private async void button1_Click_1(object sender, EventArgs e)
{
HObject _image = HardWareManager.Instance.Cmaera.SnapShot();
VisionManager.Instance.ShapeModle.BackImage = _image.Clone();
//DelegateControls.Instance.
ModleFindResult result = VisionManager.Instance.ShapeModle.FindSimple();
// return;
if (result != null)
{
HTuple hommate2d;
HOperatorSet.VectorAngleToRigid(0, 0, 0, result.Row, result.Column, result.Angle, out hommate2d);
HOperatorSet.AffineTransContourXld(result.ModleRegion, out HObject hObject, hommate2d);
RegionX regionX = new RegionX(hObject, "green");
DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", _image, new List <HalWindow.RegionX>()
{
regionX
});
HTuple calibratedata = VisionManager.Instance.Calibrate.CalibrateData;
HTuple _x = new HTuple();
HTuple _y = new HTuple();
HOperatorSet.AffineTransPoint2d(calibratedata, result.Row, result.Column, out HTuple x, out HTuple y);
HOperatorSet.AffineTransPoint2d(calibratedata, 1024, 1536, out _x, out _y);
double ox = -x + _x + VisionManager.Instance.Calibrate.ToolOffsetX;
double oy = -y + _y + VisionManager.Instance.Calibrate.ToolOffsetY;
RobotPos robotPos = await HardWareManager.Instance.YaskawaRobot.GetRobotCPoint();
double x1 = ox + robotPos.Y;
double x2 = oy + robotPos.Z;
}
}
private async Task <RobotPos> GetHolePoint(HObject image)
{
try
{
DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", image, null);
HOperatorSet.Threshold(image, out HObject region1, 0, 100);
HOperatorSet.Connection(region1, out HObject connectionregion);
HOperatorSet.OpeningCircle(connectionregion, out HObject regionopening, 7.5);
HOperatorSet.SelectShape(regionopening, out HObject selectedregion, "area", "and", 9000, 79999);
HOperatorSet.SelectShape(selectedregion, out selectedregion, "circularity", "and", 0.4, 1);
HOperatorSet.FillUp(selectedregion, out HObject regionfillup);
HOperatorSet.Union1(regionfillup, out HObject regionunion);
HOperatorSet.ReduceDomain(image, regionunion, out HObject imagereduced);
HOperatorSet.MinMaxGray(regionunion, imagereduced, 0, out HTuple min, out HTuple max, out HTuple range);//20191128
HOperatorSet.Threshold(imagereduced, out HObject region2, 0, min + 5);
HOperatorSet.ErosionCircle(region2, out HObject erosionregion, 2.5);
HOperatorSet.Connection(erosionregion, out HObject connectionregion2);
HOperatorSet.CountObj(connectionregion2, out HTuple number);
HOperatorSet.SelectShape(connectionregion2, out HObject selectregiion2, "area", "and", 2000, 6500);
HOperatorSet.CountObj(selectregiion2, out number);
HOperatorSet.SelectShape(selectregiion2, out HObject selectregiion3, "circularity", "and", 0.3, 1);
HOperatorSet.SelectShape(selectregiion3, out HObject selectregiion4, "outer_radius", "and", 25, 50);
HOperatorSet.AreaCenter(selectregiion4, out HTuple area, out HTuple r, out HTuple c);
HOperatorSet.ShapeTrans(selectregiion4, out HObject regiiontrans, "outer_circle");
RegionX regionX = new RegionX(regiiontrans, "green");
DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", image, new List <HalWindow.RegionX>()
{
regionX
});
HTuple _x = new HTuple();
HTuple _y = new HTuple();
VisionManager.Instance.Calibrate.GetRobotpoint(r, c, ref _x, ref _y);
lengthY = _x + Param.Instance.HMakeUp;
lengthX = _y + Param.Instance.VMakeUp;
RobotPos robotPos = await HardWareManager.Instance.YaskawaRobot.GetRobotCPoint();
// RobotPos robotPos = new RobotPos();
robotPos.Y += _x;
robotPos.Z += _y;
return(robotPos);
}
catch (Exception ex)
{
HOperatorSet.WriteImage(image, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "Images\\Ng.bmp");
throw new Exception("GetHolePoint exception:第二次取像未找到螺丝孔位置");
}
}
/// <summary>
/// 获取机器人工具中心位置信息
/// </summary>
/// <returns></returns>
public async Task <RobotPos> GetRobotCPoint()
{
string rtn;
try
{
await ConnectRobot();
SendString("CONNECT Robot_access\r\n");
rtn = await WaitRobotFedback();
if (!rtn.Contains("OK"))
{
NetClient.DisConnect();
throw new Exception("");
}
SendString("HOSTCTRL_REQUEST RPOSC 4\r");
rtn = await WaitRobotFedback();
if (!rtn.Contains("OK"))
{
NetClient.DisConnect();
throw new Exception("");
}
SendString("1,0\r");
rtn = await WaitRobotFedback();
NetClient.DisConnect();
if (!rtn.EndsWith("0\r\0"))
{
throw new Exception(" error Get position info ");
}
string[] data = rtn.Split(',');
RobotPos robotPos = new RobotPos();
robotPos.X = double.Parse(data[0]);
robotPos.Y = double.Parse(data[1]);
robotPos.Z = double.Parse(data[2]);
return(robotPos);
}
catch (Exception ex)
{
System.Windows.Forms.MessageBox.Show(ex.Message);
return(null);
}
}
private async void btn_GetRobPos_Click(object sender, EventArgs e)
{
DataGridViewRow dataGridViewRow = null;
if (dGV_RobotPos.SelectedRows.Count == 0)
{
MessageBox.Show("请选择一行来更新点位数据");
return;
}
dataGridViewRow = dGV_RobotPos.SelectedRows[0];
RobotPos robotPos = await Robot.GetRobotCPoint();
if (robotPos == null)
{
return;
}
dataGridViewRow.Cells[1].Value = robotPos.X;
dataGridViewRow.Cells[2].Value = robotPos.Y;
}
private async void MainProc()
{
Step = MainStep.CheckInPlace;
float verticalOffset = 0;
double angle = 0;
float instance1 = 0;
float instance2 = 0;
float instance3 = 0;
RobotPos robotPos1 = new RobotPos();
RobotPos robotPos2 = new RobotPos();
while (!tokenSource.IsCancellationRequested)
{
try
{
switch (Step)
{
case MainStep.CheckInPlace:
bool isInPlace = await HardWareManager.Instance.XinJiePlc.ReadM(100);
if (!isInPlace)
{
break;
}
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hRanging", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging1", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging2", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging3", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hOffset", null);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vOffset", null);
DelegateControls.Instance.DelegateTextbox("FormMain_instanceScrew", null);
DelegateControls.Instance.DelegateTextbox("FormMain_productType", null);
verticalOffset = await HardWareManager.Instance.XinJiePlc.ReadD(510); //读取横向偏移量
if (Math.Abs(verticalOffset) > 80)
{
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "水平方向偏移超限", Color.Red);
break;
}
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hRanging", verticalOffset.ToString());
HardWareManager.Instance.XinJiePlc.SetM(101, true);
// await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(100, $"0,{verticalOffset} ,0,0,0,0");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "水平测距完成");
Step = MainStep.GetAngleInstance;
break;
case MainStep.GetAngleInstance:
bool getInstance = await HardWareManager.Instance.XinJiePlc.ReadM(110);
if (!getInstance)
{
break;
}
instance1 = await HardWareManager.Instance.XinJiePlc.ReadD(500);
instance2 = await HardWareManager.Instance.XinJiePlc.ReadD(502);
HardWareManager.Instance.XinJiePlc.SetM(111, true);
instance1 = -instance1;
instance2 = -instance2;
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging1", instance1.ToString());
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging2", instance2.ToString());
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(13, $"{instance1},{verticalOffset},0,0,0,{0}");
Thread.Sleep(300);
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(14, $"{instance1},{verticalOffset},0,0,0,{0}");
Thread.Sleep(300);
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(15, $"{instance2},{verticalOffset},0,0,0,{0}");
Thread.Sleep(300);
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(3, "1");
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "垂直测距完成");
Step = MainStep.GetHolePoint2;
break;
case MainStep.GetInstance://获取两个差距值，用来计算角度
//bool getInstance1 = await HardWareManager.Instance.XinJiePlc.ReadM(120);
//if (!getInstance1)
// break;
//instance3 = await HardWareManager.Instance.XinJiePlc.ReadD(504);
//instance3 = -instance3;
//HardWareManager.Instance.XinJiePlc.SetM(121, true);
//DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging3", instance3.ToString());
//Step = MainStep.GetHolePoint2;
break;
case MainStep.GetHolePoint1:
string rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(1);
if (rtn != "2\r\0")
{
break;
}
bool getInstance1 = await HardWareManager.Instance.XinJiePlc.ReadM(120);
if (!getInstance1)
{
break;
}
instance3 = await HardWareManager.Instance.XinJiePlc.ReadD(504);
// instance3 = -instance3;
HardWareManager.Instance.XinJiePlc.SetM(121, true);
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vRanging3", instance3.ToString());
HObject _image = HardWareManager.Instance.Cmaera.SnapShot();
robotPos1 = await GetHolePoint(_image);
// length = 700 - length;
await HardWareManager.Instance.YaskawaRobot.SetRobotPoint(100, $"{-lengthX},{-lengthY},{instance3},0,0,{0}");
DelegateControls.Instance.DelegateTextbox("FormMain_txt_hOffset", (lengthY).ToString());
DelegateControls.Instance.DelegateTextbox("FormMain_txt_vOffset", (lengthX).ToString());
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "2");
DelegateControls.Instance.DelegateTextbox("FormMain_instanceScrew", Math.Abs(robotPos1.Y - robotPos2.Y).ToString());
if ((robotPos1.Y - robotPos2.Y) < Param.Instance.InstanceMax + Param.Instance.InstanceOffset &&
(robotPos1.Y - robotPos2.Y) > Param.Instance.InstanceMax - Param.Instance.InstanceOffset)
{
DelegateControls.Instance.DelegateTextbox("FormMain_productType", "大号产品");
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(5, "3");
}
else if (Math.Abs(robotPos1.Y - robotPos2.Y) < Param.Instance.InstanceLittle + Param.Instance.InstanceOffset &&
(robotPos1.Y - robotPos2.Y) > Param.Instance.InstanceLittle - Param.Instance.InstanceOffset)
{
DelegateControls.Instance.DelegateTextbox("FormMain_productType", "小号产品");
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(5, "1");
}
else if (Math.Abs(robotPos1.Y - robotPos2.Y) < Param.Instance.InstanceMiddle + Param.Instance.InstanceOffset &&
(robotPos1.Y - robotPos2.Y) > Param.Instance.InstanceMiddle - Param.Instance.InstanceOffset)
{
DelegateControls.Instance.DelegateTextbox("FormMain_productType", "中号产品");
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(5, "2");
}
else
{
throw new Exception("螺丝孔位置 无法匹配产品");
}
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第二次拍照完成");
Step = MainStep.CheckInPlace;
break;
case MainStep.GetHolePoint2:
rtn = await HardWareManager.Instance.YaskawaRobot.GetTypeBData(1);
if (rtn != "1\r\0")
{
break;
}
_image = HardWareManager.Instance.Cmaera.SnapShot();
robotPos2 = await GetHolePoint(_image);
await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "1");
Step = MainStep.GetHolePoint1;
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第一次拍照完成");
break;
//VisionManager.Instance.ShapeModle.BackImage = _image.Clone();
//ModleFindResult result = VisionManager.Instance.ShapeModle.FindSimple();
//if (result != null)
//{
// HTuple hommate2d;
// HOperatorSet.VectorAngleToRigid(0, 0, 0, result.Row, result.Column, result.Angle, out hommate2d);
// HOperatorSet.AffineTransContourXld(result.ModleRegion, out HObject hObject, hommate2d);
// RegionX regionX = new RegionX(hObject, "green");
// DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", _image, new List<HalWindow.RegionX>() { regionX });
// HTuple _x = new HTuple();
// HTuple _y = new HTuple();
// VisionManager.Instance.Calibrate.GetRobotpoint(result.Row, result.Column, ref _x, ref _y);
// robotPos2 = await HardWareManager.Instance.YaskawaRobot.GetRobotCPoint();
// robotPos2.Y += _x;
// robotPos2.Z += _y;
// await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "1");
//}
//else
//{
// DelegateControls.Instance.DelegateHdisplay("FormMain_hDisplay1", _image, null);
// DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第一次取像未能找到第一个螺丝孔");
// HardWareManager.Instance.XinJiePlc.SetM(125, true);
// Step = MainStep.CheckInPlace;
// break;
//}
//await HardWareManager.Instance.YaskawaRobot.SetTypeBData(2, "1");
//Step = MainStep.GetHolePoint1;
//DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", "第一次拍照完成");
//break;
}
}
catch (Exception ex)
{
HardWareManager.Instance.XinJiePlc.SetM(125, true);
DelegateControls.Instance.DelegateRichTextBoxZd("FormMain_RichTextBoxZd", ex.Message);
Step = MainStep.CheckInPlace;
}
Thread.Sleep(100);
}
}
