public override bool doLocal()
{
try
{
NowResult = new LocalResult();
myBlobLocal.Set(NowImg, NowVisionPara);
myBlobLocal.doLocal();
LocalResult blobLocalRlt = new LocalResult();
blobLocalRlt = myBlobLocal.GetResult();
HTuple HomMat = new HTuple(); //
//计算当前图片到示教图片的偏移矩阵
HOperatorSet.VectorAngleToRigid(blobLocalRlt.row, blobLocalRlt.col, blobLocalRlt.angle, blobLocalRlt.TeachRow,
blobLocalRlt.TeachCol, blobLocalRlt.TeachAngle, out HomMat); //
HObject AffineImg = new HObject();
HOperatorSet.AffineTransImage(NowImg, out AffineImg, HomMat, "constant", "false"); //矫正图像位置
myTwoLineLocal.Set(AffineImg, NowVisionPara);
myTwoLineLocal.doLocal();
LocalResult LineLocalResult = new LocalResult();
//计算当前示教图片到当前图片的偏移矩阵
HTuple ReHomMat = new HTuple();
HOperatorSet.VectorAngleToRigid(blobLocalRlt.TeachRow, blobLocalRlt.TeachCol, blobLocalRlt.TeachAngle,
blobLocalRlt.row, blobLocalRlt.col, blobLocalRlt.angle, out ReHomMat);//
myTwoLineLocal.NowResult.AffineTransResult(ReHomMat, out LineLocalResult);
//调整直线定位的位置和
HOperatorSet.ConcatObj(blobLocalRlt.ShowContour, LineLocalResult.ShowContour, out LineLocalResult.ShowContour);
NowResult = LineLocalResult;
return(true);
}
catch
{ return(false); }
}
public override bool doLocal()
{
LocalResult TempTwoCirLocalRlt = new LocalResult();
NowResult = new LineCircRectRlt();
try{
MyTempTwoCirLocal.Set(NowImg, NowVisionPara);
MyTempTwoCirLocal.doLocal();
TempTwoCirLocalRlt = MyTempTwoCirLocal.GetResult();
HTuple HomMat = new HTuple(); //
//计算当前图片到示教图片的偏移矩阵
HOperatorSet.VectorAngleToRigid(TempTwoCirLocalRlt.row, TempTwoCirLocalRlt.col, TempTwoCirLocalRlt.angle, TempTwoCirLocalRlt.TeachRow,
TempTwoCirLocalRlt.TeachCol, TempTwoCirLocalRlt.TeachAngle, out HomMat);//
HObject AffineImg = new HObject();
//矫正图像位置
HOperatorSet.AffineTransImage(NowImg, out AffineImg, HomMat, "constant", "false");
((LineCircRectRlt)NowResult).IsOk = LineCircleRectInspBase.LineCircleRectInsp(AffineImg, NowVisionPara.LineCirRectInspParam,
out ((LineCircRectRlt)NowResult).DetectContour, out ((LineCircRectRlt)NowResult).NgContour); //
HOperatorSet.CopyObj(TempTwoCirLocalRlt.ShowContour, out ((LineCircRectRlt)NowResult).ShowContour, 1, -1);
//位置的逆变换
HOperatorSet.VectorAngleToRigid(TempTwoCirLocalRlt.TeachRow, TempTwoCirLocalRlt.TeachCol, TempTwoCirLocalRlt.TeachAngle,
TempTwoCirLocalRlt.row, TempTwoCirLocalRlt.col, TempTwoCirLocalRlt.angle, out HomMat);//
NowResult.AffineTransResult(HomMat, out NowResult);
return(true);
}
catch (Exception e0)
{
Logger.PopError1(e0, false, "视觉运行错误日志");
return(false);
}
}
public override bool doLocal()
{
try
{
NowResult = new LocalResult();
MyTempLocal.Set(NowImg, NowVisionPara);
MyTempLocal.doLocal();
LocalResult TempLocalResult = new LocalResult();
TempLocalResult = MyTempLocal.GetResult();
HTuple HomMat = new HTuple(); //
//计算当前图片到示教图片的偏移矩阵
HOperatorSet.VectorAngleToRigid(TempLocalResult.row, TempLocalResult.col, TempLocalResult.angle, NowVisionPara.Template.CenterY,
NowVisionPara.Template.CenterX, NowVisionPara.Template.TemplateAngle, out HomMat);
HObject AffineImg = new HObject();
HOperatorSet.AffineTransImage(NowImg, out AffineImg, HomMat, "constant", "false");//矫正图像位
//计算示教图片到当前图片的偏移矩阵
HTuple ReHomMat = new HTuple();
HOperatorSet.VectorAngleToRigid(NowVisionPara.Template.CenterY, NowVisionPara.Template.CenterX, NowVisionPara.Template.TemplateAngle,
TempLocalResult.row, TempLocalResult.col, TempLocalResult.angle, out ReHomMat);
MyLineCirLocal.Set(NowImg, NowVisionPara);
MyLineCirLocal.doLocal();
LocalResult CircleResult = new LocalResult();
//位置的逆变换
MyLineCirLocal.NowResult.AffineTransResult(ReHomMat, out CircleResult);
HOperatorSet.ConcatObj(TempLocalResult.ShowContour, CircleResult.ShowContour, out CircleResult.ShowContour);
NowResult = CircleResult;
return(true);
}
catch
{ return(false); }
}
public override bool doLocal()
{
NowResult = new LocalResult();
//1.0模板匹配
St_TemplateParam TemplateParam = NowVisionPara.Template;
RectangleF roi = new RectangleF();
LocalSettingPara Setting = NowVisionPara.localSetting;
roi.X = Setting.SearchAreaX;
roi.Y = Setting.SearchAreaY;
roi.Width = Setting.SearchWidth;
roi.Height = Setting.SearchHeight;
MatchingResult result;
try{
NowResult.IsLocalOk = TemplateParam.FindSharpTemplate(NowImg, roi, TemplateParam, out result);
NowResult.row = result.mRow;
NowResult.col = result.mCol;
NowResult.angle = result.mAngle;
//NowResult.ShowContour = result.mContour;
NowResult.ShowContour = result.getDetectionResults();
return(true);
}
catch
{ return(false); }
}
public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_CirclesParam CirclesParam = new St_CirclesParam(2);
CirclesParam = NowVisionPara.Circles;
HTuple CircleRows = new HTuple(), CircleCols = new HTuple(), CircleRs = new HTuple(), StartPhis = new HTuple(), EndPhis = new HTuple();
HObject CircleContour = new HObject(), CircleCont = new HObject(), CenterCross = new HObject();
//找出要找的圆
CircleTypePos.FindCircle(NowImg, CirclesParam, out CircleRows, out CircleCols, out CircleRs, out StartPhis, out EndPhis,
out CircleContour, out CircleCont, out CenterCross);
HOperatorSet.ConcatObj(CircleContour, CircleCont, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, CenterCross, out CircleContour);
CircleCont.Dispose();
CenterCross.Dispose();
NowResult.ShowContour = CircleContour;
NowResult.row = (CircleRows[0].D + CircleCols[1].D) / 2.0;
NowResult.col = (CircleCols[0].D + CircleCols[1].D) / 2.0;
HTuple angle = new HTuple();
HOperatorSet.AngleLx(CircleRows[0], CircleCols[0], CircleRows[1], CircleCols[1], out angle);
NowResult.angle = angle.D;
return(true);
}
catch
{
return(false);
}
}
public LocalResult Copy()
{
LocalResult NowLocalRlt = new LocalResult();
NowLocalRlt.row = this.row;
NowLocalRlt.col = this.col;
NowLocalRlt.angle = this.angle;
NowLocalRlt.x = this.x;
NowLocalRlt.y = this.y;
NowLocalRlt.Theta = this.Theta;
NowLocalRlt.TeachRow = this.TeachRow;
NowLocalRlt.TeachCol = this.TeachCol;
NowLocalRlt.TeachAngle = this.TeachAngle;
NowLocalRlt.TeachX = this.TeachX;
NowLocalRlt.TeachY = this.TeachY;
NowLocalRlt.TeachTheta = this.TeachTheta;
NowLocalRlt.IsLocalOk = this.IsLocalOk;
NowLocalRlt.TeachPosToRot = this.TeachPosToRot;
NowLocalRlt.PosToRot = this.PosToRot;
if (!(this.ShowContour == null || !this.ShowContour.IsInitialized()))
{
HOperatorSet.CopyObj(this.ShowContour, out NowLocalRlt.ShowContour, 1, -1);
}
else
{
HOperatorSet.GenEmptyObj(out NowLocalRlt.ShowContour);
}
return(NowLocalRlt);
}
private void GetProductPixelPosBtn_Click(object sender, EventArgs e) //计算示教产品的像素的坐标，并保存到配置文件
{
this.GetProductPixelPosBtn.Enabled = false;
this.ProductPixelPosTeachBtn.Enabled = true;
try
{
LocalResult localResult = new LocalResult();
LocalManager myLocal = new LocalManager();
//1.0设置定位模式
myLocal.SetLocalModel(LocalPara0.localSetting.localModel);
//2.0设置定位参数
myLocal.SetParam(CurImg, LocalPara0);
//3.执行定位
myLocal.doLocal();
localResult = myLocal.GetResult();
this.LocalPara0.localSetting.TeachImgLocal = new St_VectorAngle(localResult.row, localResult.col, localResult.angle);
view1.ResetWindow();
view1.AddImage(CurImg.CopyObj(1, -1));
view1.SetDraw("blue", "margin");
view1.AddViewObject(localResult.ShowContour.CopyObj(1, -1));
view1.Repaint();
this.ProductPixelPosTbx.Text = "Col:" + localResult.col.ToString("f2") + " Row:" + localResult.row.ToString("f2") +
" Angle:" + localResult.angle.ToString("f2");
}
catch
{ }
}
public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_LinesParam LinesPara = new St_LinesParam(2);
LinesPara = NowVisionPara.Lines;
HTuple LineRow1 = new HTuple(), LineCol1 = new HTuple(), LineRow2 = new HTuple(), LineCol2 = new HTuple();
HObject LinesContour = new HObject(), LinePtCont = new HObject();
//找出所有的直线
LineTypePos.FindLine(LinesPara, NowImg, out LineRow1, out LineCol1, out LineRow2, out LineCol2, out LinesContour, out LinePtCont);
HTuple CrossRow = new HTuple(), CrossCol = new HTuple(), IsParallel = new HTuple();
//第一条直线和第二条直线的交点
HOperatorSet.IntersectionLl(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], LineRow1[1], LineCol1[1], LineRow2[1], LineCol2[1],
out CrossRow, out CrossCol, out IsParallel);
HTuple angle;
//图像坐标轴X轴到直线1的角度
HOperatorSet.AngleLx(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], out angle);
NowResult.row = CrossRow.D;
NowResult.col = CrossCol.D;
NowResult.angle = angle.D;
HOperatorSet.ConcatObj(LinesContour, LinePtCont, out LinesContour);
LinePtCont.Dispose();
NowResult.ShowContour = LinesContour;
return(true);
}
catch {
return(false);
}
}
public void NewDoProject(LD.Config.PlcDataItem PlcItem, Object Obj)
{
LD.Common.PlcDevice plcDevice = PlcItem.PlcDevice;
if (plcDevice == LD.Common.PlcDevice.ArtTestCameraStart) //
{
//读取机台编号
int StageNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestStageNumRead);
//读取拍照位编号
int GrabNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestGrabNum);
//获取视觉示教的定位参数
NowProjectPara = ProjectParaManager.Instance.GetProjectPara(StageNum);
//获取当前拍照点的视觉坐标
NowVisionPara = NowProjectPara.GetVisionPara(GrabNum);
NowVisionProcess.SetVisionPara(NowVisionPara);
NowVisionProcess.Do();
FirstLocalResult = NowVisionProcess.MyLocalResult;
St_VectorAngle PosToRot = NowVisionProcess.PosToRot;
St_VectorAngle TeachPosToRot = NowVisionProcess.TeachPosToRot;
St_VectorAngle AddVector = new St_VectorAngle();
MyVisionBase.VectorAngleToMotionXYTh(PosToRot, TeachPosToRot, out AddVector);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddX, -AddVector.Col);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddY, AddVector.Row);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddTheta, -AddVector.Angle);
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
}
}
public override bool doLocal()
{
try
{
NowResult = new LocalResult();
MyTempLocal.Set(NowImg, NowVisionPara);
MyTempLocal.doLocal();
LocalResult TempLocalResult = new LocalResult();
TempLocalResult = MyTempLocal.GetResult();
HTuple HomMat = new HTuple(); //
//¼ÆË㵱ǰͼƬµ½Ê¾½ÌͼƬµÄÆ«ÒƾØÕó
HOperatorSet.VectorAngleToRigid(TempLocalResult.row, TempLocalResult.col, TempLocalResult.angle, NowVisionPara.Template.CenterY,
NowVisionPara.Template.CenterX, NowVisionPara.Template.TemplateAngle, out HomMat); //
HObject AffineImg = new HObject();
HOperatorSet.AffineTransImage(NowImg, out AffineImg, HomMat, "constant", "false"); //½ÃÕýͼÏñλÖÃ
MyBlobLocal.Set(AffineImg, NowVisionPara);
MyBlobLocal.doLocal();
//¼ÆË㵱ǰʾ½ÌͼƬµ½µ±Ç°Í¼Æ¬µÄÆ«ÒƾØÕó
HTuple ReHomMat = new HTuple();
HOperatorSet.VectorAngleToRigid(NowVisionPara.Template.CenterY, NowVisionPara.Template.CenterX, NowVisionPara.Template.TemplateAngle,
TempLocalResult.row, TempLocalResult.col, TempLocalResult.angle, out ReHomMat);//
MyBlobLocal.NowResult.AffineTransResult(ReHomMat, out NowResult);
return(true);
}
catch
{
return(false);
}
}
/// <summary>
/// 这版软件的思想是将新图片模板匹配后，先转到和示教图片一样的位置，完成定位后，再将定位结果转到实际图片位置
/// </summary>
/// <param name="HomMat"></param>
/// <param name="AffinResult"></param>
public virtual void AffineTransResult(HTuple HomMat, out LocalResult AffinResult)
{
AffinResult = new LocalResult();
MyVisionBase.AffineTransPt(row, col, HomMat, out AffinResult.row, out AffinResult.col);
HTuple sx = new HTuple(), sy = new HTuple(), phi = new HTuple(), theta = new HTuple(), tx = new HTuple(), ty = new HTuple();
HOperatorSet.HomMat2dToAffinePar(HomMat, out sx, out sy, out phi, out theta, out tx, out ty);
AffinResult.angle = angle - phi.D;
HOperatorSet.AffineTransContourXld(ShowContour, out AffinResult.ShowContour, HomMat);
AffinResult.IsLocalOk = true;
}
private void StartCaliBtn_Click(object sender, EventArgs e)
{
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
try {
#region
List <Point2Db> PixelPtList = new List <Point2Db>();//像素点的坐标集合
LocalPara NowLocalPara = TeachCaliPara.localPara;
RectangleF RectFi = new RectangleF();
LocalManager MyLocal = new LocalManager(); //定位类初始化
LocalResult MyResult = new LocalResult();
Point2Db Pt = new Point2Db();
HObject CaliContour = new HObject();
HOperatorSet.GenEmptyObj(out CaliContour);
if (GrabedImg == null)
{
MessageBox.Show(" 请先加载一张图片");
return;
}
for (int i = 0; i < TeachCaliPara.ListRectRegion.Count; i++)
{
RectFi = TeachCaliPara.ListRectRegion[i];
TeachCaliPara.localPara.localSetting.SearchAreaX = (int)RectFi.X;
TeachCaliPara.localPara.localSetting.SearchAreaY = (int)RectFi.Y;
TeachCaliPara.localPara.localSetting.SearchWidth = (int)RectFi.Width;
TeachCaliPara.localPara.localSetting.SearchHeight = (int)RectFi.Height;
MyLocal.SetLocalModel(TeachCaliPara.localPara.localSetting.localModel);
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara);
MyLocal.doLocal();
MyResult = MyLocal.GetResult();
CaliContour = CaliContour.ConcatObj(MyResult.ShowContour);
//GetCaliMarkPts1(GrabedImg, MinGray, MaxGray, MarkR, out ContourU, out ListMarkCenterI); //找出Mark点
HObject CenterContour = new HObject();
HOperatorSet.GenCrossContourXld(out CenterContour, MyResult.row, MyResult.col, 50, 0); //生成找到的圆心轮廓
HOperatorSet.ConcatObj(CaliContour, CenterContour, out CaliContour);
Pt.Col = MyResult.col;
MyVisionBase.AdjImgRow(GrabedImg, ref MyResult.row);
Pt.Row = MyResult.row;
PixelPtList.Add(Pt);
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.AddViewObject(CaliContour);
view1.Repaint();
}
#endregion
bool IsTrue = true;
MyVisionBase.VectorToHomMat(PixelPtList, TeachCaliPara.ListPt2D, out TeachCaliPara.HomMat, out IsTrue);
}
catch
{ }
}));
}
public override void AffineTransResult(HTuple HomMat, out LocalResult AffinResult)
{
AffinResult = this;
MyVisionBase.AffineTransPt(row, col, HomMat, out AffinResult.row, out AffinResult.col);
HTuple sx = new HTuple(), sy = new HTuple(), phi = new HTuple(), theta = new HTuple(), tx = new HTuple(), ty = new HTuple();
HOperatorSet.HomMat2dToAffinePar(HomMat, out sx, out sy, out phi, out theta, out tx, out ty);
AffinResult.angle = angle - phi.D;
HOperatorSet.AffineTransContourXld(this.DetectContour, out ((LineCircRectRlt)AffinResult).DetectContour, HomMat);
HObject AffineNgCont = new HObject();
HOperatorSet.GenEmptyObj(out AffineNgCont);
HObject myCont = new HObject();
HOperatorSet.AffineTransRegion(this.NgContour, out AffineNgCont, HomMat, "constant");
HOperatorSet.CopyObj(AffineNgCont, out ((LineCircRectRlt)AffinResult).NgContour, 1, -1);
}
private void TryDebugBtn_Click(object sender, EventArgs e)
{
txtFindTime.Clear();
Stopwatch sw = new Stopwatch();
sw.Start();
TeachLoclPara.Blobs = TeachBlobLocaltPara;
LocalManager LocalCtrl = new LocalManager();
LocalCtrl.SetLocalModel(TeachLoclPara.localSetting.localModel);
LocalCtrl.SetParam(GrabedImg, TeachLoclPara);
LocalCtrl.doLocal();
sw.Stop();
LocalResult MyRlt = new LocalResult();
MyRlt = LocalCtrl.GetResult();
BlobLocalRlt BlobRlt = (BlobLocalRlt)MyRlt;
if (GrabedImg != null && GrabedImg.IsInitialized())
{
view1.ResetView();
view1.AddViewImage(GrabedImg);
view1.SetDraw("blue");
view1.AddViewObject(MyRlt.ShowContour);
view1.Repaint();
}
if (BlobRlt.ListWid != null && BlobRlt.ListWid.Count > 0)
{
double X = BlobRlt.ListCol[0] * TeachLoclPara.Blobs.PixelSize;
double H = BlobRlt.ListRow[0] * TeachLoclPara.Blobs.PixelSize;
view1.SetString(100, 150, "red", "坐标X（mm）：" + X.ToString() + " Y（mm）：" + H.ToString());
if (BlobRlt.ListWid.Count > 1)
{
X = BlobRlt.ListWid[1] * TeachLoclPara.Blobs.PixelSize;
H = BlobRlt.ListHei[1] * TeachLoclPara.Blobs.PixelSize;
view1.SetString(100, 750, "blue", "高度（mm）：" + H.ToString());
}
}
txtFindTime.Text = sw.ElapsedMilliseconds.ToString();
}
public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_LinesParam LinesPara = new St_LinesParam(2);
LinesPara = NowVisionPara.Lines;
HTuple LineRow1 = new HTuple(), LineCol1 = new HTuple(), LineRow2 = new HTuple(), LineCol2 = new HTuple();
HObject LinesContour = new HObject(), LinePtCont = new HObject();
//找出所有的直线
LineTypePos.FindLine(LinesPara, NowImg, out LineRow1, out LineCol1, out LineRow2, out LineCol2, out LinesContour, out LinePtCont);
St_CirclesParam CirclesParam = new St_CirclesParam(2);
CirclesParam = NowVisionPara.Circles;
HTuple CircleRows = new HTuple(), CircleCols = new HTuple(), CircleRs = new HTuple(), StartPhis = new HTuple(), EndPhis = new HTuple();
HObject CircleContour = new HObject(), CircleCont = new HObject(), CenterCross = new HObject();
HTuple angle;
//图像坐标轴X轴到直线1的角度
HOperatorSet.AngleLx(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], out angle);
//找出要找的圆
CircleTypePos.FindCircle(NowImg, CirclesParam, out CircleRows, out CircleCols, out CircleRs, out StartPhis, out EndPhis,
out CircleContour, out CircleCont, out CenterCross);
HOperatorSet.ConcatObj(CircleContour, CircleCont, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, CenterCross, out CircleContour);
CircleCont.Dispose();
CenterCross.Dispose();
HOperatorSet.ConcatObj(CircleContour, LinesContour, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, LinePtCont, out CircleContour);
LinesContour.Dispose();
LinePtCont.Dispose();
NowResult.row = CircleRows[0].D;
NowResult.col = CircleCols[0].D;
NowResult.angle = angle.D;
NowResult.ShowContour = CircleContour;
return(true);
}
catch
{ return(false); }
}
public virtual bool doLocal()
{
NowResult = new LocalResult();
return(true);
}
private void CaliRotCenterBtn_Click(object sender, EventArgs e)
{
DialogResult dr = MessageBox.Show("是否示开始旋转中心标定？", "提示", MessageBoxButtons.YesNo);
if (dr == DialogResult.No)
{
return;
}
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
ListMarkCenterU = new List <Point2Db>();
HObject GrabedImg = new HObject();
LocalManager MyLocal = new LocalManager(); //定位类初始化
LocalResult MyResult = new LocalResult();
MyLocal.SetLocalModel(TeachCaliPara.localPara.localSetting.localModel);
HOperatorSet.GenEmptyObj(out FindCenterCont);
//旋转一个角度拍一次照片，用定位的点拟合圆，计算出0度时标定点到旋转中心的偏移量
for (int i = 0; i < TeachCaliPara.AngleStep; i++)
{
if (MotionManager.Instance.SetCoordiPos(TeachCaliPara.StartRotPt.x, TeachCaliPara.StartRotPt.y, TeachCaliPara.StartRotPt.angle
+ TeachCaliPara.AngleRange / TeachCaliPara.AngleStep * i))
{
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
CameraCtrl.Instance.GrabImg(TeachCaliPara.cam, out GrabedImg); //采集图像
MyResult = new LocalResult();
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara);
MyLocal.doLocal();
MyResult = MyLocal.GetResult();
if (!MyResult.IsLocalOk)
{
MessageBox.Show("定位失败");
return;
}
view1.ResetView();
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.AddViewObject(MyResult.ShowContour);
view1.Repaint();
//view1.Refresh();
//this.Refresh();
Thread.Sleep(50);
Point2Db NowPt = new Point2Db();
NowPt.Col = MyResult.col;
NowPt.Row = MyResult.row;
ListMarkCenterU.Add(NowPt);
FindCenterCont = FindCenterCont.ConcatObj(MyResult.ShowContour);
}
else
{
MessageBox.Show("移动失败");
return;
}
}
#region 零度时候的定位坐标
Point2Db ZeoroDegreePos = new Point2Db();
if (MotionManager.Instance.SetCoordiPos(TeachCaliPara.StartRotPt.x, TeachCaliPara.StartRotPt.y, 0.0))
{
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
CameraCtrl.Instance.GrabImg(TeachCaliPara.cam, out GrabedImg); //采集图像
MyResult = new LocalResult();
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara);
MyLocal.doLocal();
MyResult = MyLocal.GetResult();
if (!MyResult.IsLocalOk)
{
MessageBox.Show("定位失败");
return;
}
ZeoroDegreePos = new Point2Db(MyResult.col, MyResult.row);
}
#endregion
//通过找到的标定mark中心点集合，拟合出旋转中心
HTuple CircleRows = new HTuple();
HTuple CircleCols = new HTuple();
MyVisionBase.ListPt2dToHTuple(ListMarkCenterU, out CircleRows, out CircleCols);
HObject CircleContourU = new HObject();
HTuple CenterRow = new HTuple(), CenterCol = new HTuple();
HTuple RotRadius = new HTuple(), StartPhi = new HTuple(), EndPhi = new HTuple(), FitFlag = new HTuple();
if (FindCirCenterCbx.SelectedValue.ToString() == "拟合圆")
{
MyVisionBase.PtsToBestCircle1(out CircleContourU, CircleRows, CircleCols, 4, "arc", out CenterRow, out CenterCol,
out RotRadius, out StartPhi, out EndPhi, out FitFlag);//通过边界点拟合圆
RotR = RotRadius.D;
RotCenterRow = CenterRow.D;
RotCenterCol = CenterCol.D;
}
else if (FindCirCenterCbx.SelectedValue.ToString() == "中垂线找圆心")
{
FindCircleCenter(ListMarkCenterU, out RotCenterRow, out RotCenterCol, out RotR);
HOperatorSet.GenCircleContourXld(out CircleContourU, RotCenterRow, RotCenterCol, RotR, 0, Math.PI, "positive", 1);
}
HObject PtContour = new HObject();
HOperatorSet.GenCrossContourXld(out PtContour, CircleRows, CircleCols, 20, 0.6);
HOperatorSet.ConcatObj(PtContour, CircleContourU, out CircleContourU);
// MyVisionBase.hDispObj(hWindowControl1.HalconWindow, CircleContourU);
view1.AddViewObject(CircleContourU);
view1.Repaint();
MyVisionBase.HTupleToListPt2d(CircleRows, CircleCols, out ListMarkCenterU);
//计算0度标定Mark中心到旋转中心的偏移量
VectorCaliMarkToRot.Row = (CenterRow - ZeoroDegreePos.Row);
VectorCaliMarkToRot.Col = (CenterCol - ZeoroDegreePos.Col);
HObject MarkToRotArrow = new HObject();
MyVisionBase.GenArrowContourXld(out MarkToRotArrow, ZeoroDegreePos.Row, ZeoroDegreePos.Col, CenterRow, CenterCol, 30, 30);
view1.AddViewObject(MarkToRotArrow);
view1.Repaint();
}));
}
public virtual void Do()
{
//1.打开光源
FileLib.Logger.Pop(" 打开光源：", false, "运行日志");
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
if (GrabImg != null)
{
GrabImg.Dispose();
}
FileLib.Logger.Pop(" 开始采图：", false, "运行日志");
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
//10.获取当前的机械坐标
double X = 0, Y = 0, Z = 0, Theta = 0;
if (CaliParaManager.Instance.GetCaliMode(MyVisionPara.localPara.localSetting.CoordiCam) == CaliModelEnum.HandEyeCali)
{
MotionManager.Instance.SetCoordi(MyVisionPara.localPara.localSetting.TeachCoordi);
FileLib.Logger.Pop("当前的坐标系为：" + MyVisionPara.localPara.localSetting.TeachCoordi.ToString(), false, "运行日志");
MotionManager.Instance.GetCoordiPos(out X, out Y, out Z, out Theta);
FileLib.Logger.Pop("当前的机械坐标", false, "运行日志");
FileLib.Logger.Pop("X：" + X.ToString("f4") + " Y：" + Y.ToString("f4") +
" Z：" + Z.ToString("f4") + " Theta：" + Theta.ToString("f4"), false, "运行日志");
}
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCameraGrabed, 1); //拍照OK
FileLib.Logger.Pop(" 采图OK：", false, "运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCameraGrabed, 2); //拍照NG
FileLib.Logger.Pop(" 采图NG：", false, "运行日志");
}
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam0)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam1)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view1.ResetView();
view1.Refresh();
view1.AddViewImage(GrabImg);
view1.Repaint();
MyVisionBase.SaveImg(GrabImg, "扎针对位图片");
//3.关闭光源
LightCtrlManager.Instance.SetAllLightTo0();
FileLib.Logger.Pop(" 关闭光源：", false, "运行日志");
//4.0设置定位模式
MyLocal.SetLocalModel(MyVisionPara.localPara.localSetting.localModel);
//5.0设置定位参数
MyLocal.SetParam(GrabImg, MyVisionPara.localPara);
//6.执行定位
try
{
MyLocal.doLocal();
//7.告诉PLC定位结果完成
if (MyVisionPara.ProjectVisionItem == ProjectVisionEnum.ProjectVision1)
{
FileLib.Logger.Pop(" 扎针右侧视觉定位完成，先不发给PLC信号，等计算出偏移量后，将信号发给PLC：", false, "运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 1); //告诉PLC定位结果OK
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果OK）：", false, "运行日志");
}
}
catch (Exception e0)
{
Logger.PopError1(e0, false, "视觉错误日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 2); //告诉PLC定位结果NG
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果NG）：", false, "运行日志");
MyLocalResult.IsLocalOk = false;
}
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
//结合标定坐标计算出产品的实际位置
//8.获取标定矩阵
MyHomMat2D HomMat = new MyHomMat2D();
HomMat = CaliParaManager.Instance.GetHomMAT(MyVisionPara.localPara.localSetting.CoordiCam); //获取示教的标定矩阵
FileLib.Logger.Pop(" 获取示教的标定矩阵：" + MyVisionPara.localPara.localSetting.CoordiCam.ToString(), false, "运行日志");
FileLib.Logger.Pop(HomMat.ToString(), false, "运行日志");
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//9.图像坐标系的原点由左上角变到左下角
MyVisionBase.AdjImgRow(GrabImg, ref MyLocalResult.row);
St_VectorAngle PixelVector = new St_VectorAngle(MyLocalResult.row, MyLocalResult.col, MyLocalResult.angle);
FileLib.Logger.Pop("当前的像素坐标", false, "运行日志");
FileLib.Logger.Pop("Col：" + MyLocalResult.col.ToString("f4") + " Row：" + MyLocalResult.row.ToString("f4") +
" Theta：" + MyLocalResult.angle.ToString("f4"), false, "运行日志");
CaliValue CaliPara = CaliParaManager.Instance.GetCaliValue(MyVisionPara.localPara.localSetting.CoordiCam);
VectorAngle GrabPos = new VectorAngle(X, Y, Theta);
//9 计算出当前产品距离旋转中心的坐标
EyeToHandPos.TransEyeToHandPos(PixelVector, CaliPara, GrabPos, out PosToRot);
//10计算出示教产品到旋转中心的坐标
St_VectorAngle TeachPixelPos = new St_VectorAngle(MyLocalResult.TeachRow, MyLocalResult.TeachCol, MyLocalResult.TeachAngle);
VectorAngle TeachGrabPos = new VectorAngle(MyLocalResult.TeachX, MyLocalResult.TeachY, MyLocalResult.TeachTheta);
MyVisionBase.AdjImgRow(GrabImg, ref TeachPixelPos.Row);
EyeToHandPos.TransEyeToHandPos(TeachPixelPos, CaliPara, TeachGrabPos, out TeachPosToRot);
view1.Repaint();
view1.SetString(100, 100, "red", "PosToRot: " + " X： " + PosToRot.Col.ToString("f3") + " Y： " +
PosToRot.Row.ToString("f3") + " Theta： " + PosToRot.Angle.ToString("f3"));
MyLocalResult.PosToRot = PosToRot;
MyLocalResult.TeachPosToRot = TeachPosToRot;
FileLib.Logger.Pop("示教的产品相对旋转中心的偏移量", false, "运行日志");
FileLib.Logger.Pop("PosToRot: " + " X： " + PosToRot.Col.ToString("f3") + " Y： " +
PosToRot.Row.ToString("f3") + " Theta： " + PosToRot.Angle.ToString("f3"), false, "运行日志");
FileLib.Logger.Pop("当前的产品相对旋转中心的偏移量", false, "运行日志");
FileLib.Logger.Pop("PosToRot: " + " X： " + TeachPosToRot.Col.ToString("f3") + " Y： " +
TeachPosToRot.Row.ToString("f3") + " Theta： " + TeachPosToRot.Angle.ToString("f3"), false, "运行日志");
//11.计算出X Y Theta的补偿量，
////图像坐标转到机械坐标系
//MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HHomMat, out MyLocalResult.x, out MyLocalResult.y);
////
//MyVisionBase.AffineTransPt(MyLocalResult.TeachCol, MyLocalResult.TeachRow, HHomMat, out MyLocalResult.TeachX, out MyLocalResult.TeachY);
}
/// <summary>
/// 获取九点标定的九个世界坐标点，九个像素坐标点
/// </summary>
/// <param name="StartPt">示教起始点</param>
/// <param name="EndPt">示教终点</param>
/// <param name="IsCameraMovingWithAxisX"></param>
/// <param name="IsCameraMovingWithAxisY"></param>
/// <param name="PixelPosP"></param>
/// <param name="MotionPosW"></param>
/// <returns></returns>
public bool GetHandEyeCaliPt(Point2Db StartPt, Point2Db EndPt, bool IsCameraMovingWithAxisX, bool IsCameraMovingWithAxisY,
out List <Point2Db> PixelPosP, out List <Point2Db> MotionPosW)
{
int StepCount = 3;
PixelPosP = new List <Point2Db>();
MotionPosW = new List <Point2Db>();
Point2Db startPt = new Point2Db(Math.Min(StartPt.Col, EndPt.Col), Math.Min(StartPt.Row, EndPt.Row));
Point2Db endPt = new Point2Db(Math.Max(StartPt.Col, EndPt.Col), Math.Max(StartPt.Row, EndPt.Row));
double recWidth = endPt.Col - startPt.Col;
double recHeight = endPt.Row - startPt.Row;
double stepX = recWidth / (StepCount - 1);
double stepY = recHeight / (StepCount - 1);
List <double> supposeX = new List <double>(), supposeY = new List <double>();
List <double> currentX = new List <double>(), currentY = new List <double>();
LocalManager MyLocal = new LocalManager(); //定位类初始化
LocalResult MyResult = new LocalResult();
MyLocal.SetLocalModel(TeachCaliPara.localPara.localSetting.localModel);
HOperatorSet.GenEmptyObj(out CaliContour);
for (int row = 0; row <= StepCount - 1; row += 1)
{
for (int col = 0; col <= StepCount - 1; col += 1)
{
Point2Db movePt = new Point2Db(); //九点标定时，相机移动到一个点，然后开始拍照
Point2Db CaliMovePt = new Point2Db(); //九点标定时的点，坐下角为第一个点，右上角为第九个点
if (IsCameraMovingWithAxisX && IsCameraMovingWithAxisY) //相机跟随XY周移动
{
movePt = new Point2Db(startPt.Col + (StepCount - 1 - col) * stepX, startPt.Row + (StepCount - 1 - row) * stepY);
}
else if ((IsCameraMovingWithAxisX) && (!IsCameraMovingWithAxisY)) //相机跟随X轴移动
{
movePt = new Point2Db(startPt.Col + (StepCount - 1 - col) * stepX, startPt.Row + row * stepY);
}
else if ((!IsCameraMovingWithAxisX) && IsCameraMovingWithAxisY) //相机跟随Y轴移动
{
movePt = new Point2Db(startPt.Col + col * stepX, startPt.Row + (StepCount - 1 - row) * stepY);
}
else if ((!IsCameraMovingWithAxisX) && (!IsCameraMovingWithAxisY)) //相机固定
{
movePt = new Point2Db(startPt.Col + col * stepX, startPt.Row + row * stepY);
}
CaliMovePt = new Point2Db(startPt.Col + col * stepX, startPt.Row + row * stepY);
// 控制平台移动到目标位置
if (!MotionManager.Instance.SetCoordiPos(movePt.Col, movePt.Row, TeachCaliPara.EndCaliPt.angle))
{
MessageBox.Show("X Y轴运动失败!");
return(false);
}
Thread.Sleep(2000);
GrabedImg = new HObject();
CameraCtrl.Instance.GrabImg(TeachCaliPara.cam, out GrabedImg); //相机拍照抓取图片
Point2Db Pt = new Point2Db();
if (GrabedImg.IsInitialized())
{
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara); //设置定位参数
MyLocal.doLocal(); //执行定位算法
MyResult = MyLocal.GetResult(); //获取定位结果
view1.ResetView();
CaliContour = CaliContour.ConcatObj(MyResult.ShowContour);
view1.AddViewImage(GrabedImg);
view1.AddViewObject(MyResult.ShowContour);
//GetCaliMarkPts1(GrabedImg, MinGray, MaxGray, MarkR, out ContourU, out ListMarkCenterI); //找出Mark点
HObject CenterContour = new HObject();
HOperatorSet.GenCrossContourXld(out CenterContour, MyResult.row, MyResult.col, 50, 0); //生成找到的圆心轮廓
HOperatorSet.ConcatObj(CaliContour, CenterContour, out CaliContour);
view1.AddViewObject(CaliContour);
view1.Repaint();
Pt.Col = MyResult.col;
Pt.Row = MyResult.row;
PixelPosP.Add(Pt);
MotionPosW.Add(CaliMovePt);
}
else
{
MessageBox.Show("采集图片失败");
return(false);
}
}
}
return(true);
}
/// <summary>
/// 扎针定位
/// </summary>
/// <param name="PlcItem"></param>
/// <param name="Obj"></param>
public void DoProject(LD.Config.PlcDataItem PlcItem, Object Obj)
{
LD.Common.PlcDevice plcDevice = PlcItem.PlcDevice;
if (plcDevice == LD.Common.PlcDevice.V_01_TriggerGrab) //
{
NowVisionProcess = new DoVisionProcess();
//起始信号清零
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_01_TriggerGrab, 0);
FileLib.Logger.Pop("接受到PLC信号，开始扎针对位", false, "运行日志");
short ClearValue = 1;
object obj = new object();
while (true)
{
obj = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.V_01_TriggerGrab);
ClearValue = (short)obj;
if (ClearValue == 0)
{
break;
}
else
{
System.Threading.Thread.Sleep(10);
}
}
System.Threading.Thread.Sleep(1);
//读取机台编号
int StageNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestStageNumRead);
FileLib.Logger.Pop(" 读取机台编号：" + StageNum.ToString(), false, "运行日志");
System.Threading.Thread.Sleep(1);
//读取拍照位编号
short GrabNum = (short)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestGrabNum);
System.Threading.Thread.Sleep(1);
//获取视觉示教的定位参数
NowProjectPara = ProjectParaManager.Instance.GetProjectPara(StageNum);
//获取当前拍照点的视觉坐标
NowVisionPara = NowProjectPara.GetVisionPara(GrabNum);
NowVisionProcess.SetVisionPara(NowVisionPara);
NowVisionProcess.Do();
if (GrabNum == 0)
{
FirstLocalResult = NowVisionProcess.MyLocalResult;
FileLib.Logger.Pop(" 左边拍照定位完成，开始右边拍照定位：", false, "运行日志");
}
else
{
SecondLocalResult = NowVisionProcess.MyLocalResult;
//示教点到旋转中心的坐标
Point2Db TeachPt2d1 = new Point2Db(FirstLocalResult.TeachPosToRot.Col, FirstLocalResult.TeachPosToRot.Row);
Point2Db TeachPt2d2 = new Point2Db(SecondLocalResult.TeachPosToRot.Col, SecondLocalResult.TeachPosToRot.Row);
FileLib.Logger.Pop(" 示教产品到旋转中心的坐标(左右两点)：" + TeachPt2d1.Col.ToString("f3") + " " + TeachPt2d1.Row.ToString("f3") + " "
+ TeachPt2d2.Col.ToString("f3") + " " + TeachPt2d2.Row.ToString("f3"), false, "运行日志");
//当前产品到旋转中心的坐标
Point2Db NowPosPt2d1 = new Point2Db(FirstLocalResult.PosToRot.Col, FirstLocalResult.PosToRot.Row);
Point2Db NowPosPt2d2 = new Point2Db(SecondLocalResult.PosToRot.Col, SecondLocalResult.PosToRot.Row);
FileLib.Logger.Pop(" 当前产品到旋转中心的坐标(左右两点)：" + NowPosPt2d1.Col.ToString("f3") + " " + NowPosPt2d1.Row.ToString("f3") + " "
+ NowPosPt2d2.Col.ToString("f3") + " " + NowPosPt2d2.Row.ToString("f3"), false, "运行日志");
List <Point2Db> TeachPtList = new List <Point2Db>();
List <Point2Db> NowPtList = new List <Point2Db>();
//当前产品移动到产品示教时的位置，先计算出偏移矩阵
TeachPtList.Add(TeachPt2d1);
TeachPtList.Add(TeachPt2d2);
NowPtList.Add(NowPosPt2d1);
NowPtList.Add(NowPosPt2d2);
MyHomMat2D NowHomat = new MyHomMat2D();
bool IsTrue = false;
MyVisionBase.VectorToRigidHomMat(NowPtList, TeachPtList, out NowHomat, out IsTrue);
double AddX = 0, AddY = 0, AddTheta = 0;
MyVisionBase.CalculateThreeTapePos(NowPosPt2d1, NowPosPt2d2, TeachPt2d1, TeachPt2d2, out AddX, out AddY, out AddTheta);
FileLib.Logger.Pop(" 计算出的偏移补偿量：" + AddX.ToString("f3") + " " + AddY.ToString("f3") + " " + AddTheta.ToString("f3"), false, "运行日志");
///再根据偏移矩阵计算出偏移量
double AddX1 = 0, AddY1 = 0, AddTheta1 = 0;
MyVisionBase.HomMat2dToAffinePara(NowHomat, out AddTheta1, out AddY1, out AddX1);
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
view1.SetString(500, 500, "red", " AddX： " + AddX.ToString("f4") + " mm ");
view1.SetString(500, 600, "red", " AddY： " + AddY.ToString("f4") + " mm ");
view1.SetString(500, 700, "red", " AddTheta： " + AddTheta.ToString("f4") + " 度 ");
///
double addx0 = -AddX * 1000;
double addy0 = AddY * 1000;
double addtheta0 = AddTheta * 1000;
int addx = (int)addx0;
int addy = (int)addy0;
int addtheta = (int)addtheta0;
NowVisionPara = NowProjectPara.GetVisionPara(0);
int offsetx = (int)(NowVisionPara.localPara.localSetting.Offset_x * 1000);
int offsety = (int)(NowVisionPara.localPara.localSetting.Offset_y * 1000);
int offsettheta = (int)(NowVisionPara.localPara.localSetting.Offset_theta * 1000);
int newAddX = addx + offsetx;
int NewAddY = addy + offsety;
int NewAddTheta = -addtheta + offsettheta;
if (StageNum == 0 || StageNum == 2)//左边两个平台X轴为正常方向，后面两个平台为反方向
{
newAddX = addx + offsetx;
}
else
{
newAddX = -addx + offsetx;
}
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddX, newAddX);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddY, NewAddY);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddTheta, NewAddTheta);//图像坐标系为逆时针，机械坐标系为顺时针
System.Threading.Thread.Sleep(5);
int ReadAddX = 0;
int ReadAddY = 0;
int ReadAddTheta = 0;
object ObjRead = 0;
int WriteCount = 0;
while (true)
{
ObjRead = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestAddX);
System.Threading.Thread.Sleep(5);
ReadAddX = (int)ObjRead;
ObjRead = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestAddY);
System.Threading.Thread.Sleep(5);
ReadAddY = (int)ObjRead;
ObjRead = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestAddTheta);
System.Threading.Thread.Sleep(5);
ReadAddTheta = (int)ObjRead;
if (ReadAddX == newAddX && ReadAddY == NewAddY && ReadAddTheta == NewAddTheta)
{
FileLib.Logger.Pop(" 补偿值成功写入", false, "运行日志");
break;
}
else
{
WriteCount++;
if (WriteCount % 10 == 0)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddX, newAddX);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddY, NewAddY);
System.Threading.Thread.Sleep(5);
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestAddTheta, NewAddTheta);//图像坐标系为逆时针，机械坐标系为顺时针
System.Threading.Thread.Sleep(5);
}
if (WriteCount > 300)
{
break;
}
}
}
if (SecondLocalResult.IsLocalOk)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 1); //告诉PLC定位结果OK
FileLib.Logger.Pop(" 告诉PLC补偿量已经发给PLC：", false, "运行日志");
}
}
}
}
public void DoFOFProject1(LD.Config.PlcDataItem PlcItem, Object Obj)
{
LD.Common.PlcDevice plcDevice = PlcItem.PlcDevice;
if (plcDevice == LD.Common.PlcDevice.V_02_TriggerGrab)
{
FileLib.Logger.Pop("接受到PLC信号，偏移检测", false, "FOF运行日志");
NowUpVisionProcess = new DoUpDnVisionProcess();
NowUpLocalRlt = new LocalResult();
NowDnLocalRlt = new LocalResult();
//起始信号清零
FileLib.Logger.Pop("启动信号清零", false, "FOF运行日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_02_TriggerGrab, 0);
System.Threading.Thread.Sleep(1);
short ClearValue = 1;
object obj = new object();
FileLib.Logger.Pop("启动地址清零成功", false, "FOF运行日志");
//读取机台编号 4 代表FOF左侧FOF偏移检测 ，5代表FOF右侧偏移检测
int StageNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.ArtTestStageNumRead);
FileLib.Logger.Pop(" 读取机台编号：" + StageNum.ToString(), false, "FOF运行日志");
System.Threading.Thread.Sleep(1);
//获取视觉示教的定位参数
NowProjectPara = ProjectParaManager.Instance.GetProjectPara(StageNum);
//获取当前拍照点的视觉坐标
double OffsetX = 0;
double OffsetY = 0;
try {
FileLib.Logger.Pop("开始FOF偏移检测上相机定位", false, "FOF运行日志");
NowVisionPara = NowProjectPara.GetVisionPara(0);
NowUpVisionProcess.SetVisionPara(NowVisionPara);
NowUpVisionProcess.Do();
NowUpLocalRlt = NowUpVisionProcess.MyLocalResult;
BlobLocalRlt FofRlt = (BlobLocalRlt)NowUpLocalRlt;
double x = FofRlt.ListWid[0] * NowVisionPara.localPara.Blobs.PixelSize;
double y = FofRlt.ListHei[1] * NowVisionPara.localPara.Blobs.PixelSize;
OffsetX = x + NowVisionPara.localPara.localSetting.Offset_x;
OffsetY = y + NowVisionPara.localPara.localSetting.Offset_y;
FileLib.Logger.Pop("偏移量： " + "OffsetX: " + OffsetX.ToString("f4") + " " + "OffsetY: "
+ OffsetY.ToString("f4"), false, "FOF运行日志");
}
catch (Exception e0) {
Logger.PopError1(e0, false, "视觉错误日志");
OffsetX = 999999;
OffsetY = 999999;
}
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
view1.SetString(500, 500, "red", "OffsetX: " + OffsetX.ToString("f4") + " mm");
view1.SetString(500, 600, "red", "OffsetY: " + OffsetY.ToString("f4") + " mm");
if (Math.Abs(OffsetX) < NowVisionPara.localPara.localSetting.Offset_x_range && Math.Abs(OffsetY)
< NowVisionPara.localPara.localSetting.Offset_y_range)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_inspect_result, 1); //检测结果Ok
FileLib.Logger.Pop("检测结果写给Plc(FOF_inspect_result)：OK", false, "FOF运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_inspect_result, 2); //检测结果NG
FileLib.Logger.Pop("检测结果写给Plc(FOF_inspect_result)：NG", false, "FOF运行日志");
}
FileLib.Logger.Pop("循环读取启动地址，保证清零成功", false, "FOF运行日志");
int ReadCount = 1;
while (true)
{
obj = LD.Logic.PlcHandle.Instance.ReadValue(LD.Common.PlcDevice.V_02_TriggerGrab);
ClearValue = (short)obj;
if (ClearValue == 0)
{
break;
}
else
{
System.Threading.Thread.Sleep(10);
if (ReadCount % 10 == 0)
{
FileLib.Logger.Pop("重新执行一次清零", false, "FOF运行日志");
ReadCount = 1;
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_02_TriggerGrab, 0);
}
if (ReadCount > 100)
{
FileLib.Logger.Pop("清零次数超过10，清零失败", false, "FOF运行日志");
}
}
ReadCount++;
}
FileLib.Logger.Pop("将偏移量写给PLC", false, "FOF运行日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_offset_x, (int)(OffsetX * 1000));
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_offset_y, (int)(OffsetY * 1000));
FileLib.Logger.Pop("偏移量写给PLC完成", false, "FOF运行日志");
FileLib.Logger.Pop("。", false, "FOF运行日志");
FileLib.Logger.Pop("。", false, "FOF运行日志");
FileLib.Logger.Pop("。", false, "FOF运行日志");
}
}
