Check Look

Function

This Step is used to check the vision result and provide exit ports for different vision results.

There are 5 exit ports for this Step.

../../../../_images/check_look.png

  • Has results: Take this exit port if the vision service provides a result.

  • No result: Take this exit port if the vision service does not provide a result due to an error.

  • 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 Check Look’s own entry port and therefore the Step will be run again. A Wait Step can also be connected between the exit port and entry port.

  • Not called: Applicable to projects with multiple Vision Look Steps. The project will take this exit port if there is not a Vision Look Step that provides vision service for the current Check Look Step in the previous workflow. You can keep this exit port unconnected if Check Look directly follows Vision Look.

  • No CloudInRoi: Take this exit port if there is no point cloud in the ROI, i.e., there is not any object in the ROI.

    • If there is no point cloud, the robot can move back to the home position and re-capture an image. Then the Step will re-determine whether there is an object. If there is not any object, you will need to stop the robot and check whether all the objects have been picked.

Usage Scenario

It makes the project to proceed along a specified branch according to the vision result from Vision Look.

Parameter Description

Basic Non-Move

Please refer to General Parameters of Non-Move Steps for detailed information.

Check Custom Key

Unselected by default, and the custom key will not be checked. Select to check the custom key, and then you can customize the Key to Check to communicate with the Adapter.

Pre Plan Out Port

Select an exit port for pre-planning.

Note

In order to make the path planning process in 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.

  • -1: Do not specify an exit port for pre-planning.

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

Wait Time Out

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

Vision Name

Select the Mech-Vision project that provides the vision service, which should be the same project that provides the vision service to the previous Vision Look Step.