Check Vision Result

Function

Check the vision result and run the corresponding subsequent workflows along different exit ports.

There are 5 default exit ports for this Step.

Exit Port	Description
Has results	Take this exit port if the Visual Recognition Step provides a result.
No result	Take this exit port if the Visual Recognition Step does not provide a result.
Timeout	If the vision result processing does not end after the set Wait Time Out, the project will take this exit port. The exit port can be connected with the entry port of the Check Vision Result Step to continue waiting for the vision result processing.
Not called	“Not called” indicates that the vision project specified by the Vision Service Name parameter has not been executed. This port is typically taken for projects with multiple Visual Recognition Steps. The project will take this exit port if there is not a Visual Recognition Step that provides vision service for the current Check Vision Result Step in the previous workflow.
No cloud in ROI	It usually indicates that all the target objects to be picked have been picked successfully. This exit port is prioritized over Has results and No result exit ports.

Exit Port

Description

Has results

Take this exit port if the Visual Recognition Step provides a result.

No result

Take this exit port if the Visual Recognition Step does not provide a result.

Timeout

If the vision result processing does not end after the set Wait Time Out, the project will take this exit port.
The exit port can be connected with the entry port of the Check Vision Result Step to continue waiting for the vision result processing.

Not called

“Not called” indicates that the vision project specified by the Vision Service Name parameter has not been executed.
This port is typically taken for projects with multiple Visual Recognition Steps. The project will take this exit port if there is not a Visual Recognition Step that provides vision service for the current Check Vision Result Step in the previous workflow.

No cloud in ROI

It usually indicates that all the target objects to be picked have been picked successfully. This exit port is prioritized over Has results and No result exit ports.

The relevant example project to the “Check Vision Result” Step is provided to help you learn more about the process of checking the vision results. For the example project, you can go to File > New > Example projects > Others > Check Vision Result in the software.

Parameter Description

Pre Plan Out Port

To make the path planning process in the actual application continuous, the software will execute a pre-planning beforehand on the backend. Specifying a pre-plan exit port along which the project is most likely to proceed can reduce the probability of re-planning and the wait time of the robot.

Parameter value	Description
-1	Do not specify an exit port for pre-planning.
0	The project will take the Has results exit port during pre-planning.

Parameter value

Description

-1

Do not specify an exit port for pre-planning.

The project will take the Has results exit port during pre-planning.

Wait Time Out

This parameter specifies the maximum time to wait for the vision service to respond (Unit: second; default value: 5 s). This parameter is used in conjunction with the Timeout exit port. Please set the value according to the actual requirement.

Vision Service Name

Select the name of the Mech-Vision project that provides the vision service. If it is not specified, the results of the recently called vision service will be checked.

This parameter value should be the same as the Vision Service Name selected in the Visual Recognition Step.

Custom Alert

The Check Vision Result Step supports checking vision results based on custom alerts configured in Mech-Vision, and then executing the corresponding follow-up workflows along different exit ports.

When the project runs along a custom alert exit port, the log area will display the alert codes and messages.

Mech-Viz will record custom alert messages and send them out after the project is fully executed. If multiple Check Vision Result Steps are used, Mech-Viz will only record the last received custom alert.

Prerequisites

Open the Mech-Vision project under the same solution, and click Robot and Communication Custom Alert in the menu bar.
Click Addto configure alert codes and messages. Please refer to Alert Code Configuration for detailed instructions.
Click Apply in the lower right of the Custom Alert window to save the configuration.
In Mech-Viz, click the Update custom alerts button in the parameter panel.

Now, the configured custom alerts will display in the parameter panel.

Instructions

Enable custom alerts	Select the checkbox for the corresponding alert information under Enable to enable the custom alert, and a new exit port will appear on the Step block.
Customize exit names	Double-click the corresponding cell under Exit name to modify the name.
Adjust exit port order	Drag on the left side of each entry to adjust the order, and the exit port order will also change accordingly.

When custom alert exit ports are added, there will be more than 5 exit ports. At this time, multiple exit ports will be merged and displayed together. Press the Ctrl key and double-click the Step block to display all exit ports.
To delete a custom exit port, simply disable the corresponding custom alert in the parameter panel.
To thoroughly delete a custom alert, please click Robot and Communication Custom Alert in the menu bar in Mech-Vision, and click on the right side of the entry in Alert code configuration in the Custom Alert window. Then in Mech-Viz, click the Update custom alerts button to refresh settings in the parameter panel.

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