Robotski sistem za avtomatsko pobiranje stebelne zelenjave

PLEŠKO, ERIK (author), Mihelj, Matjaž (mentor), Šlajpah, Sebastjan (comentor)

V magistrskem delu je predstavljen razvoj robotskega mehanizma za pobiranje stebelne zelenjave. Najprej so predstavljene uveljavljene rešitve, obravnavani različni pristopi in utemeljena izbira mehanizma. Sledi opis teoretične analize ter zasnove in izdelave mehanizma. Opisani sta zasnova in izdelava orodja za pobiranje rastlin. Predstavljena je strojna in programska oprema. V delu smo raziskali in predstavili tudi možnosti zaznave rastlin. Osredotočili smo se na zajem podatkov za namen zaznave. Predstavljena je izdelana mobilna platforma za zajem podatkov. Opisana sta merilni sistem in uporabljena senzorika. Nato so prikazane in analizirane zajete meritve. Delo smo sklenili s preizkusom robotskega sistema za pobiranje špargljev. Opisana sta delovanje robotskega mehanizma in pobiranje poganjkov. Aplikacija je ovrednotena in predlagane so izboljšave. Opisano je nadaljevanje projekta izdelave robotskega sistema za pobiranje stebelne zelenjave.

• Language: Slovenian
• Keywords: robotika v kmetijstvu, šparglji, avtonomni robot, mobilna platforma, robot delta, zaznava, pobiranje, ROS
• Work type: Master's thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2021
• PID: 20.500.12556/RUL-131270
• COBISS.SI-ID: 77960195
• Publication date in RUL: 24.09.2021

Secondary language

• Language: English
• Title: Robot system for automatic harvesting of stem vegetables

Abstract

This thesis addresses the development of a robotic system for harvesting green asparagus. First, established solutions are presented, different approaches are discussed and the choice of the mechanism is justified. This is followed by the presentation of the theoretical analysis, the design and the construction of the selected robotic mechanism, wherein the design and the construction of the harvesting tool are described. Lastly, the hardware and software of the robotic mechanism are presented. The possibilities of plant detection are also investigated and presented. The primary focus lies on data acquisition. A mobile platform for data acquisition developed specifically for the object of this thesis is presented. The measurement system and the sensors are described, followed by the presentation and analysis of the captured measurements. The thesis is concluded with a test of the robotic harvesting system for asparagus. The operation of the robotic mechanism is described, along with its abilities to harvest and pick up asparagus. The application is evaluated and improvements are suggested. Finally, according to the proposition to continue developing the robotic system for harvesting stem vegetables, further development of the project is set out.

• Keywords: agriculture robotics, asparagus, autonomous robot, mobile platform, delta robot, acquisition, detection, harvesting, ROS