This page provides a detailed overview about the Vision Inspect Node.

Contents


Node Description


Vision inspect.png


Vision Inspect Node


The Vision node is used to execute a vision based behavior, typically looking for part presence or absence of a trained snapshot. For details on how to use the vision functionality, refer to the tutorial.


Node Type


Composite - has 0 or more children.

Node Editor


Vision Inspect No Snapshot.PNG Vision Inspect With Snapshot.PNG


  • ID

Not editable

  • name

Auto generated and user editable

  • track cycle time

Creates a shared data variable that automatically tracks the cycle time of the vision inspect execution.

  • Failure Timeout

How long to wait for detection and re-registration to complete. If it doesn’t occur within that time frame, the node returns an error.

  • Snapshot

This menu gives the list of available snapshots from which to choose. Snapshots are created using the Snapshot Editor.

  • Object Settings
  • similarity threshold

Similarity controls how closely the new image of the object must match the initial training of the object for a successful recognition to occur. The higher the similarity setting, the more selective the system will be when looking for objects.

  • symmetrical

Enabling the symmetrical option makes tracking squares, rectangles, and circles more consistent. When tracking an object which is highly symmetrical, this option should be enabled. Enabling symmetrical automatically overrides the Start Angle and End Angle options.

  • Start angle (only available for static and moving detection types)

Counter clockwise rotational difference from the object's trained position which will be detected.

  • End angle (only available for static and moving detection types)

Clockwise rotational difference from the object's trained position which will be detected.

  • Inspector Settings
  • inspection type

Controls whether the inspector searches for the presence or absence of a part.

  • presence criteria

If the inspection type is presence, the only option is ‘# of Images’. The vision system will deem the part present after a given number of frames containing the object. If the inspection type is absence, there is also the option to change the presence criteria to ‘Time’; using this option, the part will be considered absent if it is not detected for the given amount of time.

  • present/absent after

Controls the specific conditions for when the part is considered present or absent. If using ‘# of Images’, this option will set how many consecutive images will be taken before the part is considered present or absent. If using time, this option will control how many seconds Sawyer will wait before considering the part absent. Adjust the ‘failure timeout’ field to control how long the robot should try to detect part presence/absence. For example, if the ‘# of Images’ is 5, the ‘inspection type’ is presence, and the ‘failure timeout’ is 5 seconds, the robot will try to take 5 consecutive images with the object of interest in the field of view. If it cannot get 5 consecutive images successfully within 5 seconds, the inspector node will time out.

  • Motion Type

Defines the motion type (joint or linear) to be used when moving the arm camera into the landmark detection pose.

  • Motion Preset

Defines the arm speed to be used when moving the arm camera into the landmark detection pose.