20230411Change
This commit is contained in:
17860779768
parent
8a92dd3eea
commit
9b6bd5321a
@ -81,7 +81,7 @@ namespace BRS.Common.Model
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[Category("机械臂配置项")]
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[Description("拧紧轴推进距离")]
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[DisplayName("拧紧轴推进距离")]
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public float NIJ_DisD { get; set; } = -99;
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public float NIJ_DisD { get; set; }
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public string GetDisplayText()
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{
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@ -20,7 +20,7 @@ namespace BRS.Process.A020
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{
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public partial class A020Process
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{
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private bool IsTesting { get; set; } = true;
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private bool IsTesting { get; set; } = false;
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public bool IsSingleStepOperating { get; set; } = false;
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public bool IsArrive { get; set; } = false;//判断机械臂携带拧紧轴是否到位
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@ -29,11 +29,12 @@ namespace BRS.Process.A020
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private bool IsTough { get; set; } = false;//是否拧紧
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int ShiJiaoVecCountFlag1 = 0;// 相机的示教点索引
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float Distance_DisD = 0;//拧紧轴推进距离100
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//float NJZ_T = (float)102.548;
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DeviceModel AModeTypeRun = new DeviceModel();//相机机械臂全局配置（务必要有）
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private void StopMachineClosing(PLCBase MelsecPlc, TCPSeverBase TcpSeverBase1)
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{
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if (MelsecPlc != null && MelsecPlc.InitialConfig.IsEnabled)
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@ -55,6 +56,7 @@ namespace BRS.Process.A020
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/* 设备对象 */
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private ThridLibray.IDevice m_dev;
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Mat Mat_CamA = new Mat();
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Bitmap Bit_Image = null;
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// private ThridLibray.IDevice m_dev1;
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// private ThridLibray.IDevice m_dev2;
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@ -139,7 +141,7 @@ namespace BRS.Process.A020
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Catcher.Show(exception);
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}
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}
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bool CamA = false;
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bool CamA = true;
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private void OnImageGrabbed(Object sender, GrabbedEventArgs e)
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{
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Mat_CamA = null;
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@ -245,12 +247,40 @@ namespace BRS.Process.A020
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public static void Contour_Get(Mat mat, List<OpenCvSharp.Point[]> Lastcontours)
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{
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//高斯模糊
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Mat dst = new Mat();
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//Mat dst = new Mat();
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//OpenCvSharp.Size ksize = new OpenCvSharp.Size(3, 3);
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//Cv2.GaussianBlur(mat, dst, ksize, 0);
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//Mat gray = new Mat();
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//Cv2.CvtColor(dst, gray, ColorConversionCodes.BGR2GRAY);
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Mat binary = mat.Clone();
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Cv2.Threshold(mat, binary, 0, 255, ThresholdTypes.BinaryInv | ThresholdTypes.Otsu);
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//查找轮廓
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//List<List<Point>> contours = new List<List<Point>>();
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OpenCvSharp.Point[][] contours = null;
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HierarchyIndex[] hierarchly;
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Cv2.FindContours(binary, out contours, out hierarchly, RetrievalModes.Tree, ContourApproximationModes.ApproxSimple, new OpenCvSharp.Point(0, 0));
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for (int i = 0; i < contours.Length; i++)
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{
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double length = Cv2.ArcLength(contours[i], true);
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if (length > 300 && length < 550)
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{
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Lastcontours.Add(contours[i]);
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Console.WriteLine(length);
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}
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}
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}
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public static void Contour3_Get(Mat mat, List<OpenCvSharp.Point[]> Lastcontours)
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{
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//高斯模糊
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//Mat Image = Cv2.ImRead(@"C:\徐敏育\项目\螺丝机研发\P1\1.png");
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Mat dst = mat.Clone();
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OpenCvSharp.Size ksize = new OpenCvSharp.Size(3, 3);
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Cv2.GaussianBlur(mat, dst, ksize, 0);
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Mat gray = new Mat();
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// Cv2.GaussianBlur(mat, dst, ksize, 0);
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Mat gray = mat.Clone();
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Cv2.CvtColor(dst, gray, ColorConversionCodes.BGR2GRAY);
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Mat binary = new Mat();
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Mat binary = gray.Clone();
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Cv2.Threshold(gray, binary, 0, 255, ThresholdTypes.BinaryInv | ThresholdTypes.Otsu);
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//查找轮廓
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//List<List<Point>> contours = new List<List<Point>>();
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@ -261,8 +291,13 @@ namespace BRS.Process.A020
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for (int i = 0; i < contours.Length; i++)
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{
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double length = Cv2.ArcLength(contours[i], true);
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if (length > 300 && length < 400)
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//Console.ReadKey();
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if (length > 500 && length < 600)
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{
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Console.WriteLine(length);
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Lastcontours.Add(contours[i]);
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}
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@ -278,7 +313,7 @@ namespace BRS.Process.A020
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{
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Mat SrcImage = image.Clone();
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// 固定路径的模板图像
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Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\20230330\1.png");
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Mat Image = Cv2.ImRead(@"D:\testData\Model_P\1.jpg");
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Mat TempleteImage = Image.Clone();
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// Point[][] contours1 = new Point[][] { };
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@ -286,9 +321,10 @@ namespace BRS.Process.A020
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List<OpenCvSharp.Point[]> contours1 = new List<OpenCvSharp.Point[]>();
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List<OpenCvSharp.Point[]> contours2 = new List<OpenCvSharp.Point[]>();
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Contour3_Get(TempleteImage, contours2);
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Contour_Get(SrcImage, contours1);
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Contour_Get(TempleteImage, contours2);
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Cv2.ImWrite(@"D:\MelsecPLCReadWrite\Bk\20230330\TempleteImage.jpg", SrcImage);
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Cv2.ImWrite(@"D:\MelsecPLCReadWrite\Bk\20230330\SrcImage.jpg", TempleteImage);
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// Hu矩计算
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//Moments mm2 = Cv2.Moments(contours2[0]); // 先计算几何矩
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//Mat hu2 = new Mat();
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@ -340,119 +376,138 @@ namespace BRS.Process.A020
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VP.Clear();
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VR.Clear();
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/*************生成像素数据*********************/
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MyPoint tp;
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tp.dX = VPList[0].X;//2054;
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tp.dY = VPList[0].Y;// 1831;
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VP.Add(tp);
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tp.dX = VPList[1].X;// 2033;
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tp.dY = VPList[1].Y; //986;
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VP.Add(tp);
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tp.dX = VPList[2].X;//2013;
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tp.dY = VPList[2].Y;//168;
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VP.Add(tp);
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tp.dX = VPList[3].X;// 1369;
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tp.dY = VPList[3].Y; //235;
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VP.Add(tp);
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for (int i = 0; i < VPList.Count; i++)
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{
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MyPoint tp;
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tp.dX = VPList[i].X;//2054;
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tp.dY = VPList[i].Y;// 1831;
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VP.Add(tp);
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}
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////5-8
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tp.dX = VPList[4].X;// 1369;
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tp.dY = VPList[4].Y; //235;
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// tp.dX = 1403;
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//tp.dY = 985;
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VP.Add(tp);
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//MyPoint tp;
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//tp.dX = VPList[0].X;//2054;
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//tp.dY = VPList[0].Y;// 1831;
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//VP.Add(tp);
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tp.dX = VPList[5].X;// 1327;
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tp.dY = VPList[5].Y;// 1756;
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VP.Add(tp);
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//tp.dX = VPList[1].X;// 2033;
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//tp.dY = VPList[1].Y; //986;
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//VP.Add(tp);
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tp.dX = VPList[6].X;// 717;
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tp.dY = VPList[6].Y;// 1701;
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VP.Add(tp);
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//tp.dX = VPList[2].X;//2013;
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//tp.dY = VPList[2].Y;//168;
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//VP.Add(tp);
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tp.dX = VPList[7].X;// 879;
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tp.dY = VPList[7].Y;// 947;
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VP.Add(tp);
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////
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//tp.dX = VPList[3].X;// 1369;
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//tp.dY = VPList[3].Y; //235;
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//VP.Add(tp);
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tp.dX = VPList[8].X;// 774;
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tp.dY = VPList[8].Y;// 236;
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VP.Add(tp);
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tp.dX = VPList[9].X;// 257;
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tp.dY = VPList[9].Y;// ;
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VP.Add(tp);
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//////5-8
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//tp.dX = VPList[4].X;// 1369;
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//tp.dY = VPList[4].Y; //235;
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// // tp.dX = 1403;
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// //tp.dY = 985;
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//VP.Add(tp);
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tp.dX = VPList[10].X;// 307;
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tp.dY = VPList[10].Y;// 994;
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VP.Add(tp);
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//tp.dX = VPList[5].X;// 1327;
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//tp.dY = VPList[5].Y;// 1756;
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//VP.Add(tp);
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tp.dX = VPList[11].X;// 303;
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tp.dY = VPList[11].Y;// 1727;
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VP.Add(tp);
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//tp.dX = VPList[6].X;// 717;
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//tp.dY = VPList[6].Y;// 1701;
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//VP.Add(tp);
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//tp.dX = VPList[7].X;// 879;
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//tp.dY = VPList[7].Y;// 947;
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//VP.Add(tp);
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//////
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//tp.dX = VPList[8].X;// 774;
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//tp.dY = VPList[8].Y;// 236;
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//VP.Add(tp);
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//tp.dX = VPList[9].X;// 257;
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//tp.dY = VPList[9].Y;// ;
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//VP.Add(tp);
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//tp.dX = VPList[10].X;// 307;
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//tp.dY = VPList[10].Y;// 994;
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//VP.Add(tp);
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//tp.dX = VPList[11].X;// 303;
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//tp.dY = VPList[11].Y;// 1727;
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//VP.Add(tp);
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/*************生成三维数据*********************/
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MyPoint tr;
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tr.dX = VRList[0].X + PYliangx;
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tr.dY = VRList[0].Y + PYliangy;
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VR.Add(tr);
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for (int i = 0; i < VRList.Count; i++)
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{
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MyPoint tr;
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tr.dX = VRList[i].X + PYliangx;
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tr.dY = VRList[i].Y + PYliangy;
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VR.Add(tr);
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}
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//MyPoint tr;
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//tr.dX = VRList[0].X + PYliangx;
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//tr.dY = VRList[0].Y + PYliangy;
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//VR.Add(tr);
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tr.dX = VRList[1].X + PYliangx;
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tr.dY = VRList[1].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[1].X + PYliangx;
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//tr.dY = VRList[1].Y + PYliangy;
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//VR.Add(tr);
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tr.dX = VRList[2].X + PYliangx;
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tr.dY = VRList[2].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[2].X + PYliangx;
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//tr.dY = VRList[2].Y + PYliangy;
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//VR.Add(tr);
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//////////////
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////////////////
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tr.dX = VRList[3].X + PYliangx;
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tr.dY = VRList[3].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[3].X + PYliangx;
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//tr.dY = VRList[3].Y + PYliangy;
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//VR.Add(tr);
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tr.dX = VRList[4].X + PYliangx;
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tr.dY = VRList[4].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[4].X + PYliangx;
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//tr.dY = VRList[4].Y + PYliangy;
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//VR.Add(tr);
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tr.dX = VRList[5].X + PYliangx;
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tr.dY = VRList[5].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[5].X + PYliangx;
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//tr.dY = VRList[5].Y + PYliangy;
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//VR.Add(tr);
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//////////////7
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tr.dX = VRList[6].X + PYliangx;
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tr.dY = VRList[6].Y + PYliangy;
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VR.Add(tr);
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////////////////7
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//tr.dX = VRList[6].X + PYliangx;
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//tr.dY = VRList[6].Y + PYliangy;
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//VR.Add(tr);
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tr.dX = VRList[7].X + PYliangx;
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tr.dY = VRList[7].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[7].X + PYliangx;
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//tr.dY = VRList[7].Y + PYliangy;
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//VR.Add(tr);
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tr.dX = VRList[8].X + PYliangx;
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tr.dY = VRList[8].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[8].X + PYliangx;
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//tr.dY = VRList[8].Y + PYliangy;
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//VR.Add(tr);
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//////////////
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////////////////
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tr.dX = VRList[9].X + PYliangx;
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tr.dY = VRList[9].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[9].X + PYliangx;
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//tr.dY = VRList[9].Y + PYliangy;
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//VR.Add(tr);
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tr.dX = VRList[10].X + PYliangx;
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tr.dY = VRList[10].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[10].X + PYliangx;
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//tr.dY = VRList[10].Y + PYliangy;
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//VR.Add(tr);
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tr.dX = VRList[11].X + PYliangx;
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tr.dY = VRList[11].Y + PYliangy;
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VR.Add(tr);
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//tr.dX = VRList[11].X + PYliangx;
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//tr.dY = VRList[11].Y + PYliangy;
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//VR.Add(tr);
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}
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catch (Exception e)
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{
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@ -473,14 +528,16 @@ namespace BRS.Process.A020
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Console.WriteLine(DateTime.Now + "==========配置=================" + stopWatch2.ElapsedMilliseconds + "===========================");
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//MyPoint ssw = new MyPoint();
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Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png");
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//Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png");
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List<MyPoint> resultPoint = new List<MyPoint>();
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#if false
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Mat _mat = dd.Clone();
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string ss = "D:\\QT\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg";
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Cv2.ImWrite(ss, _mat);
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#endif
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Mat _mat = dd.Clone();
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GetScrew(Image, resultPoint);
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GetScrew(_mat, resultPoint);
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MyPoint ssw3 = resultPoint[0];
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@ -534,6 +591,9 @@ namespace BRS.Process.A020
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var MelsecPLC = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
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var KawasakiRobot = DeviceCollection.Find(d => d is KawasakiTCPSeverRobotDriver) as KawasakiTCPSeverRobotDriver;
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float NJZt = AModeTypeRun.NIJ_DisD;
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StrRobotPoint strPointInitA;//示教点位
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strPointInitA.X = 847.462F;
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strPointInitA.Y = 891.623F;
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@ -543,7 +603,7 @@ namespace BRS.Process.A020
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strPointInitA.C = 90F;
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RobotPoint robotInitPoint = KawasakiRobot.IIConfig.RobotInitPosition;//机械臂初始点位
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StrRobotPoint initPoint = ClassChangeStruct(robotInitPoint);
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#region 驱动委托
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if (KawasakiRobot != null)
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{
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@ -559,8 +619,9 @@ namespace BRS.Process.A020
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MachineState = MachineState.Running;
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ProcessStatus = ProcessStatus.Init;
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RobotsStatus = RobotsStatus.Release;
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KawasakiRobotInit(KawasakiRobot);//机械臂移动到初始位置
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OpenCam1();
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KawasakiRobotMove(KawasakiRobot, initPoint);
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//KawasakiRobotInit(KawasakiRobot);//机械臂移动到初始位置
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//OpenCam1();
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Task.Run(() =>
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{
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@ -621,13 +682,13 @@ namespace BRS.Process.A020
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KawasakiRobot.SendMessage(PointInitMove);
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LogAsync(DateTime.Now, LogLevel.Assist, $"机械臂A移动到示教点");
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RobotsStatus = RobotsStatus.Runing;
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DownCirce = DownCirce.DownCirce;//标志机械臂的运动状态
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//DownCirce = DownCirce.DownCirce;//标志机械臂的运动状态
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while (true)
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{
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if (DownCirce == DownCirce.DownCirceRuning)
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break;
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else
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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<StrRobotPoint> _strRobotPointAup = new List<StrRobotPoint>();
|
||||
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
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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);
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user