{"id":80078,"date":"2022-12-09T09:19:39","date_gmt":"2022-12-09T01:19:39","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=80078"},"modified":"2025-01-10T13:07:08","modified_gmt":"2025-01-10T05:07:08","slug":"vision-base%e5%92%8ctcp%e8%a7%80%e5%bf%b5","status":"publish","type":"docs","link":"https:\/\/www2.tm-robot.com\/zh-hant\/docs\/vision-base%e5%92%8ctcp%e8%a7%80%e5%bf%b5\/","title":{"rendered":"Vision Base\u548cTCP\u89c0\u5ff5"},"content":{"rendered":"<p>\u6b64\u6587\u7ae0\u4e4b\u7bc4\u4f8b\u9069\u7528\u65bc\u4e0b\u5217\u689d\u4ef6:<\/p>\n<p>TMflow \u8edf\u9ad4\u7248\u672c\uff1a 1.76.6300 \u6216\u4ee5\u4e0a\u3002<\/p>\n<p>TM \u624b\u81c2\u786c\u9ad4\u7248\u672c\uff1a\u6240\u6709\u7248\u672c\u7686\u9069\u7528\u3002<\/p>\n<p>\u5176\u4ed6\u7279\u6b8a\u8edf\u786c\u9ad4\u9700\u6c42\uff1a \u7121<\/p>\n<p>\u8acb\u6ce8\u610f\uff0c\u65b0\u820a\u7248\u672c\u4e4b\u5dee\u7570\u53ef\u80fd\u5c0e\u81f4\u64cd\u4f5c\u4ecb\u9762\u3001\u6b65\u9a5f\u4e0a\u6703\u6709\u6240\u5dee\u7570\u3002<\/p>\n<h2>\u4f55\u8b02\u5de5\u5177\u4e2d\u5fc3\u9ede(TCP)?<\/h2>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1.png\"><img loading=\"lazy\" class=\"size-full wp-image-80093 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1.png\" alt=\"\" width=\"1260\" height=\"383\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1.png 1260w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-300x91.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-1024x311.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-768x233.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-360x109.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-1000x304.png 1000w\" sizes=\"(max-width: 1260px) 100vw, 1260px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><strong>TCP(Tool Central Point)<\/strong><\/p>\n<ul>\n<li>\u7576\u6211\u5011\u63a7\u5236\u6a5f\u5668\u624b\u81c2\u53bb\u63a5\u8fd1\u7a7a\u9593\u4e2d\u67d0\u4e00\u9ede\u6642\uff0c\u672c\u8cea\u4e0a\u5c31\u662f\u8b93TCP\u53bb\u63a5\u8fd1\u8a72\u9ede<\/li>\n<li>\u6a5f\u5668\u4eba\u53ef\u4ee5\u6709\u591a\u500bTCP\uff0c\u4f46\u540c\u4e00\u6642\u523b\uff0c\u6a5f\u5668\u4eba\u53ea\u80fd\u8655\u7406\u4e00\u500bTCP<\/li>\n<\/ul>\n<h2>\u5982\u4f55\u6821\u6b63TCP<\/h2>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/howtocalibrationtcp.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-80085\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/howtocalibrationtcp.png\" alt=\"\" width=\"1375\" height=\"645\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/howtocalibrationtcp.png 1375w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/howtocalibrationtcp-300x141.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/howtocalibrationtcp-1024x480.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/howtocalibrationtcp-768x360.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/howtocalibrationtcp-360x169.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/howtocalibrationtcp-1000x469.png 1000w\" sizes=\"(max-width: 1375px) 100vw, 1375px\" \/><\/a><\/p>\n<p><span style=\"color: #ff6600;\"><strong>Tips<\/strong><\/span><\/p>\n<ul>\n<li>\u5efa\u8b70\u5c07\u8a72\u503c\u6821\u6e96\u70ba\u7b49\u65bc\u6216\u5c0f\u65bc0.3\uff0c\u4ee5\u78ba\u4fdd\u6e96\u78ba\u6027<\/li>\n<li>\u6821\u6b63TCP\u6642\uff0c\u76e1\u91cf\u5728J6\u4e0a\u7522\u751f\u4e0d\u540c\u89d2\u5ea6\u7684\u65cb\u8f49<\/li>\n<li>\u6821\u6b63\u5c16\u7aef\u76e1\u91cf\u4e0d\u8981\u5728\u6cd5\u862d\u4e2d\u5fc3\u7684\u5ef6\u4f38\u8ef8\u4e0a<\/li>\n<\/ul>\n<h2>\u5efa\u7acb\u8996\u89ba\u5ea7\u6a19\u7cfb(Vision Base)<\/h2>\n<p><u><b>\u5b9a\u9ede\u5f0f<\/b><\/u><u><b>Landmark<\/b><\/u><\/p>\n<ul>\n<li>\u5ea7\u6a19\u7cfb\u539f\u9ede\u4f4d\u65bcLandmark\u4e2d\u5fc3(<span style=\"color: #ff0000;\"><b>B<\/b><\/span>\u5b57\u7684\u5de6\u4e0a\u89d2)<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark.png\"><img loading=\"lazy\" class=\"size-full wp-image-80664 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark.png\" alt=\"\" width=\"407\" height=\"453\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark.png 407w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark-270x300.png 270w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark-360x401.png 360w\" sizes=\"(max-width: 407px) 100vw, 407px\" \/><\/a><\/p>\n<p><u><b>\u5b9a\u9ede\u5f0f\u5b9a\u4f4d<\/b><\/u><\/p>\n<ul>\n<li>\u5ea7\u6a19\u7cfb\u539f\u9ede\u5728\u65bcFind\u7269\u4ef6\u5713\u5708\u4e2d\u5fc3\u4f4d\u7f6e\u53ef\u900f\u904e\u9328\u9ede(Anchor)\u529f\u80fd\u8abf\u6574\u539f\u9ede\u4f4d\u7f6e<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlocation.png\"><img loading=\"lazy\" class=\"size-full wp-image-80670 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlocation.png\" alt=\"\" width=\"483\" height=\"378\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlocation.png 483w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlocation-300x235.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlocation-360x282.png 360w\" sizes=\"(max-width: 483px) 100vw, 483px\" \/><\/a><\/p>\n<p><u><b>\u4f3a\u670d\u5f0f\u5b9a\u4f4d<\/b><\/u><\/p>\n<ul>\n<li>\u4f3a\u670d\u5230\u4f4d\u5f8c\uff0c\u5ea7\u6a19\u7cfb\u539f\u9ede\u70ba\u65bcEIH\u76f8\u6a5f\u7684\u7a7a\u9593\u4f4d\u7f6e\uff0c\u8ef8\u5411\u7b49\u540c\u65bcTCP HandCamera\u4e4b\u8ef8\u5411<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation.png\"><img loading=\"lazy\" class=\"size-full wp-image-80676 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation.png\" alt=\"\" width=\"377\" height=\"293\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation.png 377w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation-300x233.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation-360x280.png 360w\" sizes=\"(max-width: 377px) 100vw, 377px\" \/><\/a><\/p>\n<h2><b>\u9023\u7d50<\/b><b>Vision Base<\/b><b>\u8207<\/b><b>TCP<\/b><\/h2>\n<ol>\n<li>\u6821\u6b63TCP<\/li>\n<li>\u5efa\u7acb\u8996\u89ba\u5b9a\u4f4d\u4efb\u52d9\uff0c\u4f8b\u5982Landmark\u5b9a\u9ede\u5f0f\u5b9a\u4f4d<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1.png\"><img loading=\"lazy\" class=\"size-full wp-image-80686 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1.png\" alt=\"\" width=\"513\" height=\"398\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1.png 513w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1-300x233.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1-360x279.png 360w\" sizes=\"(max-width: 513px) 100vw, 513px\" \/><\/a><\/li>\n<li>\u8a2d\u5b9a\u8996\u89baBase\u8207TCP<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3.png\"><img loading=\"lazy\" class=\"size-full wp-image-80692 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3.png\" alt=\"\" width=\"378\" height=\"71\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3.png 378w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3-300x56.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3-360x68.png 360w\" sizes=\"(max-width: 378px) 100vw, 378px\" \/><\/a><\/li>\n<li>\u79fb\u52d5\u5230(0,0,0)\uff0c\u5247\u6821\u6b63\u5c16\u7aef\u6703\u4f4d\u65bcLandmark\u4e2d\u5fc3\u4f4d\u7f6e<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4.png\"><img loading=\"lazy\" class=\"size-full wp-image-80706 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4.png\" alt=\"\" width=\"362\" height=\"265\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4.png 362w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4-300x220.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4-360x264.png 360w\" sizes=\"(max-width: 362px) 100vw, 362px\" \/><\/a><\/li>\n<li>\u79fb\u52d5\u5230(20,0,-5)\uff0c\u5247\u6821\u6b63\u5c16\u7aef\u6703\u4f4d\u65bc\u4e2d\u5fc3\u53f3\u5074\u908a\u7dda\u4e0a\u65b95mm\u4f4d\u7f6e<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5.png\"><img loading=\"lazy\" class=\"size-full wp-image-80716 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5.png\" alt=\"\" width=\"448\" height=\"273\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5.png 448w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5-300x183.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5-360x219.png 360w\" sizes=\"(max-width: 448px) 100vw, 448px\" \/><\/a><\/li>\n<\/ol>\n<h2><b>TCP: <\/b><b>HandCamera<\/b><\/h2>\n<p>\u6240\u6709EIH\u76f8\u6a5f\u7684\u624b\u81c2\uff0c\u90fd\u53ef\u4ee5\u5728TMflow\u4efb\u52d9\u7de8\u8f2f\u9801\u9762\u4e2d\uff0c\u627e\u5230\u540d\u70baHandCamera\u7684TCP\uff0c\u9019\u500bTCP\u662f\u63cf\u8ff0EIH\u76f8\u6a5f\u5ea7\u6a19\u7cfb\u539f\u9ede\u76f8\u5c0d\u65bc\u6cd5\u862d\u7684\u95dc\u4fc2\uff0c\u5c0d\u65bcLandmark\u5b9a\u4f4d\u7684\u4efb\u52d9\uff0c\u53ef\u4ee5\u8a66\u8457\u5229\u7528\u5b83\uff1a<\/p>\n<ol>\n<li><b>\u7c97\u5b9a\u4f4d<\/b>\uff1a\u900f\u904e\u8f03\u9060\u7684\u4f4d\u7f6e\u5075\u6e2cLandmark\uff0c\u78ba\u4fdd\u5176\u51fa\u73fe\u65bc\u8996\u91ce\u5167\uff0c\u5efa\u7acb\u7b2c\u4e00Vision Base<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d.png\"><img loading=\"lazy\" class=\"size-full wp-image-80742 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d.png\" alt=\"\" width=\"460\" height=\"224\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d.png 460w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d-300x146.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d-360x175.png 360w\" sizes=\"(max-width: 460px) 100vw, 460px\" \/><\/a><\/li>\n<li><b>TCP<\/b><b>\u8a2d\u5b9a\uff1a<\/b>\u5c07TCP\u8a2d\u5b9a\u70baHandCamera\uff0c\u5c07\u5176\u79fb\u52d5\u5230\u7b2c\u4e00Vision Base\u7684(0,0,-150)\u4f4d\u7f6e<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/TCP\u8a2d\u5b9a.png\"><img loading=\"lazy\" class=\"size-full wp-image-80736 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/TCP\u8a2d\u5b9a.png\" alt=\"\" width=\"331\" height=\"384\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/TCP\u8a2d\u5b9a.png 331w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/TCP\u8a2d\u5b9a-259x300.png 259w\" sizes=\"(max-width: 331px) 100vw, 331px\" \/><\/a><\/li>\n<li><b>\u7d30\u5b9a\u4f4d\uff1a<\/b>\u5efa\u7acb\u7b2c\u4e8c\u8996\u89baBase\uff0c\u6b64\u6642Landmark\u6703\u51fa\u73fe\u65bc\u8996\u91ce\u5167\uff0c\u4e26\u8ddd\u96e2\u76f8\u6a5f150mm\uff0c\u53ef\u5f97\u5230\u66f4\u7cbe\u6e96\u7684\u5b9a\u4f4d\u7d50\u679c<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d.png\"><img loading=\"lazy\" class=\"size-full wp-image-80748 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d.png\" alt=\"\" width=\"479\" height=\"234\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d.png 479w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d-300x147.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d-360x176.png 360w\" sizes=\"(max-width: 479px) 100vw, 479px\" \/><\/a><\/li>\n<\/ol>\n<h2><b>\u7269\u9ad4\u6709\u65cb\u8f49-<\/b><b>TCP<\/b><b>\u7684\u8a2d\u5b9a<\/b><\/h2>\n<p><b>\u7576\u7269\u9ad4\u6709\u65cb\u8f49\uff0c<\/b><b>TCP<\/b><b>\u7684\u8a2d\u5b9a\u5c31\u5f88\u91cd\u8981<\/b><b>!<\/b><\/p>\n<ol>\n<li>\u70ba\u5de5\u4ef6\u5efa\u7acb\u8996\u89baBase<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/one.png\"><img loading=\"lazy\" class=\"size-full wp-image-80767 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/one.png\" alt=\"\" width=\"277\" height=\"246\" \/><\/a><\/li>\n<li>\u8a2d\u5b9aTCP<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/two.png\"><img loading=\"lazy\" class=\"size-full wp-image-80785 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/two.png\" alt=\"\" width=\"384\" height=\"215\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/two.png 384w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/two-300x168.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/two-360x202.png 360w\" sizes=\"(max-width: 384px) 100vw, 384px\" \/><\/a><\/li>\n<li>\u8a2d\u5b9a\u53d6\u7269\u4f4d\u7f6e\n<ul>\n<li>\u5c07\u593e\u722a\u539f\u9ede\u5c0d\u9f4a\u8996\u89baBase\u539f\u9ede<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/three.png\"><img loading=\"lazy\" class=\"size-full wp-image-80773 aligncenter\" 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