/// <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");
}
}
