Credential

The default system username and password is dorna.

# username
dorna

# password
dorna

# vision address
http://192.241.59.254

# robot address, access only via the local IP
http://192.168.17.161

# cloned repository
sudo git clone https://github.com/dorna-robotics/customer_premiercooperative.git

# onsite personel contact
Kaitlyn Stanfield
217-485-3133

Maggie Hewing <[email protected]>

Remote access

• Make sure the computer is connected to a monitor.
• Click on the applications icon (bottom left), to see all the applications.
• Open TeamViewer Host
• Report the Your ID and Password listed there. Anyone with these credentials can now access your device.

Setup

• Place and secure the base plate on your surface of choice.
• Using 4 of the M5 5mm bolts mount the Donra TA robot on the base plate using the four M5 holes at positions, B1, D1, B3, and D3. Ensure the back of the robot (the side with the wire connecters, and air ports) is hanging off the edge of the plate.
• Next, mount the Emergency Stop Button, to do this use 2 of the M3 10mm bolts. Ensuring that the wire and wire port on the back of the housing are facing the robot use the M3 holes at positions A1 and A3.
• Following this, mount the Processor (Small Computer). To do this, first the base plate of the case must be mounted,First place 4 of M3 Nuts in the hexagonal holes on the bottom of the base plate then carfefully flip the plate over ensuring the nuts dont fall out, using 2 of the M3 10mm bolts and ensuring the counter bored side of the holes are facing up mount this plate to the holes at positions B6 and D6.
• Next, place the Processor on the cover baseplate, then line the cover top up with the four holes in each corner and use 4 of the M3 40mm bolts to secure it.
• Finally, mount the probe joystick to the plate. Place the 4 of the M5 Nuts in the four hexagonal holes on the bottom of the Joystick Mounting Plate. Next, flip the Joystick Plate so the side with the nuts is facing the base plate (be careful to ensure all of the nuts stay in place, you may find it easier to align any nuts that fall with the plate flipped). To finish, use the two M5 Holes at B9 and D9 and 2 of the M5 10mm bolts to mount the Joystick Plate to the Base Plate.
• To Finish the Joystick Mounting, align the four holes in each corner of the joystick with the four holes on the Joystick Mounting Plate. Using these holes and 4 of the M5 65mm bolts secure the Joystick to the plate.

Wiring

• To start, using the included wires connect the DB9 and DB25 connectors on the back of the robot to the corresponding ports on the back of the Dorna Control Box.
• Next, Connect the black and red wires coming off the emergency stop button to the control box. Using a small flat head screwdriver, you can loosen the I/O ports at Input 0 and 24v port closest to it. The red wire goes to the 24v and the black wire goes to the Input 0.
• Following this, connect the Dorna Control Box to your router or networking box using an ehternet cable and the port on the front of the Dorna Control Box.
• Last, using the power port on the back connect the cable to your outlet and switch the robot on.

Demonstration

Here you will find a video showing Dorna TA's interaction with the joystick, switches, and emergency stop button. https://youtu.be/WBT-RGrPris

Code

• Flow Chart
  

Startup

• Initialization:

  • The robot powers up by turning on its motors and moving its joints into the starting position.
  • The joystick is engaged, preparing the robot for subsequent tasks.

• Detection Close-Far:

  • The vision model checks if the robot is too close or too far from the desired position.
    • If "close": The robot moves upward for a fixed period and then rechecks its position.
    • If "far": The position is acceptable, and the process continues.

• Detection Left-Right-Center:

  • A second vision model verifies the robot’s horizontal alignment by classifying its position as "left", "right", or "center".
    • If "left" or "right": The robot adjusts by moving in the opposite direction for a set period.
    • If "center": The robot is aligned correctly, and the startup phase is complete.

Wait

• After completing startup, the robot enters the wait phase:
  • It continuously scans for grain using its detection system.
  • This phase persists until grain is detected.

Arrived

• Once grain is detected, the robot proceeds to confirm the truck’s (or grain load’s) presence:
  • It waits for a defined period.
  • Takes two sets of measurements (bounding boxes) and compares them.
  • If the measurements overlap significantly (as per a set threshold), the truck is confirmed to be in place.

Full Pick

• With the truck confirmed, the robot initiates the pick detection process, which may result in:
  • "Left" or "Right":
    • The robot adjusts by moving the joystick in the opposite direction for a short period and then retries the pick detection.
  • "Bad":
    • If an unclear or incorrect signal occurs twice, the robot returns to the wait phase.
  • "Pick":
    • If the detection is correct, the robot proceeds to execute the pick sequence.

Pick Sequence

• The steps of the pick sequence include:
  • Moving the joystick down to position the probe.
  • Disengaging the joystick.
  • Activating a vacuum to grip the item.
  • Waiting for a set period while the vacuum is on.
  • Turning off the vacuum, re-engaging the joystick, and moving upward to pull out the item.
  • Returning to the startup phase to begin the next cycle.