Path Planning

Function

This Step uses the input vision points to plan the robot path and outputs the successfully planned robot path.

Attention

  • Please ensure that you have successfully established the communication between the robot and the software before using this Step.

  • When using the Standard Interface communication for communication, you will need to start the Mech-Vision project with command 101. The specific command parameters you should send are: 101, project number, expected number of vision points, robot pose type, robot pose.

Usage Scenario

This Step is usually used in projects where the Standard Interface or Adapter is used for communication and only the robot motion path near the vision point needs to be planned. After you build a scene and input the vision points, this Step will output a collision-free robot motion path after point cloud collision detection and path planning.

The common predecessors and successor of this Step are as follows:

  • Predecessors: Steps related to pose adjustment and pose processing.

  • Successor: The Procedure Out Step (used to output the successfully planned robot path)

../../../../_images/path_planning_usage.png

Input and Output

Input

  • Vision Points: Poses input to this port will be used for robot path planning.

  • Collision Point Cloud: Point clouds input to this port will be used for collision detection with the tool.

  • Pose Labels: Object labels corresponding to vision points will be input to this port.

  • Object Dimensions: Object dimensions corresponding to vision points will be input to this port.

Output

  • Planned Path: Successfully planned robot path will be output via this port.

  • Filter Results: The list of the filtered vision points. True indicates that the corresponding vision point meet the requirement while False indicates that the vision point does not meet the requirement.

Parameter Description

Path Planning Settings

Click the button to open the path planning tool. Please refer to Path Planning Tool for detailed instructions.

Workflow Configuration
Description: Select the workflow created with the path planning tool in the drop-down list.

Collision Point Cloud Settings

Input Cloud Type
Description: The point cloud type input to the path planning tool.
Value list: CloudXYZRGB (colored point cloud), CloudXYZ (point cloud), CloudXYZNORMAL (point cloud with normals)
Input Point Cloud in Camera Frame
Description: If the input point cloud of this Step is in the camera reference frame, please select this option. Then the point cloud in the camera reference frame will be converted to the robot reference frame.