Equipment use workshop How to use the sweet-pepper harvester

Transcription

1 Equipment use workshop How to use the sweet-pepper harvester Jochen Hemming (Wageningen UR) September-2014

2 Working environment robot Environmental conditions Temperature: 13 to 35 C Relative Humidity: >70% Common V-cropping system Plant row distance 1.3 m Plant distance in the row 0.2 m Main stem of the plant is supported by a plastic wire Heavy occlusion of fruit. 2

3 Working principle Platform (2 coupled modules) on heating pipes Robot manipulator on platform Sensor unit on platform which scans environment: Position and orientation and ripeness of fruits Position of obstacles Move end-effector close to target 2 nd sensor system (mini-cameras) on end-effector Correct target position and orientation Grip/fix fruit Separate fruit from plant Transport to container 3

4 Final integration of the the modular robot 4

5 Before you start... Read the manipulator handbook (Deliverable 3.7) 5

6 Main sensor rig Combination Time of flight (ToF) and 1 colour camera for fruit localization Stereo vision for obstacle localization 6

7 End-effectors: Fin-Rays and Lip-type with cutting tool 4 Fin-Ray fingers grip the fruit Scissor-like cut mechanism on top of the fingers Stabilize the fruit using a suction cup Two rings enclose and cut the sweet pepper peduncle 7

8 Operational task sequence Stem-dependent determination of the grasp pose Task planning: select next fruit to detach Move manipulator to waypoint Fruit detachment Release fruit Calculate stem-dependent grasp poses Set fixed grasp poses Move manipulator to fixed waypoint yes no Fruit left to pick? Move manipulator to the basket Initialise all modules yes no Move robot to next position on the rail manually Stem detected? Stem Localization Move manipulator TCP to mini camera viewpoint in front of fruit yes Mini cam Correction Turn on lighting Record RGB image Record TOF image Move manipulator to fixed waypoint Move manipulator away from horizontal slide yes Fruit localization Use of mini cam correction? no Turn off lighting Register RGB+TOF Fruit Localization Cut peduncle Move sensor rig into the workspace of the manipulator Image Acquisition Turn on lighting Take stereo Images Record RGB image Turn off lighting Record TOF image no Fruit detected? Move sensor rig out of the workspace of the manipulator Fruit localization RGB + TOF Registration Move manipulator to position at a fixed offset from the grasp pose Move manipulator TCP to the grasp pose Correct fruit position, if a location is found Select a grasp pose for the end-effector Grasp Fruit yes Return to the position at a fixed offset from the grasp pose no Grasp poses left? no Grasp successful? yes 8

9 Network configuration pepper harvester 9

10 In the greenhouse Use a forklift to transport platform and to put platform on the rails Take care of the centre of gravity for not tilting 10

11 Minimum of 2 operators needed front side back side (control GUI ) (monitor robot actions) 11

12 Start-up procedure sweet-pepper robot Plug in 380 power cable Switch on main switch on front panel Switch on XPC Switch on WUR PC Switch on the camera/sensor rig power Wait until XPC is ready with init 12

13 On the main PC after first boot (1/2) Open new terminal: roscore. Open new terminal: roslaunch main_pepper.launch xpc:=true udp_ctrl:=true use_stem_detection:=true use_pepper_sensor_rig:=true First time enter password to init the USB port connection to the sensor rig Kill main pepper application and launch again. This is needed because SR camera requires 2 nd init to get the good parameters. Check that during the coldboot end effector gets operated and LED gripper light is switched on for a second. 13

14 On the main PC after first boot (2/2) For the minicams: Open new terminal: camlab (software for the vrmagic camera) In the camlab select the camera and press grabbing. You should see a live image. (This step is somehow needed to get the right settings in the camera. Otherwise the camera gives a lot of errors in ROS after a short time) Exit the camlab software In a terminal: roslaunch launchfiles main_pepper_grippercam.launch. Observe if both cameras (PMD and VRM) are initialised correctly. If not, kill launchfile and retry. 14

15 GUI and state machine is launched 15

16 Robot is now ready to use 16

17 Solve problems (1/2) XPC DOES NOT WORK (NO ROBOT IN RVIZ VISIBLE): Check if network card of PC is OK: Open terminal: ifconfig: you should see entries for ETH0 ETH1 ETH2 and ETH3. If not then shut down PC. Unplug PC from main power, wait 15 seconds. Restart PC. Check if robot type (configuration) is set correctly in main_pepper.launch MANIPULATOR DOES NOT MOVE Check if emergency button is still pressed. Check if power to arm is switched on (green button). Check if XPC is crashed (sometimes CPU overload is displayed on XPC display): switch off robot with main switch and switch of XPC and restart both. 17

18 Solve problems (2/2) PMD CAMERA DOES NOT WORK Check USB hub at robot arm (power cable and USB connection). Remove and insert again USB cam cable at the hub. If PMD node gives errors even after retries completely shut down PC and reboot VRM CAMERA DOES NOT WORK Check if gripper is powered (restart power?) Check if network cable is connected to switch (green/yellow link leds on Ethernet plug of cam) Check in main launchfile if gripper type is set correctly (jaws or festo) Is camera launchfile launched? main_pepper_grippercam.launch and not crashed? SR AND PROSILICA CAMERAS AND SENSOR RIG DON T WORK Check if power is switched on. (Remember after power on the SR needs an 2 times an init) 18

19 Thank you for your attention