private bool BlobAreaDetect(double area, out double[] dblResult)
{
return(BackLightLocation.BlobAreaDetect(
ModelParams.cmd_PreciseFailed,
ModelParams.AreaMax,
ModelParams.AreaMin,
AMP,
ModelParams.ProductArea,
area,
RegeditMain.R_I.ID,
ModelParams.IfRecordData,
out dblResult
));
}
/// <summary>
/// 精定位偏差计算
/// </summary>
/// <param name="r">第一次定位取得的角度</param>
/// <param name="delta">像素偏差</param>
/// <returns></returns>
private bool BolbDevationCalc(double r, Point2D delta, out Point2D pDelta)
{
//根据配方，选择平台放片目标点
Point4D dst = ModelParams.confWastagePlatStation == 1 ? ModelParams.PosWastagePlat1 : ModelParams.PosWastagePlat2;
return(BackLightLocation.BolbDevationCalc(dst,
delta,
ModelParams.PreciseRobotAngle,
ModelParams.BotWastageAngle,
r,
ModelParams.cmd_PreciseResult,
ModelParams.cmd_PreciseFailed,
ModelParams.PreciseThreadX,
ModelParams.PreciseThreadY,
ModelParams.BotPlaceAngle,
ModelParams.DisplayAngle,
ModelParams.BLPlaceAngle,
RegeditMain.R_I.ID,
ModelParams.IfRecordData,
out pDelta));
}
public bool BlobAngleCalc(string cellName, out Hashtable htResult)
{
htResult = null;
double[] dblResult = new double[2];
bool blResult = true;
try
{
#region 空跑
if (ParStateSoft.StateMachine_e == StateMachine_enum.NullRun)
{
ShowState(string.Format("相机{0}空跑，默认发送OK", g_NoCamera));
LogicRobot.L_I.WriteRobotCMD(ModelParams.PrecisePos, ModelParams.cmd_PreciseAngle);
return(true);
}
#endregion
StateComprehensive_enum stateComprehensive_e = g_BaseDealComprehensive.DealComprehensivePosNoDisplay(
g_UCDisplayCamera, g_HtUCDisplay, Pos_enum.Pos1, out htResult);
ResultBlob resultBlob = (ResultBlob)htResult[cellName];
//算子基准值记录到基准值当中
if (ModelParams.PreciseStdValue.DblValue1 == 0)
{
ModelParams.PreciseStdValue = new Point2D(resultBlob.StdX, resultBlob.StdY);
}
//面积判断
#region 面积检测
if (!BlobAreaDetect(resultBlob.Area, out dblResult))
{
ShowState("精定位第一次拍照失败");
blResult = false;
return(false);
}
#endregion
//一次拍照计算偏差，目前用于和二次拍照进行对比
BackLightLocation.Verify(new Point2D(resultBlob.X, resultBlob.Y),
new Point2D(resultBlob.StdX, resultBlob.StdY), //不规则区域基准值，即旋转中心
resultBlob.R_J, //不规则区域角度
ParCalibWorld.V_I[g_NoCamera], //相机系数
ModelParams.BLDisplayType, //背光在相机显示中的方向
ModelParams.PreciseRobotAngle, //精定位机器人u轴角度
ModelParams.BotWastageAngle, //机器人残材平台放片角度
ModelParams.BotPlaceAngle, //机器人放置角度
ModelParams.DisplayAngle, //相机显示角度
ModelParams.BLPlaceAngle); //背光放置方向
blResult = BackLightLocation.BlobAngleCalc(
resultBlob.R_J, //不规则区域角度
ModelParams.PrecisePos, //机器人精定位位置
ModelParams.cmd_PreciseAngle, //精定位角度调整指令
ModelParams.cmd_PreciseFailed, //精定位失败指令
ModelParams.PreciseThreadR, //精定位角度偏差阈值
ModelParams.BLDisplayType, //背光在相机显示中的方向
RegeditMain.R_I.ID, //UniqueID
ModelParams.IfRecordData, //是否进行数据记录
out phi); //输出实际给机器人补偿的角度
return(blResult);
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
return(false);
}
finally
{
string strResult = "OK";
if (!blResult)
{
strResult = "NG";
}
g_UCDisplayCamera.ShowResult("面积比例：" + dblResult[1].ToString(ReservDigits) +
"\n角度补正：" + phi.ToString(ReservDigits) +
"\n角度阈值：" + ModelParams.PreciseThreadR.ToString(ReservDigits) +
"\n" + strResult, blResult);
}
}
