From 9b6bd5321a49ef08d2db5c8cd417d320310978cb Mon Sep 17 00:00:00 2001 From: 17860779768 <3219079380@qq.com> Date: Tue, 11 Apr 2023 13:56:50 +0800 Subject: [PATCH] 20230411Change --- src/BRS.Common.Model/Model/DeviceOpBind.cs | 2 +- src/BRS.Process.A020/A020Process_Operation.cs | 282 +++++++++++------- .../A020Process_VisionProcessor.cs | 4 +- src/BRS.Process.A020/UI/ContorlShaft.cs | 6 +- 4 files changed, 181 insertions(+), 113 deletions(-) diff --git a/src/BRS.Common.Model/Model/DeviceOpBind.cs b/src/BRS.Common.Model/Model/DeviceOpBind.cs index 2f84632..751d9b9 100644 --- a/src/BRS.Common.Model/Model/DeviceOpBind.cs +++ b/src/BRS.Common.Model/Model/DeviceOpBind.cs @@ -81,7 +81,7 @@ namespace BRS.Common.Model [Category("机械臂配置项")] [Description("拧紧轴推进距离")] [DisplayName("拧紧轴推进距离")] - public float NIJ_DisD { get; set; } = -99; + public float NIJ_DisD { get; set; } public string GetDisplayText() { diff --git a/src/BRS.Process.A020/A020Process_Operation.cs b/src/BRS.Process.A020/A020Process_Operation.cs index 7956fae..6247e97 100644 --- a/src/BRS.Process.A020/A020Process_Operation.cs +++ b/src/BRS.Process.A020/A020Process_Operation.cs @@ -20,7 +20,7 @@ namespace BRS.Process.A020 { public partial class A020Process { - private bool IsTesting { get; set; } = true; + private bool IsTesting { get; set; } = false; public bool IsSingleStepOperating { get; set; } = false; public bool IsArrive { get; set; } = false;//判断机械臂携带拧紧轴是否到位 @@ -29,11 +29,12 @@ namespace BRS.Process.A020 private bool IsTough { get; set; } = false;//是否拧紧 int ShiJiaoVecCountFlag1 = 0;// 相机的示教点索引 - float Distance_DisD = 0;//拧紧轴推进距离100 + //float NJZ_T = (float)102.548; DeviceModel AModeTypeRun = new DeviceModel();//相机机械臂全局配置（务必要有） + private void StopMachineClosing(PLCBase MelsecPlc, TCPSeverBase TcpSeverBase1) { if (MelsecPlc != null && MelsecPlc.InitialConfig.IsEnabled) @@ -55,6 +56,7 @@ namespace BRS.Process.A020 /* 设备对象 */ private ThridLibray.IDevice m_dev; Mat Mat_CamA = new Mat(); + Bitmap Bit_Image = null; // private ThridLibray.IDevice m_dev1; // private ThridLibray.IDevice m_dev2; @@ -139,7 +141,7 @@ namespace BRS.Process.A020 Catcher.Show(exception); } } - bool CamA = false; + bool CamA = true; private void OnImageGrabbed(Object sender, GrabbedEventArgs e) { Mat_CamA = null; @@ -245,12 +247,40 @@ namespace BRS.Process.A020 public static void Contour_Get(Mat mat, List Lastcontours) { //高斯模糊 - Mat dst = new Mat(); + //Mat dst = new Mat(); + //OpenCvSharp.Size ksize = new OpenCvSharp.Size(3, 3); + //Cv2.GaussianBlur(mat, dst, ksize, 0); + //Mat gray = new Mat(); + //Cv2.CvtColor(dst, gray, ColorConversionCodes.BGR2GRAY); + Mat binary = mat.Clone(); + Cv2.Threshold(mat, binary, 0, 255, ThresholdTypes.BinaryInv | ThresholdTypes.Otsu); + //查找轮廓 + //List> contours = new List>(); + OpenCvSharp.Point[][] contours = null; + HierarchyIndex[] hierarchly; + Cv2.FindContours(binary, out contours, out hierarchly, RetrievalModes.Tree, ContourApproximationModes.ApproxSimple, new OpenCvSharp.Point(0, 0)); + + for (int i = 0; i < contours.Length; i++) + { + double length = Cv2.ArcLength(contours[i], true); + if (length > 300 && length < 550) + { + Lastcontours.Add(contours[i]); + Console.WriteLine(length); + } + + } + } + public static void Contour3_Get(Mat mat, List Lastcontours) + { + //高斯模糊 + //Mat Image = Cv2.ImRead(@"C:\徐敏育\项目\螺丝机研发\P1\1.png"); + Mat dst = mat.Clone(); OpenCvSharp.Size ksize = new OpenCvSharp.Size(3, 3); - Cv2.GaussianBlur(mat, dst, ksize, 0); - Mat gray = new Mat(); + // Cv2.GaussianBlur(mat, dst, ksize, 0); + Mat gray = mat.Clone(); Cv2.CvtColor(dst, gray, ColorConversionCodes.BGR2GRAY); - Mat binary = new Mat(); + Mat binary = gray.Clone(); Cv2.Threshold(gray, binary, 0, 255, ThresholdTypes.BinaryInv | ThresholdTypes.Otsu); //查找轮廓 //List> contours = new List>(); @@ -261,8 +291,13 @@ namespace BRS.Process.A020 for (int i = 0; i < contours.Length; i++) { double length = Cv2.ArcLength(contours[i], true); - if (length > 300 && length < 400) + + + + //Console.ReadKey(); + if (length > 500 && length < 600) { + Console.WriteLine(length); Lastcontours.Add(contours[i]); } @@ -278,7 +313,7 @@ namespace BRS.Process.A020 { Mat SrcImage = image.Clone(); // 固定路径的模板图像 - Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\20230330\1.png"); + Mat Image = Cv2.ImRead(@"D:\testData\Model_P\1.jpg"); Mat TempleteImage = Image.Clone(); // Point[][] contours1 = new Point[][] { }; @@ -286,9 +321,10 @@ namespace BRS.Process.A020 List contours1 = new List(); List contours2 = new List(); + Contour3_Get(TempleteImage, contours2); Contour_Get(SrcImage, contours1); - Contour_Get(TempleteImage, contours2); - + Cv2.ImWrite(@"D:\MelsecPLCReadWrite\Bk\20230330\TempleteImage.jpg", SrcImage); + Cv2.ImWrite(@"D:\MelsecPLCReadWrite\Bk\20230330\SrcImage.jpg", TempleteImage); // Hu矩计算 //Moments mm2 = Cv2.Moments(contours2[0]); // 先计算几何矩 //Mat hu2 = new Mat(); @@ -340,119 +376,138 @@ namespace BRS.Process.A020 VP.Clear(); VR.Clear(); + /*************生成像素数据*********************/ - MyPoint tp; - tp.dX = VPList[0].X;//2054; - tp.dY = VPList[0].Y;// 1831; - VP.Add(tp); - tp.dX = VPList[1].X;// 2033; - tp.dY = VPList[1].Y; //986; - VP.Add(tp); - - tp.dX = VPList[2].X;//2013; - tp.dY = VPList[2].Y;//168; - VP.Add(tp); - - tp.dX = VPList[3].X;// 1369; - tp.dY = VPList[3].Y; //235; - VP.Add(tp); + for (int i = 0; i < VPList.Count; i++) + { + MyPoint tp; + tp.dX = VPList[i].X;//2054; + tp.dY = VPList[i].Y;// 1831; + VP.Add(tp); + } - ////5-8 - tp.dX = VPList[4].X;// 1369; - tp.dY = VPList[4].Y; //235; - // tp.dX = 1403; - //tp.dY = 985; - VP.Add(tp); + //MyPoint tp; + //tp.dX = VPList[0].X;//2054; + //tp.dY = VPList[0].Y;// 1831; + //VP.Add(tp); - tp.dX = VPList[5].X;// 1327; - tp.dY = VPList[5].Y;// 1756; - VP.Add(tp); + //tp.dX = VPList[1].X;// 2033; + //tp.dY = VPList[1].Y; //986; + //VP.Add(tp); - tp.dX = VPList[6].X;// 717; - tp.dY = VPList[6].Y;// 1701; - VP.Add(tp); + //tp.dX = VPList[2].X;//2013; + //tp.dY = VPList[2].Y;//168; + //VP.Add(tp); - tp.dX = VPList[7].X;// 879; - tp.dY = VPList[7].Y;// 947; - VP.Add(tp); - //// + //tp.dX = VPList[3].X;// 1369; + //tp.dY = VPList[3].Y; //235; + //VP.Add(tp); - tp.dX = VPList[8].X;// 774; - tp.dY = VPList[8].Y;// 236; - VP.Add(tp); - tp.dX = VPList[9].X;// 257; - tp.dY = VPList[9].Y;// ; - VP.Add(tp); + //////5-8 + //tp.dX = VPList[4].X;// 1369; + //tp.dY = VPList[4].Y; //235; + // // tp.dX = 1403; + // //tp.dY = 985; + //VP.Add(tp); - tp.dX = VPList[10].X;// 307; - tp.dY = VPList[10].Y;// 994; - VP.Add(tp); + //tp.dX = VPList[5].X;// 1327; + //tp.dY = VPList[5].Y;// 1756; + //VP.Add(tp); - tp.dX = VPList[11].X;// 303; - tp.dY = VPList[11].Y;// 1727; - VP.Add(tp); + //tp.dX = VPList[6].X;// 717; + //tp.dY = VPList[6].Y;// 1701; + //VP.Add(tp); + + //tp.dX = VPList[7].X;// 879; + //tp.dY = VPList[7].Y;// 947; + //VP.Add(tp); + ////// + + //tp.dX = VPList[8].X;// 774; + //tp.dY = VPList[8].Y;// 236; + //VP.Add(tp); + + //tp.dX = VPList[9].X;// 257; + //tp.dY = VPList[9].Y;// ; + //VP.Add(tp); + + //tp.dX = VPList[10].X;// 307; + //tp.dY = VPList[10].Y;// 994; + //VP.Add(tp); + + //tp.dX = VPList[11].X;// 303; + //tp.dY = VPList[11].Y;// 1727; + //VP.Add(tp); /*************生成三维数据*********************/ - MyPoint tr; - tr.dX = VRList[0].X + PYliangx; - tr.dY = VRList[0].Y + PYliangy; - VR.Add(tr); + for (int i = 0; i < VRList.Count; i++) + { + MyPoint tr; + tr.dX = VRList[i].X + PYliangx; + tr.dY = VRList[i].Y + PYliangy; + VR.Add(tr); + } + + //MyPoint tr; + //tr.dX = VRList[0].X + PYliangx; + //tr.dY = VRList[0].Y + PYliangy; + //VR.Add(tr); - tr.dX = VRList[1].X + PYliangx; - tr.dY = VRList[1].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[1].X + PYliangx; + //tr.dY = VRList[1].Y + PYliangy; + //VR.Add(tr); - tr.dX = VRList[2].X + PYliangx; - tr.dY = VRList[2].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[2].X + PYliangx; + //tr.dY = VRList[2].Y + PYliangy; + //VR.Add(tr); - ////////////// + //////////////// - tr.dX = VRList[3].X + PYliangx; - tr.dY = VRList[3].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[3].X + PYliangx; + //tr.dY = VRList[3].Y + PYliangy; + //VR.Add(tr); - tr.dX = VRList[4].X + PYliangx; - tr.dY = VRList[4].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[4].X + PYliangx; + //tr.dY = VRList[4].Y + PYliangy; + //VR.Add(tr); - tr.dX = VRList[5].X + PYliangx; - tr.dY = VRList[5].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[5].X + PYliangx; + //tr.dY = VRList[5].Y + PYliangy; + //VR.Add(tr); - //////////////7 - tr.dX = VRList[6].X + PYliangx; - tr.dY = VRList[6].Y + PYliangy; - VR.Add(tr); + ////////////////7 + //tr.dX = VRList[6].X + PYliangx; + //tr.dY = VRList[6].Y + PYliangy; + //VR.Add(tr); - tr.dX = VRList[7].X + PYliangx; - tr.dY = VRList[7].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[7].X + PYliangx; + //tr.dY = VRList[7].Y + PYliangy; + //VR.Add(tr); - tr.dX = VRList[8].X + PYliangx; - tr.dY = VRList[8].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[8].X + PYliangx; + //tr.dY = VRList[8].Y + PYliangy; + //VR.Add(tr); - ////////////// + //////////////// - tr.dX = VRList[9].X + PYliangx; - tr.dY = VRList[9].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[9].X + PYliangx; + //tr.dY = VRList[9].Y + PYliangy; + //VR.Add(tr); - tr.dX = VRList[10].X + PYliangx; - tr.dY = VRList[10].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[10].X + PYliangx; + //tr.dY = VRList[10].Y + PYliangy; + //VR.Add(tr); - tr.dX = VRList[11].X + PYliangx; - tr.dY = VRList[11].Y + PYliangy; - VR.Add(tr); + //tr.dX = VRList[11].X + PYliangx; + //tr.dY = VRList[11].Y + PYliangy; + //VR.Add(tr); } catch (Exception e) { @@ -473,14 +528,16 @@ namespace BRS.Process.A020 Console.WriteLine(DateTime.Now + "==========配置=================" + stopWatch2.ElapsedMilliseconds + "==========================="); //MyPoint ssw = new MyPoint(); - Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png"); + //Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png"); List resultPoint = new List(); - +#if false Mat _mat = dd.Clone(); string ss = "D:\\QT\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg"; Cv2.ImWrite(ss, _mat); +#endif + Mat _mat = dd.Clone(); - GetScrew(Image, resultPoint); + GetScrew(_mat, resultPoint); MyPoint ssw3 = resultPoint[0]; @@ -534,6 +591,9 @@ namespace BRS.Process.A020 var MelsecPLC = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase; var KawasakiRobot = DeviceCollection.Find(d => d is KawasakiTCPSeverRobotDriver) as KawasakiTCPSeverRobotDriver; + + float NJZt = AModeTypeRun.NIJ_DisD; + StrRobotPoint strPointInitA;//示教点位 strPointInitA.X = 847.462F; strPointInitA.Y = 891.623F; @@ -543,7 +603,7 @@ namespace BRS.Process.A020 strPointInitA.C = 90F; RobotPoint robotInitPoint = KawasakiRobot.IIConfig.RobotInitPosition;//机械臂初始点位 - + StrRobotPoint initPoint = ClassChangeStruct(robotInitPoint); #region 驱动委托 if (KawasakiRobot != null) { @@ -559,8 +619,9 @@ namespace BRS.Process.A020 MachineState = MachineState.Running; ProcessStatus = ProcessStatus.Init; RobotsStatus = RobotsStatus.Release; - KawasakiRobotInit(KawasakiRobot);//机械臂移动到初始位置 - OpenCam1(); + KawasakiRobotMove(KawasakiRobot, initPoint); + //KawasakiRobotInit(KawasakiRobot);//机械臂移动到初始位置 + //OpenCam1(); Task.Run(() => { @@ -621,13 +682,13 @@ namespace BRS.Process.A020 KawasakiRobot.SendMessage(PointInitMove); LogAsync(DateTime.Now, LogLevel.Assist, $"机械臂A移动到示教点"); RobotsStatus = RobotsStatus.Runing; - DownCirce = DownCirce.DownCirce;//标志机械臂的运动状态 + //DownCirce = DownCirce.DownCirce;//标志机械臂的运动状态 while (true) { if (DownCirce == DownCirce.DownCirceRuning) break; else - Thread.Sleep(10); + Thread.Sleep(20); } ProcessStatus = ProcessStatus.OpenLight; //KawasakiRobotInit(KawasakiRobot); @@ -644,18 +705,20 @@ namespace BRS.Process.A020 //JYDAMDriver1.WriteStrs(SerialOpenLight); #region 拍摄图片 取图进行视觉定位 - SoftTrigger1(); + //SoftTrigger1(); Thread.Sleep(200); while (CamA == true) { //拍照视觉定位 - OnBitmapChanged?.Invoke(1, Bit_Image); + //OnBitmapChanged?.Invoke(1, Bit_Image); + Mat img = Cv2.ImRead(@"D:\testData\ShaftP\173648283.jpg"); + Mat Mat_CamA = img.Clone(); OnCameraImageOutput(ref sswF, ref Mat_CamA, 1); stopWatch.Stop(); Console.WriteLine(DateTime.Now + "=========拍照==================" + stopWatch.ElapsedMilliseconds + "==========================="); CamA = false; } - ProcessStatus = ProcessStatus.CVLocation; + #endregion } break; @@ -692,7 +755,7 @@ namespace BRS.Process.A020 strPointInitA1 = strPointInitA; StrRobotPoint strPointInitA2 = new StrRobotPoint(); strPointInitA2 = strPointInitA; - strPointInitA2.Z += Distance_DisD;//XYZ是毫米 + strPointInitA2.Z += NJZt;//XYZ是毫米 _strRobotPointAs.Add(strPointInitA1); _strRobotPointAs.Add(strPointInitA2); //KawasakiRobotMoves(KawasakiRobot, _strRobotPointAs, false); @@ -904,7 +967,7 @@ namespace BRS.Process.A020 case ProcessStatus.UpShaft: { RobotPoint robotInitPoint1 = KawasakiRobot.IIConfig.RobotInitPosition;//机器人初始点 - StrRobotPoint initPoint = ClassChangeStruct(robotInitPoint); + StrRobotPoint initPoint1 = ClassChangeStruct(robotInitPoint); List _strRobotPointAup = new List(); StrRobotPoint strPointInitA3 = new StrRobotPoint(); @@ -912,8 +975,8 @@ namespace BRS.Process.A020 StrRobotPoint strPointInitA4 = new StrRobotPoint(); strPointInitA4 = strPointInitA; StrRobotPoint strPointInitA5 = new StrRobotPoint(); - strPointInitA5 = initPoint; - strPointInitA4.Z -= Distance_DisD;//XYZ是毫米 + strPointInitA5 = initPoint1; + strPointInitA4.Z -= NJZt;//XYZ是毫米 _strRobotPointAup.Add(strPointInitA4); _strRobotPointAup.Add(strPointInitA3); _strRobotPointAup.Add(strPointInitA5); @@ -1479,6 +1542,7 @@ namespace BRS.Process.A020 KawasakiRobotStatus = KawasakiRobotStatus.Runing; while (true) { + KawasakiRobotStatus = KawasakiRobotStatus.Stoped; if (KawasakiRobotStatus == KawasakiRobotStatus.Stoped) break; else diff --git a/src/BRS.Process.A020/A020Process_VisionProcessor.cs b/src/BRS.Process.A020/A020Process_VisionProcessor.cs index 2bccf17..626aff9 100644 --- a/src/BRS.Process.A020/A020Process_VisionProcessor.cs +++ b/src/BRS.Process.A020/A020Process_VisionProcessor.cs @@ -368,11 +368,11 @@ namespace BRS.Process.A020 } #endregion #region 测距信息正常则流程打开光源 若不正常继续移动机械臂直到正常 - if (ProcessStatus == ProcessStatus.Measure && RobotsStatus == RobotsStatus.Runing && msg == "wanbi") + if (ProcessStatus == ProcessStatus.OpenLight && RobotsStatus == RobotsStatus) { msg = string.Empty; DownCirce = DownCirce.DownCirceRuning; - ProcessStatus = ProcessStatus.OpenLight; + RobotsStatus = RobotsStatus.Release; } #endregion diff --git a/src/BRS.Process.A020/UI/ContorlShaft.cs b/src/BRS.Process.A020/UI/ContorlShaft.cs index 213268c..8c6ba5c 100644 --- a/src/BRS.Process.A020/UI/ContorlShaft.cs +++ b/src/BRS.Process.A020/UI/ContorlShaft.cs @@ -65,7 +65,7 @@ namespace BRS.Process.A020.UI //ProcessA020.OnBitmapChanged -= BitMapTest; //ProcessA020.OnBitmapChanged += BitMapTest; pLCBase = ProcessA020.DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase; - TcpListerWrapBase1 = ProcessA020.DeviceCollection.Find(d => d is TCPSeverBase && d.InitialConfig.Name == "123") as TCPSeverBase; + TcpListerWrapBase1 = ProcessA020.DeviceCollection.Find(d => d is TCPSeverBase && d.InitialConfig.Name == "KawasakiRobot") as TCPSeverBase; if (TcpListerWrapBase1 != null) { TcpListerWrapBase1.OnTcpDataReceived -= NbtRobotDriver_OnDataReceived; @@ -87,7 +87,10 @@ namespace BRS.Process.A020.UI private void NbtRobotDriver_OnDataReceived(byte[] obj) { string msg = string.Empty; + + RobotAStatus.BackColor = Color.Green; msg = Encoding.Default.GetString(obj); + Message1 = msg; //} //else if (rbHexData.Checked) @@ -579,6 +582,7 @@ namespace BRS.Process.A020.UI if (isStart) { ProcessOperation(true); + //RobotAStatus.BackColor = Color.Green; //ProcessOperation(true); } }