示例#1
0
        /// <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");
                    }
                }
            }
        }
示例#2
0
        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");
            }
        }