public override bool doLocal()
{
NowResult = new LineCircRectRlt();
BlobLocalRlt myBlobLocalRlt = new BlobLocalRlt();
try {
myBlobLocal.Set(NowImg, NowVisionPara);
myBlobLocal.doLocal();
myBlobLocalRlt = (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(myBlobLocalRlt.row, myBlobLocalRlt.col, myBlobLocalRlt.angle,
myBlobLocalRlt.TeachRow, myBlobLocalRlt.TeachCol, myBlobLocalRlt.TeachAngle, out HomMat);
HObject AffineImg = new HObject();
//矫正图像位置
HOperatorSet.AffineTransImage(NowImg, out AffineImg, HomMat, "constant", "false");
//开始检测
((LineCircRectRlt)NowResult).IsOk = LineCircleRectInspBase.LineCircleRectInsp(AffineImg, NowVisionPara.LineCirRectInspParam,
out ((LineCircRectRlt)NowResult).DetectContour, out ((LineCircRectRlt)NowResult).NgContour); //
HOperatorSet.CopyObj(myBlobLocalRlt.ShowContour, out ((LineCircRectRlt)NowResult).ShowContour, 1, -1);
//位置的逆变换
HOperatorSet.VectorAngleToRigid(myBlobLocalRlt.TeachRow, myBlobLocalRlt.TeachCol, myBlobLocalRlt.TeachAngle,
myBlobLocalRlt.row, myBlobLocalRlt.col, myBlobLocalRlt.angle, out HomMat);
NowResult.AffineTransResult(HomMat, out NowResult);
return(true);
}
catch
{
return(false);
}
}
public override bool doLocal()
{
try
{
BlobLocalRlt NowResult0 = new BlobLocalRlt();
St_BlobLocalParam Blobs = NowVisionPara.Blobs;
HObject RoiCont = new HObject();
HObject MinRectCont = new HObject();
HObject RegionCont = new HObject();
HOperatorSet.GenEmptyObj(out RoiCont);
HOperatorSet.GenEmptyObj(out MinRectCont);
HOperatorSet.GenEmptyObj(out RegionCont);
BlobLocal1(NowImg, Blobs, out ListRow, out ListCol, out ListWid, out ListHei, out ListArea, out RoiCont, out MinRectCont, out RegionCont);
HOperatorSet.ConcatObj(RoiCont, MinRectCont, out RoiCont);
HOperatorSet.ConcatObj(RoiCont, RegionCont, out RoiCont);
HOperatorSet.CopyObj(RoiCont, out NowResult0.ShowContour, 1, -1);
if (RoiCont != null)
{
RoiCont.Dispose();
}
if (RegionCont != null)
{
RegionCont.Dispose();
}
if (MinRectCont != null)
{
MinRectCont.Dispose();
}
NowResult0.row = ListRow[0];
NowResult0.col = ListCol[0];
NowResult0.angle = 0;
NowResult0.ListRow = ListRow;
NowResult0.ListCol = ListCol;
NowResult0.ListWid = ListWid;
NowResult0.ListHei = ListHei;
NowResult0.ListArea = ListArea;
NowResult = NowResult0;
return(true);
}
catch { return(false); }
}
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 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");
}
}