XRobot is a control software specifically designed for the robotic sorting platform we have constructed.

Features

• Robot Motion Control
• Camera Image Acquisition
• Camera Calibration and Rectification
• Robot and conveyor Calibration
• Grasping Detection / Control Robot to Complete Grasping
• Sorting Statistics

├─ace_src                # OMRON ACE source code
├─calibration            # Data files of camera and robot calibration
├─grasp                  # System calibration and grasping control
│  └─V4-sdk-standalone   # SDK for our gripper controller
├─resource               # Resource files for GUI
├─robot                  # Drivers of sorting platform control
├─scripts                # Some useful scripts
├─utils                  # Ancillary functions such as logging and Settings
└─vision_system          # Vision system include camera drivers and detection algorithm
   └─yolo

The software is designed to run in a Python 3.8 environment.

Installation

1. Get the source code:

git clone https://github.com/TDA-2030/XRobot.git
cd XRobot

2. Install the required Python packages:

pip install -r requirements.txt

3. Install OMRON ACE-4.5.3 software for the robot control, you can download it from https://automation.omron.com/en/us/products/family/Robot%20Software

1. Connect devices: Follow the diagram below to connect all devices including robot, camera, encoder, etc.

   ------------
               |<------ USB camera
               |<------ Ethernet ----- Robot Controller
               |      
   Computer    |      
               |<------| USB To RS485 Adapter |----- Conveyor
               |<------| USB To RS485 Adapter |----- Encoder
               |<------| USB To RS485 Adapter |----- Gripper
   ------------ 
   

2. Launch robot motion Server: Double-click to open the ace_src/waste-sorting.awp2 file, Execute the server C# program within your workspace.

3. Launch XRobot interface: Run the Python script xrobot.py to open the interface.

All system settings are stored in the sys-settings.json file. Modify the file directly to change the settings.

The system supports the use of both RGB and RGBD cameras. The default camera used is the Intel Realsense D455. For newly installed cameras, calibration within the system is required:

1. Download and Print Calibration Pattern: Download and print an A3 5x7 chessboard pattern.
2. Calibration Process: Navigate to the calibration tab on the interface and follow the prompts in sequence.