{"id":8113,"date":"2024-07-16T16:44:24","date_gmt":"2024-07-16T14:44:24","guid":{"rendered":"https:\/\/niryo.com\/?p=8113"},"modified":"2024-07-18T15:36:07","modified_gmt":"2024-07-18T13:36:07","slug":"creer-ligne-production-multi-robots-robots-collaboratifs","status":"publish","type":"post","link":"https:\/\/staging.niryo.com\/fr\/creer-ligne-production-multi-robots-robots-collaboratifs\/","title":{"rendered":"Cr\u00e9er une ligne de production multi-robots avec des robots collaboratifs"},"content":{"rendered":"<h2><b>Comment simuler une ligne de production en multi-robots (threading) ?<\/b><\/h2>\n<p><span style=\"font-weight: 400;\">Dans cet article, vous apprendrez comment utiliser deux ou plusieurs Ned2 pour cr\u00e9er une ligne de production.<\/span><\/p>\n<p>&nbsp;<\/p>\n<h3><b>Quels sont les appareils n\u00e9cessaires pour utiliser cette fonction ?<\/b><\/h3>\n<p><span style=\"font-weight: 400;\">Vous aurez besoin de deux Ned2, du syst\u00e8me de vision avec son espace de travail, de la grande pince, de la pompe \u00e0 vide, de quelques pions, d&rsquo;un convoyeur et d&rsquo;une pente.<\/span><\/p>\n<p><iframe loading=\"lazy\" title=\"An Automated Production Line with Multiple Robots !\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/I2Qokl7YHxU?feature=oembed&#038;enablejsapi=1&#038;origin=https:\/\/staging.niryo.com\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<p>&nbsp;<\/p>\n<p><strong>Sommaire :<\/strong><\/p>\n<ol>\n<li><strong> Comment configurer\/pr\u00e9parer mon mat\u00e9riel ?<\/strong><\/li>\n<li><strong> Comment configurer\/pr\u00e9parer mon logiciel ?<\/strong><\/li>\n<li><strong> Comment fonctionne le processus ?<\/strong><\/li>\n<li><strong> Chaque robot a-t-il son propre thread ?<\/strong><\/li>\n<li><strong> Puis-je modifier les param\u00e8tres de la ligne de production ?<\/strong><\/li>\n<\/ol>\n<p>&nbsp;<\/p>\n<p><b>Comment configurer\/pr\u00e9parer mon logiciel ?<\/b><\/p>\n<p><span style=\"font-weight: 400;\">Tout d\u2019abord, attachez l\u2019avant du convoyeur au premier Ned2 et branchez la grande pince.<\/span><\/p>\n<p>&nbsp;<\/p>\n<p><span style=\"font-weight: 400;\">Ensuite, branchez la pompe \u00e0 vide sur l&rsquo;autre Ned2, situ\u00e9 \u00e0 l&rsquo;arri\u00e8re du convoyeur. R\u00e9glez la pente \u00e0 mi-chemin entre les deux Ned2 et fixez les quatre rep\u00e8res de l&rsquo;espace de travail \u00e0 l&rsquo;avant du convoyeur, devant le premier Ned\/Ned2.<\/span><\/p>\n<p>&nbsp;<\/p>\n<p><span style=\"font-weight: 400;\">Enfin, calibrez l\u2019espace de travail.<\/span><\/p>\n<p>&nbsp;<\/p>\n<p><b>Comment configurer\/pr\u00e9parer mon logiciel ?<\/b><\/p>\n<p><span style=\"font-weight: 400;\">Pour le premier lancement, vous devez entrer 6 positions dans le programme avec le mode d&rsquo;apprentissage activ\u00e9 (appuyez sur Entr\u00e9e pour confirmer une position). Voici les positions (veuillez respecter le m\u00eame ordre) :<\/span><\/p>\n<ul>\n<li><span style=\"font-weight: 400;\"> Ned2 avant :<\/span><\/li>\n<\/ul>\n<p><span style=\"font-weight: 400;\">\u25cb La position d&rsquo;observation \u00e0 partir de laquelle Ned2 peut voir les 4 rep\u00e8res de l&rsquo;espace de travail.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">\u25cb Une position \u00e0 quelques centim\u00e8tres au-dessus de la pente (au sommet de la pente).<\/span><\/p>\n<p><span style=\"font-weight: 400;\">\u25cb La position depuis laquelle le robot peut d\u00e9poser le pion sur la pente.<\/span><\/p>\n<ul>\n<li><span style=\"font-weight: 400;\"> Ned2 arri\u00e8re :<\/span><\/li>\n<\/ul>\n<p><span style=\"font-weight: 400;\">\u25cb La position \u00e0 partir de laquelle le robot peut saisir le pion au bas de la pente.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">\u25cb Une position situ\u00e9e \u00e0 quelques centim\u00e8tres au-dessus de la position pr\u00e9c\u00e9dente.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">\u25cb Une position \u00e0 l&rsquo;arri\u00e8re du convoyeur o\u00f9 le robot peut d\u00e9poser le pion (devant le deuxi\u00e8me Ned2).<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Ces 6 positions seront stock\u00e9es dans un fichier nomm\u00e9 data.txt.<\/span><\/p>\n<p>&nbsp;<\/p>\n<p><b>Comment fonctionne le processus ?<\/b><\/p>\n<p><span style=\"font-weight: 400;\">Une fois la configuration termin\u00e9e, le convoyeur se met en marche. Le Ned2 avant attend qu&rsquo;un pion apparaisse dans son espace de travail. D\u00e8s qu&rsquo;un pion appara\u00eet, le convoyeur s&rsquo;arr\u00eate, le Ned2 avant le ramasse et le place sur la pente, tandis que le convoyeur red\u00e9marre. Ensuite, le Ned2 arri\u00e8re ramasse le pion au bas de la pente et le remet sur le convoyeur.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Le multithreading permet d&rsquo;ex\u00e9cuter plusieurs parties d&rsquo;un m\u00eame programme en parall\u00e8le. Il est donc possible d&rsquo;ex\u00e9cuter plusieurs instructions simultan\u00e9ment dans le m\u00eame processus. L&rsquo;\u00e9change d&rsquo;informations entre les threads est rapide et facile, ce qui rend le multithreading tr\u00e8s pratique pour contr\u00f4ler plusieurs Ned\/Ned2 simultan\u00e9ment.<\/span><\/p>\n<p>&nbsp;<\/p>\n<p><b>Chaque robot a-t-il son propre thread ?<\/b><\/p>\n<p><span style=\"font-weight: 400;\">Oui, le thread principal du programme lance un thread pour chaque robot \u00e0 contr\u00f4ler. Les threads communiquent entre eux gr\u00e2ce \u00e0 des variables partag\u00e9es et \u00e0 la classe threading.Event().<\/span><\/p>\n<p><span style=\"font-weight: 400;\">De cette mani\u00e8re, les interactions entre les deux robots sont possibles, tout comme le contr\u00f4le du convoyeur et le partage de la pente. Chaque thread est connect\u00e9 \u00e0 un robot et le contr\u00f4le. Les threads communiquent entre eux par l&rsquo;interm\u00e9diaire de variables situ\u00e9es dans la classe m\u00e8re <\/span><i><span style=\"font-weight: 400;\">RobotsMains<\/span><\/i><span style=\"font-weight: 400;\">.<\/span><\/p>\n<p>&nbsp;<\/p>\n<p><b>Puis-je modifier les param\u00e8tres de la ligne de production ?<\/b><\/p>\n<p><span style=\"font-weight: 400;\">Bien s\u00fbr, vous pouvez modifier la vitesse du convoyeur avec la variable <\/span><i><span style=\"font-weight: 400;\">conveyor_speed<\/span><\/i><span style=\"font-weight: 400;\"> dans le fichier robot.py.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Vous pouvez \u00e9galement modifier la distance entre les pions avec la variable <\/span><i><span style=\"font-weight: 400;\">conveyor_place_interval<\/span><\/i><span style=\"font-weight: 400;\">.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Enfin, vous pouvez modifier la largeur de la distribution des pions sur le convoyeur avec la variable <\/span><i><span style=\"font-weight: 400;\">rand_drop<\/span><\/i><span style=\"font-weight: 400;\">.<\/span><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Comment simuler une ligne de production en multi-robots (threading) ? Dans cet article, vous apprendrez comment utiliser deux ou plusieurs Ned2 pour cr\u00e9er une ligne de production. &nbsp; Quels sont les appareils n\u00e9cessaires pour utiliser cette fonction ? Vous aurez besoin de deux Ned2, du syst\u00e8me de vision avec son espace de travail, de la [&hellip;]<\/p>\n","protected":false},"author":146,"featured_media":8111,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"content-type":"","footnotes":""},"categories":[80,81],"tags":[],"class_list":["post-8113","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-autour-de-la-robotique","category-apprendre-sur-la-robotique"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.7 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Cr\u00e9er une ligne de production multi-robots avec des robots collaboratifs<\/title>\n<meta name=\"description\" content=\"Notre robot collaboratif propose de nombreux exercices et \u00e9tudes de cas. 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