Agroroboti manipulaatori tööriista visuaalne joondus
Laen...
Kuupäev
2023
Kättesaadav alates
13.09.2023
Autorid
Ajakirja pealkiri
Ajakirja ISSN
Köite pealkiri
Kirjastaja
Eesti Maaülikool
Abstrakt
Kasvav rahvastik vajab üha enam toitu ning tekitab seeläbi hinnasurvet väetistele.
Lahendusena töötatakse Eesti Maaülikoolis välja täppisväetamise agrorobotit. Antud töö
eesmärgiks on välja töötada juhtsüsteem joondamaks agroroboti manipulaatori visuaalselt
leitud objektiga ning paigaldada robotile selleks vajalikud komponendid. Selleks tutvuti
täppispõllumajanduse ning selles kasutatavate tehnoloogiatega, mustika kultuuriga ning
agroroboti arendusprojektiga. Projekteeriti detailid vajalike komponentide
paigaldamiseks agrorobotile. Viimaks arendati välja manipulaatori joondamist võimaldav
juhtsüsteem. Kaamera paigaldati roboti raami külge manipulaatori alla. Arendati välja
ROS kimp nimega mustikas_alignment, mis täidab juhtsüsteemi ülesannet. Töö võib
lugeda õnnestunuks, sest paigaldati kõik vajalikud komponendid ning valmis töötav
juhtsüsteem. Edaspidi tuleks leida mooduseid objekti asukoha täpsemaks leidmiseks,
mustikataime keskpunkti leidmiseks ning arendada juhtsüsteem manipulaatorile
kinnitatud kaamera abil joondamiseks.
The growing population needs more and more food and thereby creates price pressure on fertilizers. As a solution, a precision fertilization field robot is being developed at the Estonian University of Life Sciences. The aim of this thesis is to develop a control system to align the manipulator of the field robot with a visually found object and to install the necessary components on the robot. For this purpose, research was carried out about precision agriculture, blueberry culture and the development project of the field robot. Parts for installing the necessary components on the agrorobot were designed. Finally, a control system enabling manipulator alignment was developed. The camera was mounted on the robot frame under the manipulator. A ROS package called mustikas_alignment was developed, which performs the task of the control system. The work can be considered a success, because all the necessary components were installed and a working control system was created. In the future, ways should be found to find the location of the object more precisely, to find the center of the blueberry plant, and to develop a control system for alignment using a camera attached to the manipulator.
The growing population needs more and more food and thereby creates price pressure on fertilizers. As a solution, a precision fertilization field robot is being developed at the Estonian University of Life Sciences. The aim of this thesis is to develop a control system to align the manipulator of the field robot with a visually found object and to install the necessary components on the robot. For this purpose, research was carried out about precision agriculture, blueberry culture and the development project of the field robot. Parts for installing the necessary components on the agrorobot were designed. Finally, a control system enabling manipulator alignment was developed. The camera was mounted on the robot frame under the manipulator. A ROS package called mustikas_alignment was developed, which performs the task of the control system. The work can be considered a success, because all the necessary components were installed and a working control system was created. In the future, ways should be found to find the location of the object more precisely, to find the center of the blueberry plant, and to develop a control system for alignment using a camera attached to the manipulator.
Kirjeldus
Rakenduskõrgharidusõppe lõputöö
Tehnotroonika õppekaval
Märksõnad
lõputööd, masinnägemine, robootika, ROS, täppispõllumajandus