20.500.12556/RUL-188397 Robotski sistem za endoterapijo dreves Robotic system for tree endotherapy Magistrsko delo obravnava projektiranje, konstrukcijo in eksperimentalno validacijo prototipnega avtomatiziranega robotskega sistema, ki je namenjen izvajanju endoterapije oziroma ciljnega injiciranja sredstev v debla dreves v sadovnjakih. Tradicionalne metode zaščite rastlin se soočajo z izzivi, kot so zanašanje škropiva, onesnaževanje okolja in visoka poraba vode, medtem ko ročna endoterapija predstavlja delovno intenziven proces. Razviti sistem integrira področja mobilne robotike, računalniškega vida in robotske manipulacije z namenom popolne avtomatizacije procesa. Robotski manipulator je zasnovan kot TRT mehanizem s tremi prostostnimi stopnjami (translacijski-rotacijski-translacijski), ki omogoča natančno pozicioniranje in kompenzacijo položaja nosilne mobilne platforme. Za izvedbo vboda v les je integriran namenski linearni mehanizem z votlo injekcijsko iglo, prilagojen za zagotavljanje visoke potisne sile do 600 N. Programska oprema sistema je razdeljena na nizkonivojski del in visokonivojski del. Prvi skrbi za kalibracijo, UART komunikacijo, izvaja izračun inverzne kinematike, dinamično regulira tlak vbrizgavanja in hitrost vboda ter krmili koračne motorje. Visokonivojski krmilnik preko računalniškega vida (RGB-D) zaznava geometrijo debla in določi optimalno točko vboda, obdeluje vnose iz igralnega ploščka in krmili mobilno platformo. This master’s thesis addresses the design, construction, and experimental validation of an automated robotic system intended for performing endotherapy, i.e., targeted injection of substances into tree trunks in orchards. Traditional plant protection methods face challenges such as spray drift, environmental pollution, and high water consumption, while manual endotherapy is a labor-intensive process. The developed system integrates the fields of mobile robotics, computer vision, and robotic manipulation with the aim of fully automating the process. The robotic manipulator is designed as a TRT (translational-rotational-translational) mechanism with three degrees of freedom, enabling precise positioning and compensation for the position of the mobile carrier platform. To perform the trunk injection, a dedicated linear mechanism with a hollow injection needle is integrated, adapted to deliver high thrust force of up to 600 N. The system software is divided into a low-level and a high-level part. The former handles calibration, UART communication, inverse kinematics computation, dynamic regulation of injection pressure and insertion speed, as well as stepper motor control. The high-level controller uses computer vision (RGB-D) to detect trunk geometry and determine the optimal injection point, processes inputs from a gamepad, and controls the mobile platform. endoterapija dreves avtomatizacija v kmetijstvu robotski manipulator računalniški vid injiciranje v deblo krmiljenje motorjev tree endotherapy agricultural automation robotic manipulator computer vision trunk injection motor control true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2026-09-22 13:50:03 2026-09-22 13:50:12 2026-10-30 09:14:01 0000-00-00 00:00:00 2026 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 63466 303180803 Zindovic_David_-_Robotski_sistem_za_endoterapijo_dreves.pdf Zindovic_David_-_Robotski_sistem_za_endoterapijo_dreves.pdf 1 7CE10F49627675A2A42499F83DAA9F89 0eaf79c7a7d395dce7967f910df001d602dbd1cf85779983f7177bc8202e425d b67cd62c-b67b-11f1-8bc5-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=248545 Fakulteta za elektrotehniko 0 0 0