예제 #1
0
        private void UpCamThread(Object Obj)
        {
            UpCamThreadSwitch = true;
            UpCamProcessEvent.Reset();
            while (true)
            {
                if (UpCamProcessEvent.IsSet)
                {
                    int UpCamStationNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(UpCamVisionNumAddr);
                    if (UpCamStationNum == 0) //上相机定位左上角
                    {
                        //1.0开始采图
                        VisionStateBaseUpCamLeftUp.GrabingImg();
                        //2.0告诉PLC采图完成
                        LD.Logic.PlcHandle.Instance.WriteValue(UpCamGrabedAddr, 1);
                        //3.0执行定位
                        VisionStateBaseUpCamLeftUp.DoLocal();
                        //4.0显示定位结果
                        VisionStateBaseUpCamLeftUp.ShowRlt();
                        //5.0获取定位结果
                        UpCamLeftUpLocalRlt  = VisionStateBaseUpCamLeftUp.GetLocalRlt();
                        UpCamLeftUpLocalIsok = true;
                    }
                    else if (UpCamStationNum == 1)//上相机定位右上角
                    {
                        VisionStateBaseUpCamRightUp.GrabingImg();
                        LD.Logic.PlcHandle.Instance.WriteValue(UpCamGrabedAddr, 1);
                        VisionStateBaseUpCamRightUp.DoLocal();
                        VisionStateBaseUpCamRightUp.ShowRlt();
                        UpCamRightUpLocalRlt  = VisionStateBaseUpCamLeftUp.GetLocalRlt();
                        UpCamRightUpLocalIsOk = true;
                    }
                    UpCamProcessEvent.Reset();
                }
                else
                {
                    Thread.Sleep(1);
                }
                if (UpCamLeftUpLocalIsok && UpCamRightUpLocalIsOk && LeftDnCamLeftLocalIsOk && LeftDnCamRightLocalIsOk)
                {
                    //1.0计算胶带当前的定位坐标,相对于示教坐标的偏差;
                    double LeftOffSetX = 0, LeftOffSetY = 0, RightOffSetX = 0, RightOffsetY = 0;
                    LeftOffSetX  = LeftDnCamLeftLocalResult.PosToRot.Col - LeftDnCamLeftLocalResult.TeachPosToRot.Col;
                    LeftOffSetY  = LeftDnCamLeftLocalResult.PosToRot.Row - LeftDnCamLeftLocalResult.TeachPosToRot.Row;
                    RightOffSetX = LeftDnCamRightLocalResult.PosToRot.Col - LeftDnCamRightLocalResult.TeachPosToRot.Col;
                    RightOffsetY = LeftDnCamRightLocalResult.PosToRot.Row - LeftDnCamRightLocalResult.TeachPosToRot.Row;
                    //2.0 用当前的胶带坐标相对于示教的偏移量, 调整Ipad的示教坐标
                    Point2Db TeachIpadPosLeft  = new Point2Db(UpCamLeftUpLocalRlt.TeachPosToRot.Col, UpCamLeftUpLocalRlt.TeachPosToRot.Row);
                    Point2Db TeachIpadPosRight = new Point2Db(UpCamRightUpLocalRlt.TeachPosToRot.Col, UpCamRightUpLocalRlt.TeachPosToRot.Row);
                    TeachIpadPosLeft.Col  = TeachIpadPosLeft.Col + LeftOffSetX;
                    TeachIpadPosLeft.Row  = TeachIpadPosLeft.Row + LeftOffSetY;
                    TeachIpadPosRight.Col = TeachIpadPosRight.Col + RightOffSetX;
                    TeachIpadPosRight.Row = TeachIpadPosRight.Row + RightOffsetY;
                    //3.0 利用调整后的Ipad示教坐标 和 当前的Ipad坐标 计算出 偏移补偿量
                    Point2Db NowIpadLeftPos  = new Point2Db(UpCamLeftUpLocalRlt.PosToRot.Col, UpCamLeftUpLocalRlt.PosToRot.Row);
                    Point2Db NowIpadRightPos = new Point2Db(UpCamRightUpLocalRlt.PosToRot.Col, UpCamRightUpLocalRlt.PosToRot.Row);
                    //4.0计算出偏移量
                    double AddX = 0, AddY = 0, AddTheta = 0;
                    MyVisionBase.CalculateThreeTapePos(NowIpadLeftPos, NowIpadRightPos, TeachIpadPosLeft, TeachIpadPosRight, 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");
                    int SystemOffSetX = 0, SystemOffsetY = 0;
                    SystemOffSetX = (int)(LeftDnCamLeftVisionPara.localPara.localSetting.Offset_x * 1000); //系统误差补偿
                    SystemOffsetY = (int)(LeftDnCamLeftVisionPara.localPara.localSetting.Offset_y * 1000);
                    int NewAddX     = (int)(AddX * 1000) + SystemOffSetX;
                    int NewAddY     = (int)(AddY * 1000) + SystemOffsetY;
                    int NewAddTheta = (int)(AddTheta * 1000);
                    LD.Logic.PlcHandle.Instance.WriteValue(LeftDnCamVisionFinishAddr, 1);
                    LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_03_Offset_X, NewAddX);
                    LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_03_Offset_Y, -NewAddY); //移动屏幕
                    LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_03_Offset_R, NewAddTheta);

                    //5.0 清空此次定位的数据,进入下次定位
                    UpCamLeftUpLocalIsok    = false;
                    UpCamRightUpLocalIsOk   = false;
                    LeftDnCamLeftLocalIsOk  = false;
                    LeftDnCamRightLocalIsOk = false;
                }
                if (!UpCamThreadSwitch)
                {
                    break;
                }
            }
        }
예제 #2
0
        public void UpCamThread(Object Obj)
        {
            UpCamThreadSwitch = true;
            UpCamProcessEvent.Reset();
            while (true)
            {
                if (UpCamProcessEvent.IsSet)
                {
                    int UpCamStationNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(UpCamVisionNumAddr);
                    if (UpCamStationNum == 0)
                    {
                        VisionStateUpCamLeftDn.GrabingImg();                          //1.0 开始采图
                        LD.Logic.PlcHandle.Instance.WriteValue(UpCamGrabedAddr, 1);   //2.0 告诉Plc采图完成
                        VisionStateUpCamLeftDn.DoLocal();                             //3.0 执行定位
                        VisionStateUpCamLeftDn.ShowRlt();                             //4.0 显示定位结果
                        UpCamLeftDnLocalRlt  = VisionStateUpCamLeftDn.GetLocalRlt();  //5.0  获取定位结果
                        UpCamLeftDnLocalIsOk = true;
                    }
                    else if (UpCamStationNum == 1)
                    {
                        VisionStateUpCamRightDn.GrabingImg();
                        LD.Logic.PlcHandle.Instance.WriteValue(UpCamGrabedAddr, 1);
                        VisionStateUpCamRightDn.DoLocal();
                        VisionStateUpCamRightDn.ShowRlt();
                        UpCamRightDnLocalRlt  = VisionStateUpCamRightDn.GetLocalRlt();
                        UpCamRightDnLocalIsOk = true;
                    }
                    UpCamProcessEvent.Reset();
                }
                else
                {
                    Thread.Sleep(1);
                }
                if (UpCamLeftDnLocalIsOk && UpCamRightDnLocalIsOk && RightDnLeftLocalIsOk && RightDnRightLocalIsOk)
                {
                    //1.0计算胶带当前的定位坐标,相对于示教坐标的偏差;
                    double LeftOffSetX = 0, LeftOffSetY = 0, RightOffSetX = 0, RightOffsetY = 0;
                    LeftOffSetX  = RightDnCamLeftLocalRlt.PosToRot.Col - RightDnCamLeftLocalRlt.TeachPosToRot.Col;
                    LeftOffSetY  = RightDnCamLeftLocalRlt.PosToRot.Row - RightDnCamLeftLocalRlt.TeachPosToRot.Row;
                    RightOffSetX = RightDnCamRightLocalRlt.PosToRot.Col - RightDnCamRightLocalRlt.TeachPosToRot.Col;
                    RightOffsetY = RightDnCamRightLocalRlt.PosToRot.Row - RightDnCamRightLocalRlt.TeachPosToRot.Row;

                    //2.0 用当前的胶带坐标相对于示教的偏移量, 调整Ipad的示教坐标
                    Point2Db TeachIpadPosLeft  = new Point2Db(UpCamLeftDnLocalRlt.TeachPosToRot.Col, UpCamLeftDnLocalRlt.TeachPosToRot.Row);
                    Point2Db TeachIpadPosRight = new Point2Db(UpCamRightDnLocalRlt.TeachPosToRot.Col, UpCamRightDnLocalRlt.TeachPosToRot.Row);
                    TeachIpadPosLeft.Col  = TeachIpadPosLeft.Col + LeftOffSetX;
                    TeachIpadPosLeft.Row  = TeachIpadPosLeft.Row + LeftOffSetY;
                    TeachIpadPosRight.Col = TeachIpadPosRight.Col + RightOffSetX;
                    TeachIpadPosRight.Row = TeachIpadPosRight.Row + RightOffsetY;

                    //3.0 利用调整后的Ipad示教坐标 和 当前的Ipad坐标 计算出 偏移补偿量
                    Point2Db NowIpadLeftPos  = new Point2Db(UpCamLeftDnLocalRlt.PosToRot.Col, UpCamLeftDnLocalRlt.PosToRot.Row);
                    Point2Db NowIpadRightPos = new Point2Db(UpCamRightDnLocalRlt.PosToRot.Col, UpCamRightDnLocalRlt.PosToRot.Row);

                    //4.0计算出偏移量
                    double SystemOffsetX = RightDnLeftVisionPara.localPara.localSetting.Offset_x;
                    double SystemOffsetY = RightDnLeftVisionPara.localPara.localSetting.Offset_y;
                    double SystemOffsetTheta = RightDnLeftVisionPara.localPara.localSetting.Offset_theta;
                    double AddX = 0, AddY = 0, AddTheta = 0;
                    MyVisionBase.CalculateTwoPtPos(NowIpadLeftPos, NowIpadRightPos, TeachIpadPosLeft, TeachIpadPosRight,
                                                   SystemOffsetX, SystemOffsetY, SystemOffsetTheta, 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");

                    int NewAddX = (int)(AddX * 1000);
                    int NewAddY = (int)(AddY * 1000);
                    int NewAddTheta = (int)(AddTheta * 1000);

                    LD.Logic.PlcHandle.Instance.WriteValue(RightDnCamVisionFinishAddr, 1);
                    LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_05_Offset_X, -NewAddX);
                    LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_05_Offset_Y, NewAddY);
                    LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_05_Offset_R, NewAddTheta);
                }
            }
        }
예제 #3
0
        private void IpadLcoalThread(object Obj)
        {
            FeederThreadSwitch = true;
            while (true)
            {
                if (FeerderCamTrigEvent.IsSet)
                {
                    int StateNum = (int)LD.Logic.PlcHandle.Instance.ReadValue(FeederCamStateNumAddr);
                    if (StateNum == 0) //Ipad左上角
                    {
                        VisionStateLeftUp.GrabingImg();
                        LD.Logic.PlcHandle.Instance.WriteValue(FeederCamGrabedAddr, 1);
                        VisionStateLeftUp.DoLocal();
                        VisionStateLeftUp.ShowRlt();
                        LeftUpLocalRlt  = VisionStateLeftUp.GetLocalRlt();
                        LeftUpLocalIsOK = true;
                    }
                    else if (StateNum == 1)  //Ipad右下角
                    {
                        VisionStateRightDn.GrabingImg();
                        LD.Logic.PlcHandle.Instance.WriteValue(FeederCamGrabedAddr, 1);
                        VisionStateRightDn.DoLocal();
                        VisionStateRightDn.ShowRlt();
                        RightDnLocalRlt  = VisionStateRightDn.GetLocalRlt();
                        RightDnLocalIsOk = true;
                    }
                }
                if (LeftUpLocalIsOK && RightDnLocalIsOk)
                {
                    //1.0Ipad放置时的示教坐标
                    Point2Db IpadLeftUpTeachPos  = new Point2Db(LeftUpLocalRlt.TeachPosToRot.Col, LeftUpLocalRlt.TeachPosToRot.Row);
                    Point2Db IpadRightDnTeachPos = new Point2Db(RightDnLocalRlt.TeachPosToRot.Col, RightDnLocalRlt.TeachPosToRot.Row);

                    //2.0Ipad的当前坐标
                    Point2Db IpadLeftUpNowPos  = new Point2Db(LeftUpLocalRlt.PosToRot.Col, LeftUpLocalRlt.PosToRot.Row);
                    Point2Db IpadRightDnNowPos = new Point2Db(RightDnLocalRlt.PosToRot.Col, RightDnLocalRlt.PosToRot.Row);

                    //3.0计算出偏移量
                    double AddX = 0, AddY = 0, AddTheta = 0;
                    MyVisionBase.CalculateThreeTapePos(IpadLeftUpNowPos, IpadRightDnNowPos, IpadLeftUpTeachPos, IpadRightDnTeachPos, 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");

                    int SystemOffSetX = 0, SystemOffsetY = 0;
                    SystemOffSetX = (int)(LeftUpVisionPara.localPara.localSetting.Offset_x * 1000); //系统误差补偿
                    SystemOffsetY = (int)(LeftUpVisionPara.localPara.localSetting.Offset_y * 1000); //系统误差补偿
                    int NewAddX     = (int)(AddX * 1000) + SystemOffSetX;
                    int NewAddY     = (int)(AddY * 1000) + SystemOffsetY;
                    int NewAddTheta = (int)(AddTheta * 1000);
                    LD.Logic.PlcHandle.Instance.WriteValue(FeederCamVisionFinishAddr, 1);
                    LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_01_Offset_X, NewAddX);
                    LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_01_Offset_Y, NewAddY); //移动屏幕
                    LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.V_01_Offset_R, NewAddTheta);

                    //4.0 清空此次定位的数据,进入下次定位
                    LeftUpLocalIsOK  = false;
                    RightDnLocalIsOk = false;
                }
                Thread.Sleep(1);
                if (!FeederThreadSwitch)
                {
                    break;
                }
            }
        }