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;
}
}
}
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);
}
}
}
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;
}
}
}
