visual_move

Function

This Task guides the robot to move according to the poses received from vision services.

Exit Port	Description
Success	The path was planned successfully.
Plan failure	The path planning failed.
Other failures	There are no available poses for planning. Possible reasons: Mech-Vision did not output poses. The poses output by Mech-Vision cannot meet the requirement.

Sample Scenario

This Task is usually used when the robot picks objects.

Parameters

General Parameters

Please refer to General Parameters of Move-Type Tasks for detailed descriptions.

Critical

All Targets in One Move

Once this option is selected, the robot will move through all poses received from the vision service in sequence at one time.

This option is usually used when the robot moves in a fixed path where no DO signals will be sent, such as the gluing application.

This parameter cannot be adjusted with other parameters at the same time. Once this option is selected, other parameters will be hidden.

Reuse Vision Result

When there are multiple pickable objects in one vision result and it can be guaranteed that picking one object will not affect the poses of other objects, this option can be selected. The vision result will be reused and no new image will be captured until all pickable objects have been picked.

Share Vision Result

This option can be used to share vision results from the same visual_look Task among multiple visual_move Tasks. You should specify a Vision Name once this option is selected.

Application example: When the objects cannot be picked easily, various end effectors may be used to pick the object for several times. If the first attempt to pick fails, the current vision result will be discarded by default. If Share Vision Result is selected, the vision result will be used again when another end effector is used and you do not need to capture an image again. Please connect a reset_task Task after the last visual_move Task to clear the shared vision result, or else the old vision result will be used repeatedly until all pickable objects have been picked even if the poses of other objects have been changed and a new vision result is available, which may cause an error in the project.

Operational Mode

There are three types of operational modes as shown below, and each of them has different parameters.

1. Regular Mode

2. Array Gripper

3. Depallet Vacuum Gripper

Other Settings

Parameter	Description
Vision Name	The project selected here is usually the same as the one in visual_look.
Only Use Poses with Following Label	The vision result may contain different labels. Once a specific label is selected, only the pickable objects with the selected label will be picked.
	Click Load Labels or Add a Label to select the label. Once the label is selected successfully, the label name will be displayed on the button on the right.
	Click to delete the selected label.
Use Object Configuration (for Planning) of Label Below:	Select the object label set in Tools and Workobjects‣ Configuration of Objects to Pick, and the corresponding object configuration will be applied in visual_move.
	Select Default when there is no label in the vision result.
	Select the corresponding label in the vision result when there is an available one.
Vacuum Gripper Configurator	Please refer to Vacuum Gripper Configurator for detailed information.
Array Gripper Configurator	Please refer to Array Gripper Configurator for detailed information.