Note that older or latest software versions may have different results<\/p>\n
\n
Establish Environment<\/h1>\n\n- Collecting TM carton, stacking carton on the stand, and collecting image from 3D camera<\/li>\n
- Cartons with the same apearance are palced for testing, with the TM logo facing up<\/span> (as shown below)<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717571319265.jpg\")
<\/a><\/p>\nCollecting Image Through the TMflow<\/h1>\n\n- Open TMflow, select configuration –> AI+<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717571389871.jpg\")
<\/p>\n
\n- Enter account, password and connect IP for the AI+ Training Server you are using, select AI+ Training Server, and press “Save”<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717571551961.jpg\")
<\/a><\/p>\n\n- Open your de-palletizing project<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717571588447.jpg\")
<\/a><\/p>\n\n- Find Positioning vision job in the de-palletizing project<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717571990116.jpg\")
<\/a><\/p>\n\n- Edit the vision job<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717572031635.jpg\")
<\/a><\/p>\n\n- Set initiate parameter for the 3D camera and enable image color to view 2D image, and press “Save”\u00a0
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717572263706.jpg\")
<\/a><\/li>\n<\/ul>\n <\/p>\n
\n- Set the ROI to ensure that your carton are within the detection range<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717572311316.jpg\")
<\/p>\n
\n- Choose Geometry method in Find module<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717572376901.jpg\")
<\/a><\/p>\n\n- Press Setting to choose or create the dataset where your image will be stored on AI+ Training Server<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717572470064.jpg\")
<\/a><\/p>\n\n- Confirm that the arrangement of the cartons matches the desired image, press “Save Image”, and this concludes the collection in TMflow<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717572781388.jpg\")
<\/a><\/p>\n\n- You can check within the AI+ Training Server to see if your images have been successfully collected in your datasets<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717572889018.jpg\")
<\/a><\/p>\nRecommendations for Collecting Images of Cartons<\/h1>\n\n- There are\u00a012 essential scenarios to collect<\/span>, explained as follows:\n
\n- Three Rotation Scenarios (Total 8 images):\n
\n- Whether rotate the carton by 45 degrees<\/li>\n
- Whether increase the height(raise to the maximum possible height)<\/li>\n
- Whether apply adhesive to the carton(In the adhesive scenarios, please include all possible cartons for the first layer placement)<\/li>\n<\/ul>\n<\/li>\n
- Stacking Scenarios(Total 4 images):\n
\n- Two cartons at the bottom, one on the top. Whether rotate the top carton by 45 degrees<\/li>\n
- Four cartons at the bottom, one on the top. Whether rotate the top carton by 45 degrees<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
\n- In addition to the specified 12 images, it is recommended to randomly collect various scenarios until reaching a total 20 images or above<\/span> to ensure stability in assessment<\/li>\n
- After deploying the model, there are still scenarios that do not meet the requirements, you can collect images of these scenarios and retrain the model<\/li>\n<\/ul>\n
Image Collection Example<\/h1>\n\n- No rotate, no increase the height, no adhesive<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573037126.jpg\")
<\/p>\n
\n- Rotate 45 degrees, no increase the height, no adhesive<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573185158.jpg\")
<\/a><\/p>\n\n- No rotate, increase the light, no adhesive<\/li>\n<\/ul>\n
<\/p>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573313563.jpg\")
<\/a><\/p>\n\n- No rotate, no increase the height, adhesive cartons<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573374265.jpg\")
<\/a><\/p>\n\n- Rotate 45 degrees, increase the height, no adhesive<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573417275.jpg\")
<\/a><\/p>\n\n- Rotate 45 degrees, no increase the height, adhesive cartons<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573469467.jpg\")
<\/a><\/p>\n\n- No rotate, increase the height, adhesive cartons<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573531511.jpg\")
<\/a><\/p>\n\n- Rotate 45 degrees, increase the height, adhesive cartons<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573577497.jpg\")
<\/a><\/p>\n\n- Stacking scenario, two cartons at the bottom, no rotate<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573622382.jpg\")
<\/a><\/p>\n\n- Stacking scenario, two cartons at the bottom, rotate 45 degrees<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573665396.jpg\")
<\/a><\/p>\n\n- Stacking scenario, four cartons at the bottom, no rotate<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573720136.jpg\")
<\/a><\/p>\n\n- Stacking scenario, four cartons at the bottom, rotate 45 degrees<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573777110.jpg\")
<\/a><\/p>\n\n- In addition to the mentioned 12 images, it is recommended to collect 20 or more images similar to the following scenarios to ensure the stability of the model<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573862281.jpg\")
<\/a><\/p>\nLabel the Images and Train the Model<\/h1>\n\n- Enter the account and password to log into the AI+ Training Server<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573925499.jpg\")
<\/a><\/p>\n\n- Establish your dataset on the AI+ Training Server and collect images from TMflow to this dataset, or alternatively, create a dataset directly on TMflow and collect images.<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573968845.jpg\")
<\/a><\/p>\n <\/p>\n
\n- Choose your dataset and create the label to the cartons<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717573992744.jpg\")
<\/p>\n
\n- Click on the “Annotate” and begin annotating your cartons<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574158386.jpg\")
<\/a><\/p>\n\n- Add new instance and use the Annotate tool to label your cartons<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574183298.jpg\")
<\/a><\/p>\n\n- Please annotate cases where the entire top surface of the carton is visible<\/span>, and it is advisable not to annotate cases where the corners are covered or incomplete<\/li>\n
- Create the project to train the model<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574280174.jpg\")
<\/a><\/p>\n\n- Choose your dataset<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574325047.jpg\")
<\/a><\/p>\n\n- Next,\u00a0configure the model parameters, you can refer to the following parameters for settings to ensure that various scenarios are taken into account<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574364380.jpg\")
<\/a><\/p>\n![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574395451.jpg\")
<\/a><\/p>\n\n- After\u00a0the model training is complete, you can download the model to your hard drive and then load the model into TMflow. Alternatively, you can directly import the model in TMflow<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574561937.jpg\")
<\/a><\/p>\nImport AI Model into TMflow<\/h1>\n\n- Open TMflow, select configuration –> AI+<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574760474.jpg\")
<\/a><\/p>\n\n- Enter your account and password, connect to the AI+ Training Server, choose AI+ Instance Segmentation(3D), then select the model and click download<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574794654.jpg\")
<\/a><\/p>\n\n- Open your de-palletizing project<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574827856.jpg\")
<\/a><\/p>\n\n- Find positioning vision job in the de-palletizing project<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717574898675.jpg\")
<\/a><\/p>\n\n- Edit the vision job<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717636877053.jpg\")
<\/a><\/p>\n <\/p>\n
\n- Set initiate parameter for the 3D camera and enable image color to view 2D image, and press \u201cSave\u201d<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717575992591.jpg\")
<\/a><\/p>\n\n- Set the ROI \u00a0to ensure that your carton are within the detection range<\/li>\n<\/ul>\n
<\/p>\n <\/p>\n <\/p>\n <\/p>\n<\/a><\/p>\nCollecting Image Through the TMflow<\/h1>\n
\n
<\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/li>\n<\/ul>\n\n
<\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\nRecommendations for Collecting Images of Cartons<\/h1>\n
\n
\n
\n
\n
\n
Image Collection Example<\/h1>\n
\n
<\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\nLabel the Images and Train the Model<\/h1>\n
\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n<\/a><\/p>\n\n
<\/a><\/p>\nImport AI Model into TMflow<\/h1>\n
\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
<\/a><\/p>\n\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717576026922.jpg\")
<\/a><\/p>\n![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717576032289.jpg\")
<\/a><\/p>\n![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717576135606.jpg\")
<\/a><\/p>\n![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717576183854.jpg\")
<\/a><\/p>\n![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2024\/06\/messageImage_1717576211684.jpg\")
<\/a><\/p>\n