{"id":5718,"date":"2025-11-04T10:23:45","date_gmt":"2025-11-04T03:23:45","guid":{"rendered":"https:\/\/swoer.vn\/?p=5718"},"modified":"2025-11-04T10:23:45","modified_gmt":"2025-11-04T03:23:45","slug":"lap-trinh-bo-nap-linh-hoat","status":"publish","type":"post","link":"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/","title":{"rendered":"L\u1eadp tr\u00ecnh b\u1ed9 n\u1ea1p linh ho\u1ea1t: H\u01b0\u1edbng d\u1eabn 4 giai \u0111o\u1ea1n Vision Automation cho Robot"},"content":{"rendered":"<p><i><span style=\"font-weight: 400;\">B\u1ea1n l\u00e0 k\u1ef9 s\u01b0 Robot? B\u1ea1n \u0111ang tri\u1ec3n khai Flexible Feeder?<\/span><\/i><\/p>\n<p><i><span style=\"font-weight: 400;\">L\u1eadp tr\u00ecnh <\/span><\/i><b><i>B\u1ed9 n\u1ea1p linh ho\u1ea1t (Flexible Feeder)<\/i><\/b><i><span style=\"font-weight: 400;\"> l\u00e0 b\u01b0\u1edbc quy\u1ebft \u0111\u1ecbnh. \u0110\u00e2y l\u00e0 c\u1ea7u n\u1ed1i gi\u1eefa Vision 2D v\u00e0 Robot. L\u1eadp tr\u00ecnh kh\u00f4ng ch\u1ec9 l\u00e0 vi\u1ebft m\u00e3 \u0111\u01a1n thu\u1ea7n.<\/span><\/i><\/p>\n<p><i><span style=\"font-weight: 400;\">N\u00f3 l\u00e0 vi\u1ec7c <\/span><\/i><b><i>c\u1ea5u h\u00ecnh ph\u1ea7n m\u1ec1m Vision<\/i><\/b><i><span style=\"font-weight: 400;\"> \u0111\u1ec3 nh\u1eadn d\u1ea1ng linh ki\u1ec7n. Sau \u0111\u00f3, n\u00f3 t\u00ednh to\u00e1n <\/span><\/i><b><i>\u0111i\u1ec3m g\u1eafp t\u1ed1i \u01b0u<\/i><\/b><i><span style=\"font-weight: 400;\">.<\/span><\/i><\/p>\n<p><i><span style=\"font-weight: 400;\">L\u1eadp tr\u00ecnh sai s\u1ebd d\u1eabn \u0111\u1ebfn t\u1ef7 l\u1ec7 g\u1eafp th\u00e0nh c\u00f4ng th\u1ea5p. D\u00e2y chuy\u1ec1n s\u1ea3n xu\u1ea5t s\u1ebd b\u1ecb gi\u00e1n \u0111o\u1ea1n. Ch\u00fang ta c\u1ea7n m\u1ed9t quy tr\u00ecnh chu\u1ea9n. B\u00e0i vi\u1ebft n\u00e0y <a href=\"https:\/\/swoer.vn\/ja\/contact\/\"><strong>\u8a93\u3046<\/strong><\/a> ph\u00e2n t\u00edch 4 giai \u0111o\u1ea1n ch\u00ednh c\u1ee7a quy tr\u00ecnh l\u1eadp tr\u00ecnh n\u00e0y.<\/span><\/i><\/p>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_82_2 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u76ee\u6b21<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"\u76ee\u6b21\u3092\u5207\u308a\u66ff\u3048\u308b\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">\u30c8\u30b0\u30eb<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewbox=\"0 0 24 24\" version=\"1.2\" baseprofile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Giai_doan_1_Chuan_bi_va_cau_hinh_he_thong_Vision\" >Giai \u0111o\u1ea1n 1: Chu\u1ea9n b\u1ecb v\u00e0 c\u1ea5u h\u00ecnh h\u1ec7 th\u1ed1ng Vision<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Cai_dat_va_cau_hinh_Camera\" >C\u00e0i \u0111\u1eb7t v\u00e0 c\u1ea5u h\u00ecnh Camera:<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Huan_luyen_phan_mem_nhan_dang\" >Hu\u1ea5n luy\u1ec7n ph\u1ea7n m\u1ec1m nh\u1eadn d\u1ea1ng:<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Cau_hinh_vung_gap\" >C\u1ea5u h\u00ecnh v\u00f9ng g\u1eafp:<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Giai_doan_2_Hieu_chinh_va_dong_bo_hoa_toa_do\" >Giai \u0111o\u1ea1n 2: Hi\u1ec7u ch\u1ec9nh v\u00e0 \u0111\u1ed3ng b\u1ed9 h\u00f3a t\u1ecda \u0111\u1ed9<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Hieu_chuan_mat-tren-tay\" >Hi\u1ec7u chu\u1ea9n m\u1eaft-tr\u00ean-tay:<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Xu_ly_sai_so\" >X\u1eed l\u00fd sai s\u1ed1:<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Giai_doan_3_Lap_trinh_logic_Robot_va_giao_tiep\" >Giai \u0111o\u1ea1n 3: L\u1eadp tr\u00ecnh logic Robot v\u00e0 giao ti\u1ebfp<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Lap_trinh_giao_tiep\" >L\u1eadp tr\u00ecnh giao ti\u1ebfp:<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Lap_trinh_chu_trinh_gap\" >L\u1eadp tr\u00ecnh chu tr\u00ecnh g\u1eafp:<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Lap_trinh_logic_xu_ly_ngoai_le\" >L\u1eadp tr\u00ecnh logic x\u1eed l\u00fd ngo\u1ea1i l\u1ec7:<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Giai_doan_4_Toi_uu_hoa_ty_le_gap\" >Giai \u0111o\u1ea1n 4: T\u1ed1i \u01b0u h\u00f3a t\u1ef7 l\u1ec7 g\u1eafp<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Tinh_chinh_thong_so_rung_dong\" >Tinh ch\u1ec9nh th\u00f4ng s\u1ed1 rung \u0111\u1ed9ng:<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Thiet_lap_vung_an_toan\" >Thi\u1ebft l\u1eadp v\u00f9ng an to\u00e0n:<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Tinh_chinh_diem_gap_thuc_te\" >Tinh ch\u1ec9nh \u0111i\u1ec3m g\u1eafp th\u1ef1c t\u1ebf:<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-16\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Ket_luan\" >\u7d50\u8ad6\u3059\u308b\uff1a<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-17\" href=\"https:\/\/swoer.vn\/ja\/lap-trinh-bo-nap-linh-hoat\/#Lien_he_voi_chung_toi\" >\u304a\u554f\u3044\u5408\u308f\u305b<\/a><\/li><\/ul><\/nav><\/div>\n<h2><span class=\"ez-toc-section\" id=\"Giai_doan_1_Chuan_bi_va_cau_hinh_he_thong_Vision\"><\/span><span style=\"font-weight: 400;\">Giai \u0111o\u1ea1n 1: Chu\u1ea9n b\u1ecb v\u00e0 c\u1ea5u h\u00ecnh h\u1ec7 th\u1ed1ng Vision<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">B\u1eaft \u0111\u1ea7u b\u1eb1ng vi\u1ec7c thi\u1ebft l\u1eadp &#8220;m\u1eaft&#8221; c\u1ee7a h\u1ec7 th\u1ed1ng.<\/span><\/p>\n<h3><span class=\"ez-toc-section\" id=\"Cai_dat_va_cau_hinh_Camera\"><\/span><span style=\"font-weight: 400;\">C\u00e0i \u0111\u1eb7t v\u00e0 c\u1ea5u h\u00ecnh Camera:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Th\u01b0\u1eddng d\u00f9ng Camera c\u00f4ng nghi\u1ec7p GigE.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Thi\u1ebft l\u1eadp \u0111\u1ed9 ph\u00e2n gi\u1ea3i chu\u1ea9n. \u0110i\u1ec1u ch\u1ec9nh t\u1ed1c \u0111\u1ed9 khung h\u00ecnh ph\u00f9 h\u1ee3p.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">\u0110\u1ed3ng b\u1ed9 h\u00f3a v\u1edbi <\/span><b>h\u1ec7 th\u1ed1ng chi\u1ebfu s\u00e1ng <\/b><span style=\"font-weight: 400;\">\u0111\u1ec3 c\u00f3 h\u00ecnh \u1ea3nh r\u00f5 n\u00e9t.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Huan_luyen_phan_mem_nhan_dang\"><\/span><span style=\"font-weight: 400;\">Hu\u1ea5n luy\u1ec7n ph\u1ea7n m\u1ec1m nh\u1eadn d\u1ea1ng:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Ch\u1ee5p \u1ea3nh<\/b><span style=\"font-weight: 400;\"> chi ti\u1ebft m\u1eabu \u1edf nhi\u1ec1u g\u00f3c \u0111\u1ed9.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">S\u1eed d\u1ee5ng c\u00f4ng c\u1ee5 ph\u1ea7n m\u1ec1m \u0111\u1ec3 <\/span><b>&#8220;d\u1ea1y&#8221;<\/b><span style=\"font-weight: 400;\"> h\u1ec7 th\u1ed1ng.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">\u0110\u1ecbnh ngh\u0129a h\u00ecnh d\u1ea1ng, v\u1ecb tr\u00ed v\u00e0 h\u01b0\u1edbng c\u1ee7a chi ti\u1ebft.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>X\u00e1c \u0111\u1ecbnh \u0111i\u1ec3m g\u1eafp l\u00fd t\u01b0\u1edfng (Nominal Pick Point)<\/b><span style=\"font-weight: 400;\"> cho Robot.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Cau_hinh_vung_gap\"><\/span><span style=\"font-weight: 400;\">C\u1ea5u h\u00ecnh v\u00f9ng g\u1eafp:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Thi\u1ebft l\u1eadp khu v\u1ef1c Camera s\u1ebd qu\u00e9t.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Gi\u00fap gi\u1ea3m t\u1ea3i x\u1eed l\u00fd h\u00ecnh \u1ea3nh cho ph\u1ea7n m\u1ec1m.<\/span><\/li>\n<\/ul>\n<figure id=\"attachment_5720\" aria-describedby=\"caption-attachment-5720\" style=\"width: 1366px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-5720 size-full\" src=\"https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Chuan-bi-va-cau-hinh-he-thong-Vision.png\" alt=\"Chu\u1ea9n b\u1ecb v\u00e0 c\u1ea5u h\u00ecnh h\u1ec7 th\u1ed1ng Vision\" width=\"1366\" height=\"768\" title=\"\" srcset=\"https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Chuan-bi-va-cau-hinh-he-thong-Vision.png 1366w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Chuan-bi-va-cau-hinh-he-thong-Vision-300x169.png 300w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Chuan-bi-va-cau-hinh-he-thong-Vision-1024x576.png 1024w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Chuan-bi-va-cau-hinh-he-thong-Vision-768x432.png 768w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Chuan-bi-va-cau-hinh-he-thong-Vision-18x10.png 18w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Chuan-bi-va-cau-hinh-he-thong-Vision-600x337.png 600w\" sizes=\"auto, (max-width: 1366px) 100vw, 1366px\" \/><figcaption id=\"caption-attachment-5720\" class=\"wp-caption-text\">Chu\u1ea9n b\u1ecb v\u00e0 c\u1ea5u h\u00ecnh h\u1ec7 th\u1ed1ng Vision<\/figcaption><\/figure>\n<h2><span class=\"ez-toc-section\" id=\"Giai_doan_2_Hieu_chinh_va_dong_bo_hoa_toa_do\"><\/span><span style=\"font-weight: 400;\">Giai \u0111o\u1ea1n 2: Hi\u1ec7u ch\u1ec9nh v\u00e0 \u0111\u1ed3ng b\u1ed9 h\u00f3a t\u1ecda \u0111\u1ed9<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">\u0110\u00e2y l\u00e0 b\u01b0\u1edbc k\u1ef9 thu\u1eadt kh\u00f3 nh\u1ea5t. N\u00f3 quy\u1ebft \u0111\u1ecbnh \u0111\u1ed9 ch\u00ednh x\u00e1c tuy\u1ec7t \u0111\u1ed1i.<\/span><\/p>\n<h3><span class=\"ez-toc-section\" id=\"Hieu_chuan_mat-tren-tay\"><\/span><span style=\"font-weight: 400;\">Hi\u1ec7u chu\u1ea9n m\u1eaft-tr\u00ean-tay:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>M\u1ee5c ti\u00eau:<\/b><span style=\"font-weight: 400;\"> Chuy\u1ec3n \u0111\u1ed5i t\u1ecda \u0111\u1ed9 t\u1eeb <\/span><b>Pixel <\/b><span style=\"font-weight: 400;\">sang <\/span><b>mm<\/b><span style=\"font-weight: 400;\">.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Quy tr\u00ecnh:<\/b><span style=\"font-weight: 400;\"> D\u00f9ng m\u1ed9t l\u01b0\u1edbi chu\u1ea9n. Robot g\u1eafp c\u00e1c \u0111i\u1ec3m tr\u00ean l\u01b0\u1edbi.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">H\u1ec7 th\u1ed1ng t\u00ednh to\u00e1n <\/span><b>ma tr\u1eadn bi\u1ebfn \u0111\u1ed5i<\/b><span style=\"font-weight: 400;\">. \u0110\u1ea3m b\u1ea3o Robot g\u1eafp ch\u00ednh x\u00e1c v\u1ecb tr\u00ed Vision b\u00e1o c\u00e1o.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Xu_ly_sai_so\"><\/span><span style=\"font-weight: 400;\">X\u1eed l\u00fd sai s\u1ed1:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">C\u1ea7n \u0111i\u1ec1u ch\u1ec9nh sai s\u1ed1 nh\u1ecf. V\u00ed d\u1ee5: \u0111\u1ed9 v\u00f5ng c\u1ee7a c\u00e1nh tay Robot. Ho\u1eb7c \u0111\u1ed9 nghi\u00eang nh\u1eb9 c\u1ee7a b\u1ec1 m\u1eb7t rung.<\/span><\/li>\n<\/ul>\n<figure id=\"attachment_5721\" aria-describedby=\"caption-attachment-5721\" style=\"width: 1366px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-5721 size-full\" src=\"https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Hieu-chinh-va-dong-bo-hoa-toa-do.png\" alt=\"Hi\u1ec7u ch\u1ec9nh v\u00e0 \u0111\u1ed3ng b\u1ed9 h\u00f3a t\u1ecda \u0111\u1ed9\" width=\"1366\" height=\"768\" title=\"\" srcset=\"https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Hieu-chinh-va-dong-bo-hoa-toa-do.png 1366w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Hieu-chinh-va-dong-bo-hoa-toa-do-300x169.png 300w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Hieu-chinh-va-dong-bo-hoa-toa-do-1024x576.png 1024w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Hieu-chinh-va-dong-bo-hoa-toa-do-768x432.png 768w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Hieu-chinh-va-dong-bo-hoa-toa-do-18x10.png 18w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Hieu-chinh-va-dong-bo-hoa-toa-do-600x337.png 600w\" sizes=\"auto, (max-width: 1366px) 100vw, 1366px\" \/><figcaption id=\"caption-attachment-5721\" class=\"wp-caption-text\">Hi\u1ec7u ch\u1ec9nh v\u00e0 \u0111\u1ed3ng b\u1ed9 h\u00f3a t\u1ecda \u0111\u1ed9<\/figcaption><\/figure>\n<h3><span class=\"ez-toc-section\" id=\"Giai_doan_3_Lap_trinh_logic_Robot_va_giao_tiep\"><\/span><span style=\"font-weight: 400;\">Giai \u0111o\u1ea1n 3: L\u1eadp tr\u00ecnh logic Robot v\u00e0 giao ti\u1ebfp<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p><span style=\"font-weight: 400;\">Thi\u1ebft l\u1eadp &#8220;ng\u00f4n ng\u1eef&#8221; giao ti\u1ebfp gi\u1eefa Vision v\u00e0 Robot.<\/span><\/p>\n<h3><span class=\"ez-toc-section\" id=\"Lap_trinh_giao_tiep\"><\/span><span style=\"font-weight: 400;\">L\u1eadp tr\u00ecnh giao ti\u1ebfp:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Thi\u1ebft l\u1eadp k\u1ebft n\u1ed1i <\/span><b>Ethernet TCP\/IP<\/b><span style=\"font-weight: 400;\"> gi\u1eefa PC v\u00e0 B\u1ed9 \u0111i\u1ec1u khi\u1ec3n Robot.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">\u0110\u1ecbnh ngh\u0129a r\u00f5 r\u00e0ng c\u1ea5u tr\u00fac d\u1eef li\u1ec7u. Robot g\u1eedi y\u00eau c\u1ea7u g\u1eafp. Vision g\u1eedi <\/span><b>T\u1ecda \u0111\u1ed9 (X, Y, <\/b><b>)<\/b><span style=\"font-weight: 400;\"> v\u00e0 \u0111i\u1ec3m g\u1eafp.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Lap_trinh_chu_trinh_gap\"><\/span><span style=\"font-weight: 400;\">L\u1eadp tr\u00ecnh chu tr\u00ecnh g\u1eafp:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Chu tr\u00ecnh ph\u1ea3i \u0111\u01b0\u1ee3c m\u00e3 h\u00f3a tu\u1ea7n t\u1ef1:<\/span>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"2\"><b>B\u01b0\u1edbc 1:<\/b><span style=\"font-weight: 400;\"> Robot g\u1eedi t\u00edn hi\u1ec7u k\u00edch ho\u1ea1t rung v\u00e0 ch\u1ee5p \u1ea3nh.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"2\"><b>B\u01b0\u1edbc 2:<\/b><span style=\"font-weight: 400;\"> Ch\u1edd Vision x\u1eed l\u00fd v\u00e0 g\u1eedi t\u1ecda \u0111\u1ed9.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"2\"><b>B\u01b0\u1edbc 3:<\/b><span style=\"font-weight: 400;\"> Robot di chuy\u1ec3n v\u00e0 g\u1eafp chi ti\u1ebft.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"2\"><b>B\u01b0\u1edbc 4:<\/b><span style=\"font-weight: 400;\"> X\u1ea3\/th\u1ea3i chi ti\u1ebft v\u00e0 Quay l\u1ea1i v\u1ecb tr\u00ed an to\u00e0n.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Lap_trinh_logic_xu_ly_ngoai_le\"><\/span><span style=\"font-weight: 400;\">L\u1eadp tr\u00ecnh logic x\u1eed l\u00fd ngo\u1ea1i l\u1ec7:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">C\u1ea7n chu\u1ea9n b\u1ecb cho t\u00ecnh hu\u1ed1ng l\u1ed7i.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">X\u1eed l\u00fd l\u1ed7i khi Vision <\/span><b>kh\u00f4ng t\u00ecm th\u1ea5y chi ti\u1ebft<\/b><span style=\"font-weight: 400;\">. X\u1eed l\u00fd l\u1ed7i va ch\u1ea1m ho\u1eb7c l\u1ed7i g\u1eafp.<\/span><\/li>\n<\/ul>\n<figure id=\"attachment_5722\" aria-describedby=\"caption-attachment-5722\" style=\"width: 1366px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-5722 size-full\" src=\"https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Lap-trinh-logic-Robot-va-giao-tiep.png\" alt=\"L\u1eadp tr\u00ecnh logic Robot v\u00e0 giao ti\u1ebfp\" width=\"1366\" height=\"768\" title=\"\" srcset=\"https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Lap-trinh-logic-Robot-va-giao-tiep.png 1366w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Lap-trinh-logic-Robot-va-giao-tiep-300x169.png 300w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Lap-trinh-logic-Robot-va-giao-tiep-1024x576.png 1024w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Lap-trinh-logic-Robot-va-giao-tiep-768x432.png 768w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Lap-trinh-logic-Robot-va-giao-tiep-18x10.png 18w, https:\/\/swoer.vn\/wp-content\/uploads\/2025\/11\/Lap-trinh-logic-Robot-va-giao-tiep-600x337.png 600w\" sizes=\"auto, (max-width: 1366px) 100vw, 1366px\" \/><figcaption id=\"caption-attachment-5722\" class=\"wp-caption-text\">L\u1eadp tr\u00ecnh logic Robot v\u00e0 giao ti\u1ebfp<\/figcaption><\/figure>\n<h2><span class=\"ez-toc-section\" id=\"Giai_doan_4_Toi_uu_hoa_ty_le_gap\"><\/span><span style=\"font-weight: 400;\">Giai \u0111o\u1ea1n 4: T\u1ed1i \u01b0u h\u00f3a t\u1ef7 l\u1ec7 g\u1eafp<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">\u0110\u00e2y l\u00e0 c\u00e1c b\u01b0\u1edbc tinh ch\u1ec9nh \u0111\u1ec3 \u0111\u1ea1t hi\u1ec7u su\u1ea5t cao nh\u1ea5t.<\/span><\/p>\n<h3><span class=\"ez-toc-section\" id=\"Tinh_chinh_thong_so_rung_dong\"><\/span><span style=\"font-weight: 400;\">Tinh ch\u1ec9nh th\u00f4ng s\u1ed1 rung \u0111\u1ed9ng:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">\u0110i\u1ec1u ch\u1ec9nh t\u1ea7n s\u1ed1 v\u00e0 bi\u00ean \u0111\u1ed9 rung.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>M\u1ee5c ti\u00eau:<\/b><span style=\"font-weight: 400;\"> T\u1ed1i \u0111a h\u00f3a s\u1ef1 t\u00e1ch chi ti\u1ebft. T\u1ed1i thi\u1ec3u h\u00f3a s\u1ef1 ch\u1ed3ng ch\u1ea5t.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Thiet_lap_vung_an_toan\"><\/span><span style=\"font-weight: 400;\">Thi\u1ebft l\u1eadp v\u00f9ng an to\u00e0n:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">\u0110\u1ecbnh ngh\u0129a v\u00f9ng Robot kh\u00f4ng n\u00ean g\u1eafp. V\u00ed d\u1ee5: c\u00e1c c\u1ea1nh c\u1ee7a b\u1ec1 m\u1eb7t rung.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Tinh_chinh_diem_gap_thuc_te\"><\/span><span style=\"font-weight: 400;\">Tinh ch\u1ec9nh \u0111i\u1ec3m g\u1eafp th\u1ef1c t\u1ebf:<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Th\u1ef1c hi\u1ec7n c\u00e1c \u0111i\u1ec1u ch\u1ec9nh nh\u1ecf. Ch\u1ec9nh \u0111i\u1ec3m g\u1eafp trong ph\u1ea7n m\u1ec1m Vision.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Ph\u00f9 h\u1ee3p v\u1edbi Gripper v\u00e0 h\u00e0nh vi v\u1eadt l\u00fd c\u1ee7a chi ti\u1ebft sau khi g\u1eafp.<\/span><\/li>\n<\/ul>\n<h2><span class=\"ez-toc-section\" id=\"Ket_luan\"><\/span><span style=\"font-weight: 400;\">\u7d50\u8ad6\u3059\u308b\uff1a<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">L\u1eadp tr\u00ecnh B\u1ed9 n\u1ea1p linh ho\u1ea1t l\u00e0 m\u1ed9t quy tr\u00ecnh \u0111a giai \u0111o\u1ea1n. N\u00f3 \u0111\u00f2i h\u1ecfi s\u1ef1 th\u00e0nh th\u1ea1o c\u1ea3 Vision System v\u00e0 Logic Robot. <\/span><b>Calibration<\/b><span style=\"font-weight: 400;\"> l\u00e0 b\u01b0\u1edbc quan tr\u1ecdng nh\u1ea5t, quy\u1ebft \u0111\u1ecbnh \u0111\u1ed9 ch\u00ednh x\u00e1c g\u1eafp.<\/span><\/p>\n<p><b>\u0110\u1ed9i ng\u0169 k\u1ef9 thu\u1eadt c\u1ee7a b\u1ea1n \u0111ang t\u00ecm ki\u1ebfm H\u01b0\u1edbng d\u1eabn L\u1eadp tr\u00ecnh Flexible Feeder chi ti\u1ebft?<\/b><\/p>\n<p><span style=\"font-weight: 400;\">\ud83d\udc49 Li\u00ean h\u1ec7 <a href=\"https:\/\/swoer.vn\/ja\/contact\/\"><strong>\u8a93\u3046<\/strong><\/a> ngay h\u00f4m nay! Y\u00eau c\u1ea7u <\/span><b>t\u00e0i li\u1ec7u k\u1ef9 thu\u1eadt chuy\u00ean s\u00e2u <\/b><span style=\"font-weight: 400;\">ho\u1eb7c \u0111\u0103ng k\u00fd <\/span><b>kh\u00f3a \u0111\u00e0o t\u1ea1o l\u1eadp tr\u00ecnh Vision Robot<\/b><span style=\"font-weight: 400;\"> cho nh\u00e0 m\u00e1y c\u1ee7a b\u1ea1n.<\/span><\/p>\n<p><b>\t<div id=\"gap-1061963161\" class=\"gap-element clearfix\" style=\"display:block; height:auto;\">\n\t\t\n<style>\n#gap-1061963161 {\n  padding-top: 30px;\n}\n<\/style>\n\t<\/div>\n\t<\/b><\/p>\n<h2><span class=\"ez-toc-section\" id=\"Lien_he_voi_chung_toi\"><\/span><b>\u304a\u554f\u3044\u5408\u308f\u305b<\/b><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><b>\u6750\u6599\u306e\u30b5\u30a4\u30ba\u3068\u5fc5\u8981\u306a\u901f\u5ea6\u3092\u304a\u77e5\u3089\u305b\u304f\u3060\u3055\u3044\u3002<\/b><\/p>\n<p><b>\n<div class=\"wpcf7 no-js\" id=\"wpcf7-f280-o1\" lang=\"en-US\" dir=\"ltr\" data-wpcf7-id=\"280\">\n<div class=\"screen-reader-response\"><p role=\"status\" aria-live=\"polite\" aria-atomic=\"true\"><\/p> <ul><\/ul><\/div>\n<form action=\"\/ja\/wp-json\/wp\/v2\/posts\/5718#wpcf7-f280-o1\" method=\"post\" class=\"wpcf7-form init\" aria-label=\"Contact form\" novalidate=\"novalidate\" data-status=\"init\" data-trp-original-action=\"\/ja\/wp-json\/wp\/v2\/posts\/5718#wpcf7-f280-o1\">\n<div style=\"display: none;\">\n<input type=\"hidden\" name=\"_wpcf7\" value=\"280\" \/>\n<input type=\"hidden\" name=\"_wpcf7_version\" value=\"6.0.6\" \/>\n<input type=\"hidden\" name=\"_wpcf7_locale\" value=\"en_US\" \/>\n<input type=\"hidden\" name=\"_wpcf7_unit_tag\" value=\"wpcf7-f280-o1\" \/>\n<input type=\"hidden\" name=\"_wpcf7_container_post\" value=\"0\" \/>\n<input type=\"hidden\" name=\"_wpcf7_posted_data_hash\" value=\"\" \/>\n<\/div>\n<div class='custom_contact_style'>\n\t<div class=\"row row-small\">\n\t\t<div class=\"col medium-6 small-12 large-6\">\n\t\t\t<div class=\"col-inner\">\n\t\t\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-name\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-text wpcf7-validates-as-required\" aria-required=\"true\" aria-invalid=\"false\" placeholder=\"\u540d\u524d*\" value=\"\" type=\"text\" name=\"your-name\" \/><\/span>\n\t\t\t\t<\/p>\n\t\t\t<\/div>\n\t\t<\/div>\n\t\t<div class=\"col medium-6 small-12 large-6\">\n\t\t\t<div class=\"col-inner\">\n\t\t\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-email\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-email wpcf7-validates-as-required wpcf7-text wpcf7-validates-as-email\" aria-required=\"true\" aria-invalid=\"false\" placeholder=\"\u30e1\u30fc\u30eb\u30a2\u30c9\u30ec\u30b9*\" value=\"\" type=\"email\" name=\"your-email\" \/><\/span>\n\t\t\t\t<\/p>\n\t\t\t<\/div>\n\t\t<\/div>\n\t<\/div>\n\t<div class='cus_contact_form_bottom'>\n\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-phone\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-text\" aria-invalid=\"false\" placeholder=\"\u96fb\u8a71\" value=\"\" type=\"text\" name=\"your-phone\" \/><\/span>\n\t\t<\/p>\n\t<\/div>\n\t<div class='cus_contact_form_bottom'>\n\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-country\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-text\" aria-invalid=\"false\" placeholder=\"\u56fd\" value=\"\" type=\"text\" name=\"your-country\" \/><\/span>\n\t\t<\/p>\n\t<\/div>\n\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-message\"><textarea cols=\"40\" rows=\"10\" maxlength=\"2000\" class=\"wpcf7-form-control wpcf7-textarea wpcf7-validates-as-required\" aria-required=\"true\" aria-invalid=\"false\" placeholder=\"\u3042\u306a\u305f\u306e\u30e1\u30c3\u30bb\u30fc\u30b8 *\" name=\"your-message\"><\/textarea><\/span>\n\t<\/p>\n\t<div style=\"margin-bottom:10px;\">\n\t\t<p><span class=\"wpcf7-form-control-wrap kc_captcha cf7ic-toggle\" data-name=\"kc_captcha\"><span class=\"wpcf7-form-control wpcf7-radio\"><span class=\"captcha-image\" style=\"display: none;\"><span class=\"cf7ic_instructions\">Please prove you are human by selecting the<span> truck<\/span>.<\/span><label><input aria-label=\"1\" type=\"radio\" name=\"kc_captcha\" value=\"bot\" \/><svg width=\"50\" height=\"50\" aria-hidden=\"true\" role=\"img\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path fill=\"currentColor\" d=\"M500 168h-55l-8-21a127 127 0 00-120-83H195a127 127 0 00-120 83l-8 21H12c-8 0-14 8-11 16l8 24a12 12 0 0011 8h29a64 64 0 00-33 56v48c0 16 6 31 16 42v62c0 13 11 24 24 24h48c13 0 24-11 24-24v-40h256v40c0 13 11 24 24 24h48c13 0 24-11 24-24v-62c10-11 16-26 16-42v-48c0-24-13-45-33-56h29a12 12 0 0011-8l8-24c3-8-3-16-11-16zm-365 2c9-25 33-42 60-42h122c27 0 51 17 60 42l15 38H120l15-38zM88 328a32 32 0 010-64c18 0 48 30 48 48s-30 16-48 16zm336 0c-18 0-48 2-48-16s30-48 48-48 32 14 32 32-14 32-32 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B\u1ea1n \u0111ang tri\u1ec3n khai Flexible Feeder? L\u1eadp tr\u00ecnh B\u1ed9 n\u1ea1p linh ho\u1ea1t (Flexible Feeder) l\u00e0 b\u01b0\u1edbc quy\u1ebft \u0111\u1ecbnh. \u0110\u00e2y l\u00e0 c\u1ea7u n\u1ed1i gi\u1eefa Vision 2D v\u00e0 Robot. L\u1eadp tr\u00ecnh kh\u00f4ng ch\u1ec9 l\u00e0 vi\u1ebft m\u00e3 \u0111\u01a1n thu\u1ea7n. N\u00f3 l\u00e0 vi\u1ec7c c\u1ea5u h\u00ecnh ph\u1ea7n m\u1ec1m Vision \u0111\u1ec3 nh\u1eadn d\u1ea1ng linh ki\u1ec7n. Sau \u0111\u00f3, n\u00f3 t\u00ednh to\u00e1n \u0111i\u1ec3m g\u1eafp t\u1ed1i \u01b0u. L\u1eadp tr\u00ecnh sai s\u1ebd d\u1eabn \u0111\u1ebfn t\u1ef7 l\u1ec7 g\u1eafp th\u00e0nh c\u00f4ng th\u1ea5p. D\u00e2y chuy\u1ec1n s\u1ea3n xu\u1ea5t s\u1ebd b\u1ecb gi\u00e1n \u0111o\u1ea1n. Ch\u00fang ta c\u1ea7n m\u1ed9t quy tr\u00ecnh chu\u1ea9n. B\u00e0i vi\u1ebft n\u00e0y SWOER ph\u00e2n t\u00edch 4 giai \u0111o\u1ea1n ch\u00ednh c\u1ee7a quy tr\u00ecnh l\u1eadp tr\u00ecnh n\u00e0y. Giai \u0111o\u1ea1n 1: Chu\u1ea9n [&#8230;]","protected":false},"author":3,"featured_media":5719,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-5718","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.0 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>L\u1eadp tr\u00ecnh b\u1ed9 n\u1ea1p linh ho\u1ea1t: H\u01b0\u1edbng d\u1eabn 4 giai \u0111o\u1ea1n Vision Automation cho Robot - Nh\u00e0 s\u1ea3n xu\u1ea5t m\u00e1y c\u1ea5p li\u1ec7u c\u00f4ng nghi\u1ec7p<\/title>\n<meta name=\"description\" content=\"H\u01b0\u1edbng d\u1eabn chi ti\u1ebft L\u1eadp tr\u00ecnh b\u1ed9 n\u1ea1p linh ho\u1ea1t. 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