{"id":72049,"date":"2022-04-18T09:25:54","date_gmt":"2022-04-18T01:25:54","guid":{"rendered":"https:\/\/www.tm-robot.com\/docs\/tmflow-1-use-2-5d-component-to-optimize-2-5d-bin-picking-cycle-time\/"},"modified":"2022-09-19T14:43:23","modified_gmt":"2022-09-19T06:43:23","slug":"tmflow-1-use-2-5d-component-to-optimize-2-5d-bin-picking-cycle-time","status":"publish","type":"docs","link":"https:\/\/www2.tm-robot.com\/zh-hant\/docs\/tmflow-1-use-2-5d-component-to-optimize-2-5d-bin-picking-cycle-time\/","title":{"rendered":"[TMflow 1] \u904b\u7528 2.5D Component<\/strong> \u4f86\u512a\u53162.5D\u96a8\u6a5f\u63c0\u9078\u7684\u7bc0\u62cd\u6642\u9593"},"content":{"rendered":"

\u80cc\u666f\u77e5\u8b58<\/h2>\n

\u5728\u6a5f\u5668\u4eba\u7684\u7bb1\u9ad4\u96a8\u6a5f\u63c0\u9078\u61c9\u7528\u4e2d\uff0c\u6a5f\u5668\u4eba\u6703\u6839\u64da\u8996\u89babase\u53ca\u6559\u5c0e\u7684\u6293\u53d6\u59ff\u52e2\u7684\u76f8\u5c0d\u4f4d\u7f6e\u9032\u884c\u7269\u4ef6\u6293\u53d6\u3002
\n\u7136\u800c\uff0c\u5728\u4e00\u4e9b\u7528\u6236\u4e0d\u5728\u4e4e\u63c0\u9078\u7269\u4ef6Rz\u65b9\u5411\u7684\u5834\u666f(\u4f8b\u5982\u5c0d\u7a31\u7269\u54c1\uff0c\u6216\u64fa\u653e\u6642\u96a8\u6a5f\u5373\u53ef\u7684\u5834\u666f)\uff0c\u7b2c\u516d\u8ef8\u7684\u65cb\u8f49\u6703\u9020\u6210\u7bc0\u62cd\u6642\u9593\u7684\u6d6a\u8cbb\u3002
\n\u904b\u75282.5D Component\uff0c\u7528\u6236\u53ef\u4ee5\u900f\u904e\u6e1b\u5c11\u4e0d\u9700\u8981\u7684Rz\u3001\u751a\u81f3Rx, Ry\u65cb\u8f49\u4f86\u9054\u5230\u7bc0\u62cd\u6642\u9593\u7684\u512a\u5316\u3002<\/p>\n

\u7c21\u4ecb<\/h2>\n

2.5D Component\u662f\u4e00\u500b\u9ede\u4f4d\u8a08\u7b97component\uff0c\u4e0d\u5305\u542b\u5be6\u969b\u7684\u904b\u52d5\u6307\u4ee4\u6216I\/O\u64cd\u4f5c\u3002\u9019\u6a23\u4f7f\u7528\u6236\u53ef\u4ee5\u66f4\u81ea\u7531\u7684\u5b89\u6392\u9ede\u4f4d\u904b\u52d5\u3001\u63a7\u5236\u593e\u722a\u3001\u76e3\u63a7\u593e\u722a\u50b3\u611f\u5668\u7b49\u3002<\/p>\n

Component\u89e3\u91cb<\/h2>\n

\u9ede\u4f4d<\/h4>\n

\u57282.5D Component\u88ab\u6dfb\u52a0\u88fd\u7a0b\u5f0f\u6642\uff0c\u6703\u67098\u500b\u9ede\u4f4d\u7522\u751f\uff0c\u5206\u5225\u662f\uff1aPick, PickApproach, Place, PlaceApproach, Middle01, Middle02, Middle03, Middle04\u3002\u91dd\u5c0d\u9019\u4e9b\u9ede\u4f4d\u7684\u89e3\u91cb\u5982\u4e0b\uff1a<\/p>\n

\"\"<\/a><\/p>\n

\u5728Component\u4e2d\u53ef\u8abf\u6574\u7684\u8b8a\u6578<\/h4>\n

\u5728Component\u4e2d\uff0c\u5171\u67096\u500b\u53ef\u8abf\u6574\u7684\u8b8a\u6578\uff0c\u91dd\u5c0d\u9019\u4e9b\u8b8a\u6578\u7684\u89e3\u91cb\u5982\u4e0b\u8868\u683c\uff1a<\/p>\n\n\n\n\n\n\n\n\n
Int_PickMethod<\/td>\n=1\uff1a\u6a5f\u5668\u4eba\u6703\u6839\u64da\u7528\u6236\u6559\u5c0e\u7684\u9ede\u4f4d\u9032\u884c\u6293\u53d6
\n=2\uff1a\u6a5f\u5668\u4eba\u6703\u6839\u64da\u7528\u6236\u6559\u5c0e\u7684\u9ede\u4f4d\u9032\u884c\u6293\u53d6\uff0c\u4f46Rz\u6703\u6839\u64da\u6559\u5c0e\u9ede\u4f4d\u6642\u7684\u6578\u503c\u4f86\u66ff\u4ee3
\n=3\uff1a\u6a5f\u5668\u4eba\u6703\u6839\u64da\u7528\u6236\u6559\u5c0e\u7684\u9ede\u4f4d\u9032\u884c\u6293\u53d6\uff0c\u4f46Rx\u3001Ry\u3001Rz\u6703\u6839\u64da\u6559\u5c0e\u9ede\u4f4d\u6642\u7684\u6578\u503c\u4f86\u66ff\u4ee3\"\"<\/a><\/td>\n<\/tr>\n
Int_PickApproachDistance<\/td>\n\u5f9ePick point\u5230Pick_Approach point\uff0cZ\u65b9\u5411\u7684\u8ddd\u96e2<\/td>\n<\/tr>\n
Bool_Middle_InterpointFromPickToPlace<\/td>\n=false\uff1a\u6a5f\u5668\u4eba\u6703\u5b8c\u5168\u6309\u7167\u7528\u6236\u6559\u5c0e\u7684\u4e2d\u7e7c\u9ede\u4f86\u884c\u8d70
\n=true\uff1a\u6a5f\u5668\u4eba\u6703\u6309\u7167\u7528\u6236\u6559\u5c0e\u7684\u4e2d\u7e7c\u9edeX\u3001Y\u3001Z\u503c\u4f86\u884c\u8d70\uff0c\u4f46Rx\u3001Ry\u3001Rz\u6703\u4f7f\u7528interpoint \u65b9\u5f0f\u9032\u884c\u8a08\u7b97\u3002\u9019\u6a23\u6a5f\u5668\u4eba\u6703\u5728\u6bcf\u500b\u9ede\u4e4b\u9593\u5e73\u5747\u9700\u8981\u65cb\u8f49\u7684\u89d2\u5ea6\"\"<\/a><\/td>\n<\/tr>\n
Bool_PlaceCompensateOrNot<\/td>\n=false\uff1a\u6a5f\u5668\u4eba\u6703\u6839\u64da\u7528\u6236\u6559\u5c0e\u7684\u653e\u7f6e\u9ede\u4f4d\u9032\u884c\u653e\u7f6e\uff0c\u4e0d\u8ad6\u4efb\u4f55picking method\u7684\u9078\u64c7
\n=true\uff1a\u6a5f\u5668\u4eba\u6703\u628a\u56e0\u70ba\u9078\u64c7\u4e86\u4e0d\u540c\u7684picking method\u9020\u6210\u7684\u89d2\u5ea6\u504f\u5dee\u9032\u884c\u88dc\u511f\uff0c\u4f7f\u653e\u7f6e\u6642\u7269\u9ad4\u89d2\u5ea6\u4fdd\u6301\u7528\u6236\u60f3\u8981\u9054\u5230\u7684\u72c0\u614b\"\"<\/a><\/td>\n<\/tr>\n
Int_PlaceApproachDistance<\/td>\n\u5f9ePlace point\u5230Place_Approach point\uff0cZ\u65b9\u5411\u7684\u8ddd\u96e2<\/td>\n<\/tr>\n
Int_MiddlePointAmount<\/td>\n=0~4. \u5728\u6293\u53d6\u8207\u653e\u7f6e\u4e4b\u9593\u7684\u4e2d\u7e7c\u9ede\u6578\u91cf<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u5de5\u5177TCP<\/h4>\n

\u8acb\u6ce8\u610f\u6240\u6709\u9ede\u4f4d\u90fd\u662f\u57fa\u65bc\u4e00\u500b\u53ebVisionNode_TM_Tool\u7684\u5de5\u5177TCP\uff0c\u800c\u9019\u500bTCP\u6a94\u6848\u6703\u5728Component\u532f\u5165\u6642\u7522\u751f\u3002\u6240\u4ee5\u8acb\u52d9\u5fc5\u5728\u6559\u5c0e\u6240\u6709\u9ede\u4f4d\u4e4b\u524d\u6839\u64da\u5be6\u969b\u60c5\u6cc1\u8abf\u6574VisionNode_TM_Tool\u7684\u6578\u503c\u3002<\/p>\n

\u5168\u57df\u8b8a\u6578<\/h4>\n

\u5171\u6709\u5169\u500b\u5168\u57df\u8b8a\u6578\u6703\u5728Component\u532f\u5165\u6642\u7522\u751f\uff1ag_VisionNode_TM_VisionBase_Initial\u3001g_VisionNode_TM_VisionBase_Current\u3002\u5b9a\u7fa9\u5982\u4e0b\u8868\uff1a<\/p>\n\n\n\n\n
g_VisionNode_TM_VisionBase_Initial<\/td>\n\u6b64\u5168\u57df\u8b8a\u6578\u662f\u7528\u4f86\u5132\u5b58\u5728\u7528\u6236\u6559\u5c0e\u6293\u53d6\u9ede\u4f4d\u4e4b\u524d\uff0c\u8996\u89ba\u4efb\u52d9\u7684\u6aa2\u6e2c\u7d50\u679c(\u8996\u89ba\u5750\u6a19\u7cfb)<\/td>\n<\/tr>\n
g_VisionNode_TM_VisionBase_Current<\/td>\n\u6b64\u5168\u57df\u8b8a\u6578\u662f\u7528\u4f86\u5132\u5b58\u5728\u5c08\u6848\u57f7\u884c\u6642\uff0c\u6bcf\u6b21\u8996\u89ba\u4efb\u52d9\u7684\u6aa2\u6e2c\u7d50\u679c(\u8996\u89ba\u5750\u6a19\u7cfb)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u7bc4\u4f8b\u7a0b\u5f0f<\/h2>\n

1. \u532f\u51652.5D component (\u9700\u8981\u7684TCP\u53ca\u5168\u57df\u8b8a\u6578\u6703\u4e00\u8d77\u88ab\u532f\u5165\u7522\u751f\uff0c\u4e0d\u9700\u8981\u55ae\u7368\u532f\u5165) \u53ca\u6a21\u677f\u7a0b\u5f0f(Download here)<\/a><\/p>\n

\u8acb\u81f3\u2261 > System > Import\/Export> \u9ede\u9078\u9700\u8981\u532f\u5165\u7684\u7a0b\u5f0f\u53cacomponent \uff0c\u4e4b\u5f8c\u6309\u4e0bImport<\/strong>.<\/p>\n

\"\"<\/a><\/p>\n

2. \u555f\u7528Component<\/p>\n

\u8acb\u81f3\u2261 > Setting > Component> \u9ede\u9078component\u524d\u65b9\u7684\u5713\u9ede\u6309\u9215\uff0c\u4e4b\u5f8c\u6309\u4e0bSave<\/strong>.<\/p>\n

\"\"<\/a><\/p>\n

3. \u8abf\u6574TCP\uff1aVisionNode_TM_Tool parameters\u4f86\u66f4\u597d\u7684\u8cbc\u5408\u5be6\u969b\u4f7f\u7528\u3002<\/p>\n

\u8acb\u81f3\u2261 >Setting > TCP> \u8f38\u5165\u6b63\u78ba\u7684TCP\u6578\u503c(\u521d\u59cb\u6578\u64da\u70ba{0,0,100,0,0,0}\uff0c\u91cd\u91cf\u70ba0)\uff0c\u4e4b\u5f8c\u6309\u4e0bApply<\/strong>.<\/p>\n

\"\"<\/a><\/p>\n

4. \u6253\u958b\u7a0b\u5f0f\u6a21\u677f<\/p>\n

\"\"<\/a><\/p>\n

5. \u7b2c\u4e00\u6b21\u57f7\u884c\u5c08\u6848\u6642\uff0c\u8acb\u9023\u63a5Vision Node\u8207\u4f4d\u65bc\u5de6\u908a\u7684Set Node\uff0c\u4e4b\u5f8c\u57283D Vision Job\u7de8\u8f2f\u5b8c\u6210\u5f8c\u57f7\u884c\u5c08\u6848\u4e00\u6b21\u3002\u7576\u57f7\u884c\u6642\uff0c\u8acb\u78ba\u8a8d\u5728\u76f8\u6a5f\u8996\u91ce\u5167\u53ea\u6709\u4e00\u500b\u7269\u9ad4\u53ef\u4ee5\u6aa2\u6e2c\uff0c\u4e26\u67e5\u770b\u8996\u89ba\u8b58\u5225\u7d50\u679c\u662f\u5426\u7406\u60f3\u3002<\/p>\n

\"\"<\/a><\/p>\n

6. \u5728\u5c08\u6848\u7b2c\u4e00\u6b21\u57f7\u884c\u5f8c\uff0c\u8996\u89ba\u5ea7\u6a19\u6703\u88ab\u5b58\u5230\u5168\u57df\u8b8a\u6578g_VisionNode_TM_VisionBase_Initial\u4e2d\u3002\u73fe\u5728\u7528\u6236\u53ef\u4ee5\u9032\u884c\u4ee5\u4e0b\u9ede\u4f4d\u7684\u6559\u5c0e\uff1aPick, Place, Middle(\u4e2d\u7e7c\u9ede\u6578\u91cf\u6839\u64da\u9700\u8981\u4f86\u6559\u5c0e\uff0c\u81f3\u591a4\u500b)\u3002\u8acb\u900f\u904e\u62d6\u62c9\u6a5f\u5668\u4eba\u81f3\u7406\u60f3\u4f4d\u7f6e\u5f8c\uff0c\u6309\u4e0bNode\u65c1\u908a\u7684\u925b\u7b46\u7b26\u865f\uff0c\u6309\u4e0bOverwrite new pose to this point\u3002<\/strong>PickApproach\u53caPlaceApproach\u4e0d\u9700\u8981\u9032\u884c\u6559\u5c0e\uff0c\u56e0\u70ba\u4ed6\u5011\u6703\u900f\u904e\u7528\u6236\u8a2d\u5b9a\u7684\u8b8a\u6578\u9032\u884c\u81ea\u52d5\u8a08\u7b97\u3002<\/p>\n

\"\"<\/a><\/p>\n

\"\"<\/a><\/p>\n

\u8acb\u78ba\u5b9a\u5404\u500bPoint Node\u7684Smart Pose Choosing<\/strong>\u6709\u52fe\u9078\uff0c\u4ee5\u907f\u514d\u4e0d\u9700\u8981\u7684\u65cb\u8f49\u3002<\/p>\n

\"\"<\/a><\/p>\n

7. \u6839\u64da\u5177\u9ad4\u9700\u6c42\uff0c\u5728\u9069\u7576\u4f4d\u7f6e\u52a0\u5165Set Node\u4f86\u64cd\u4f5c\u593e\u722a\u7684\u53d6\u653e\u52d5\u4f5c\u3002<\/p>\n

8. \u6839\u64da\u9700\u6c42\uff0c\u7de8\u8f2f2.5D Component\u5167\u7684\u8b8a\u6578\u3002<\/p>\n

\"\"<\/a><\/p>\n

9. \u7576\u6240\u6709\u8a2d\u5b9a\u5b8c\u6210\u5f8c\uff0c\u628aVision Node\u8ddf\u53f3\u908a\u7684Set Node\u9023\u63a5\uff0c\u4e4b\u5f8c\u7a0b\u5f0f\u5c31\u5df2\u7d93\u6e96\u5099\u597d\u9032\u884c\u57f7\u884c\u4e86\u3002<\/p>\n

\"\"<\/a><\/p>\n

10. \u5982\u679c\u7528\u6236\u767c\u73fe\u6293\u53d6\u4f4d\u7f6e\u4e0d\u7406\u60f3\uff0c\u8acb\u91cd\u65b0\u9032\u884c\u7b2c5\u6b65\u9a5f(\u6aa2\u67e5\u8996\u89ba\u7d50\u679c\u662f\u5426\u6b63\u78ba)\u4e4b\u5f8c\u518d\u6559\u5c0e\u4e00\u6b21\u6293\u53d6\u4f4d\u7f6e\u4e26\u8986\u84cb\u6578\u503c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

\u80cc\u666f\u77e5\u8b58 \u5728\u6a5f\u5668\u4eba\u7684\u7bb1\u9ad4\u96a8\u6a5f\u63c0\u9078\u61c9\u7528\u4e2d\uff0c\u6a5f\u5668\u4eba\u6703\u6839\u64da\u8996\u89babase\u53ca\u6559\u5c0e\u7684\u6293\u53d6\u59ff\u52e2\u7684\u76f8\u5c0d\u4f4d\u7f6e\u9032\u884c\u7269\u4ef6\u6293\u53d6\u3002 \u7136\u800c […]<\/p>\n","protected":false},"author":3620,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4199],"doc_tag":[],"acf":[],"yoast_head":"\n[TMflow 1] \u904b\u7528 2.5D Component \u4f86\u512a\u53162.5D\u96a8\u6a5f\u63c0\u9078\u7684\u7bc0\u62cd\u6642\u9593 | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"zh_TW\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"[TMflow 1] \u904b\u7528 2.5D Component \u4f86\u512a\u53162.5D\u96a8\u6a5f\u63c0\u9078\u7684\u7bc0\u62cd\u6642\u9593 | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"\u80cc\u666f\u77e5\u8b58 \u5728\u6a5f\u5668\u4eba\u7684\u7bb1\u9ad4\u96a8\u6a5f\u63c0\u9078\u61c9\u7528\u4e2d\uff0c\u6a5f\u5668\u4eba\u6703\u6839\u64da\u8996\u89babase\u53ca\u6559\u5c0e\u7684\u6293\u53d6\u59ff\u52e2\u7684\u76f8\u5c0d\u4f4d\u7f6e\u9032\u884c\u7269\u4ef6\u6293\u53d6\u3002 \u7136\u800c […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www2.tm-robot.com\/zh-hant\/docs\/tmflow-1-use-2-5d-component-to-optimize-2-5d-bin-picking-cycle-time\/\" \/>\n<meta property=\"og:site_name\" content=\"Techman Robot\" \/>\n<meta property=\"article:modified_time\" content=\"2022-09-19T06:43:23+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/04\/elearnig_material_07-1024x485.png\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<script type=\"application\/ld+json\" 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