illuminations to acquire high resolution images. The software of imaging system consists of honeybee trajectory tracking and behavior analyses. Round labels were stuck on honeybees. The individual honeybee was detected by the circular label via Hough circle transform method and recognized via support vector machine (SVM). Through the position and identity of the bee and the minimum distance, the trajectory was tracked with 94% trajectory recognition rate. Through the trajectory analysis, we constructed the activity indices including how many times effective trajectory appear per hour, honeybee moving distance per hour, the ratio between thread-like and blob-like trajectory per hour, and the times position overlap. In order to monitor honeybee motion in the beehive closely and investigate the effect of imidacloprid on honeybee, we executed three types of experiment including indoor experiment, indoor insecticide experiment, and outdoor insecticide experiment. From the indoor experiment results, it is clear that the honeybee activity level is more active at daytime. From results of the indoor insecticide and outdoor insecticide experiments, it can be concluded that the interactions of control honeybees are much more than those for insecticide fed honeybees and their activity level is also more active.誌謝 i 摘要 iii Abstract iv 目錄 vi 圖目錄 ix 第一章 緒論 1 1.1 前言 1 1.2 研究目的 2 第二章 文獻探討 4 2.1蜜蜂簡介 4 2.1.1蜜蜂種類 4 2.1.2蜜蜂行為 4 2.2蜜蜂監測方法 6 2.2.1巢外監測 6 2.2.2巢內監測 8 2.3支持向量機 (support vector machine, SVM) 9 2.4光學字元辨識 (optical character recognition, OCR) 15 第三章 研究設備與方法 17 3.1 硬體設備 17 3.1.1系統整體架構 17 3.1.2蜜蜂使用種類與蜂箱規格 18 3.1.3防水觀測箱與攝影機架 19 3.1.4紅外線燈板與攝影機 21 3.1.6標籤製作與黏貼 23 3.2 蜜蜂偵測與辨識之影像處理演算法 26 3.2.1蜜蜂偵側與辨識之流程 26 3.2.2蜜蜂標籤偵側 27 3.2.3字元擷取 28 3.2.4字元影像標準化 31 3.2.5字元影像辨識 32 3.3蜜蜂運動軌跡分析 33 3.3.1運動軌跡追蹤 34 3.3.2蜜蜂運動分析指標 35 3.4實驗方法與規劃 37 第四章 結果與討論 40 4.1 系統性能分析 40 4.1.1系統硬體 40 4.1.2 影像系統性能分析 42 4.2 實驗結果分析 46 4.2.1室內實驗一 46 4.2.2室內實驗二 54 4.2.3室內餵食農藥實驗一 59 4.2.4室內餵食農藥實驗二 65 4.2.5室外餵食農藥實驗 70 4.3實驗結果討論 77 第五章 結論與建議 78 5.1 結論 78 5.2 建議 79 參考文獻 803958055 bytesapplication/pdf論文公開時間：2014/08/26論文使用權限：同意有償授權(權利金給回饋學校)蜜蜂運動行為指標行為監測影像處理支持向量機thesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/261803/1/ntu-103-R01631026-1.pdf