Põldroboti positsioneerimissüsteem
Laen...
Kuupäev
2022
Kättesaadav alates
13.09.2022
Autorid
Ajakirja pealkiri
Ajakirja ISSN
Köite pealkiri
Kirjastaja
Eesti Maaülikool
Abstrakt
Robotite kasutuselevõtt põllumajanduses aitab tõsta töö efektiivsust ja langetada tootmise
ja tööjõukulusid. Robotitel on vajalik põllul või istandustes töötamisel vaja teada oma
asukohta. Käesoleva lõputöö eesmärgiks on projekteerida satelliitnavigatsioonil baseeruv
positsioneerimissüsteem Eesti Maaülikooli agrorobootika töörühma poolt arendatavale
autonoomsele täpisväetusplatvormile. Ülesanneteks on tutvuda satelliitnavigatsiooni
tehnoloogiaga, valida sobiv riistvaraline lahendus, projekteerida süsteemi
paigalduslahendus ja hinnata projekteeritud süsteemi stabiilsust.
Lõputöö raames loodi ArduSimple poolt pakutavate riistvaraliste komponentide alusel
põldroboti tööks sobiv GNSS-RTK riistvaraline lahendus, projekteeriti süsteemi
paigalduslahendused põldrobotile ja hooldejaamale ning viidi läbi projekteeritud süsteemi
stabiilsust hindavad katsed. Projekteeritud süsteem töötas testimisel katsemudelitega 1 Hz
positsioneerimissageduse juures stabiilselt, saavutatavad tulemused on sentimeetritasemel.
Edasises arendustegevustes saaks hinnata põldrobotil paikneva positsioneerimissüsteemi
üleviimise otstarbekust võrgu-RTK lahendusele.
The use of robotics in agriculture helps to increase cost-effectiveness of crop production. For robots to independently work on fields or in plantations they need to have awareness of their location. The main goal of this thesis is to develop satellite-based navigation system for a precision fertilization robot that is developed by Agri robotics research group in Estonian University of Life Sciences. The tasks are to explore the field of satellite navigation, choose appropriate hardware configuration, create system installation solution and validate stability of created navigation system. In course of this thesis a GNSS-RTK navigation system based on the hardware developed by Ardusimple was created. In addition, documentation for implementation of system was created and lastly, developed system was tested for stability. System stability tests with test models using navigation rate of 1 Hz yielded in excellent results, achieving centimeter level accuracy. For future improvements a suggestion was made to conduct analysis of whether switch over to existing GNSS-RTK correction service is favored.
The use of robotics in agriculture helps to increase cost-effectiveness of crop production. For robots to independently work on fields or in plantations they need to have awareness of their location. The main goal of this thesis is to develop satellite-based navigation system for a precision fertilization robot that is developed by Agri robotics research group in Estonian University of Life Sciences. The tasks are to explore the field of satellite navigation, choose appropriate hardware configuration, create system installation solution and validate stability of created navigation system. In course of this thesis a GNSS-RTK navigation system based on the hardware developed by Ardusimple was created. In addition, documentation for implementation of system was created and lastly, developed system was tested for stability. System stability tests with test models using navigation rate of 1 Hz yielded in excellent results, achieving centimeter level accuracy. For future improvements a suggestion was made to conduct analysis of whether switch over to existing GNSS-RTK correction service is favored.
Kirjeldus
Rakenduskõrgharidusõppe lõputöö
Tehnotroonika õppekaval
Märksõnad
lõputööd, GNSS, RTK, robootika