lhiven
/
Rs.DeweyTester
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

优化三点定位流程

Browse Source
master
lhiven 1 year ago
parent 53fd323880
commit 74aedf0a52
6 changed files with 43 additions and 127 deletions
Show Stats Download Patch File Download Diff File

108
Rs.DeweyTester/Commom/TrayPointManager.cs
Unescape Escape View File

@ -60,112 +60,6 @@ namespace Rs.MotionPlat.Commom
}
return null;
}
/// <summary>
/// 获取异常料盘的点位
/// </summary>
/// <param name="recipeName"></param>
/// <param name="trayName"></param>
/// <param name="slotIndex"></param>
/// <param name="pointType"></param>
/// <returns></returns>
public static SlotPoint GetExceptionTrayPoint(int slotIndex)
{
string key = $"{GlobalVar.CurRecipe}-ExceptiontTray-{slotIndex}";
if (trayPoints.ContainsKey(key))
{
return trayPoints[key];
}
return null;
}
/// <summary>
/// 获取测试治具测高的点位
/// </summary>
/// <param name="recipeName"></param>
/// <param name="trayName"></param>
/// <param name="slotIndex"></param>
/// <param name="pointType"></param>
/// <returns></returns>
public static SlotPoint GetTestFixtureTrayCheckHeighPoint(int slotIndex)
{
string key = $"{GlobalVar.CurRecipe}-CheckHeightTestTray-{slotIndex}";
if (trayPoints.ContainsKey(key))
{
return trayPoints[key];
}
return null;
}
/// <summary>
/// 获取周转盘测高的点位
/// </summary>
/// <param name="recipeName"></param>
/// <param name="trayName"></param>
/// <param name="slotIndex"></param>
/// <param name="pointType"></param>
/// <returns></returns>
public static SlotPoint GetTurnoverTrayCheckHeighPoint(int slotIndex)
{
string key = $"{GlobalVar.CurRecipe}-CheckHeightTurnover-{slotIndex}";
if (trayPoints.ContainsKey(key))
{
return trayPoints[key];
}
return null;
}
/// <summary>
/// 获取周转盘强力吸嘴的点位
/// </summary>
/// <param name="recipeName"></param>
/// <param name="trayName"></param>
/// <param name="slotIndex"></param>
/// <param name="pointType"></param>
/// <returns></returns>
public static SlotPoint GetTurnoverTrayForceNozzlePoint(int slotIndex)
{
string key = $"{GlobalVar.CurRecipe}-ForceNozzleTurnover-{slotIndex}";
if (trayPoints.ContainsKey(key))
{
return trayPoints[key];
}
return null;
}
/// <summary>
/// 获取周转盘强力吸嘴的点位
/// </summary>
/// <param name="recipeName"></param>
/// <param name="trayName"></param>
/// <param name="slotIndex"></param>
/// <param name="pointType"></param>
/// <returns></returns>
public static SlotPoint GetExceptiontTrayPoint(int slotIndex)
{
string key = $"{GlobalVar.CurRecipe}-ExceptiontTray-{slotIndex}";
if (trayPoints.ContainsKey(key))
{
return trayPoints[key];
}
return null;
}
public static SlotPoint GetDistToNozzle1(int nozzleIndex)
{
//先获取相机的中心位置
SlotPoint point = new SlotPoint();
double nozzle1ToCameraCenterX = SysConfigParam.GetValue<double>("InkpadX") - SysConfigParam.GetValue<double>("CameraInkpadX");
double nozzle1ToCameraCenterY = SysConfigParam.GetValue<double>("InkpadY") - SysConfigParam.GetValue<double>("CameraInkpadY");
//再加上指定吸嘴到吸嘴1的距离
double distToNozzle1X = SysConfigParam.GetValue<double>($"Nozzle{nozzleIndex}CenterX") - SysConfigParam.GetValue<double>($"Nozzle1CenterX");
double distToNozzle1Y = SysConfigParam.GetValue<double>($"Nozzle{nozzleIndex}CenterY") - SysConfigParam.GetValue<double>($"Nozzle1CenterY");
point.X = nozzle1ToCameraCenterX + distToNozzle1X;
point.Y = nozzle1ToCameraCenterY + distToNozzle1Y;
return point;
}
}
}

5
Rs.DeweyTester/Flow/AlarmConstID.cs
Unescape Escape View File

@ -134,5 +134,10 @@ namespace Rs.MotionPlat.Flow
/// TakeTrayX运动异常报警
/// </summary>
public const int TakeTrayX运动异常报警 = 1026;
/// <summary>
/// 料盘定位失败
/// </summary>
public const int 料盘定位失败 = 1027;
}
}

4
Rs.DeweyTester/Flow/NormalFlow/GrrFlow.cs
Unescape Escape View File

@ -263,7 +263,7 @@ namespace Rs.MotionPlat.Flow
curTakeNozzle = NozzleManager.GetIdelNozzle();
if (curTakeNozzle != null)
{
targetPosition = NozzleManager.GotoTraySlot(ETrayType.Grr, curTakeSlot.Index, curTakeNozzle.NozzleIndex);
targetPosition = NozzleManager.GetToTraySlot(ETrayType.Grr, curTakeSlot.Index, curTakeNozzle.NozzleIndex);
if(curTakeNozzle != null)
{
targetPosition.X += vResult.OffsetX;
@ -768,7 +768,7 @@ namespace Rs.MotionPlat.Flow
if (curDumpSlot != null)
{
targetPosition = NozzleManager.GotoTraySlot(ETrayType.Grr, curDumpSlot.Index, curDumpNozzle.NozzleIndex);
targetPosition = NozzleManager.GetToTraySlot(ETrayType.Grr, curDumpSlot.Index, curDumpNozzle.NozzleIndex);
////获取点位
//SlotPoint slotPoint = TrayPointManager.GetSlotPoint(ETrayType.Ng, curDumpSlot.Index);
//targetPosition.X = slotPoint.X + GlobalVar.Nozzle1ToCameraCenterOffsetX + NozzleManager.GetNozzleOffsetX(curDumpNozzle.NozzleIndex);

22
Rs.DeweyTester/Flow/NormalFlow/ThreePointLocationFlow.cs
Unescape Escape View File

@ -3,6 +3,7 @@ using Rs.DataAccess;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys;
using Rs.MotionPlat.Flow.Common;
using Rs.MotionPlat.Vision;
using System;
@ -42,6 +43,8 @@ namespace Rs.MotionPlat.Flow.NormalFlow
string logInfo = string.Empty;
VisionResult vr = new VisionResult();
List<VisionResult> vResult = new List<VisionResult>();
AlarmEntity alarmEntity=new AlarmEntity();
/// <summary>
/// 三点定位（左上/右上/左下）
/// </summary>
@ -59,7 +62,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
{
return;
}
Task.Run(() => {
//Task.Run(() => {
while (!finished)
{
if(stop)
@ -99,7 +102,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
}
else
{
step = EThreePointLocationFlowStep.到拍照位;
}
}
break;
@ -121,12 +124,21 @@ namespace Rs.MotionPlat.Flow.NormalFlow
CalcTrayRunPoint(trayType);
TrayRunPointManager.LoadPoint();
finished = true;
Msgbox.ShowDialog(EButtonType.Ok, "Three point location finished");
}
}
else
{
alarmEntity = AlarmCollection.Get(AlarmConstID.料盘定位失败);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
}
}
break;
}
}
});
//});
}
private void PrintXY1Y2CurrentPos(string prefixLog)
@ -203,8 +215,8 @@ namespace Rs.MotionPlat.Flow.NormalFlow
{
for (int col = 1; col <= 16; col++)
{
double x = y1 + (row - 1) * bigSpaceY + (col - 1) * smallSpaceX;
double y = x1 + (col - 1) * bigSpaceX + (row - 1) * smallSpaceY;
double x = x1 + (row - 1) * bigSpaceX + (col - 1) * smallSpaceX;
double y = y1 + (col - 1) * bigSpaceY + (row - 1) * smallSpaceY;
string insertSql = $"insert into trayrunpoints(trayid,recipename,trayname,slotindex,x,y) values(1,'{GlobalVar.CurRecipe}','{trayType}',{index},{x},{y})";
rowAffectNum = db.ExecuteNonQuery(insertSql);

2
Rs.DeweyTester/Module/NozzleCollection.cs
Unescape Escape View File

@ -474,7 +474,7 @@ namespace Rs.MotionPlat.Commom
/// <param name="slotIndex"></param>
/// <param name="nozzleIndex"></param>
/// <returns></returns>
public static TargetPosition GotoTraySlot(ETrayType trayType,int slotIndex,int nozzleIndex)
public static TargetPosition GetToTraySlot(ETrayType trayType,int slotIndex,int nozzleIndex)
{
TargetPosition targetPosition=new TargetPosition();
SlotPoint curTakeSlotPoint = TrayPointManager.GetSlotPoint(trayType, slotIndex);

29
Rs.DeweyTester/Recipe/StockTrayLocationRecipe.cs
Unescape Escape View File

@ -45,6 +45,12 @@ namespace Rs.MotionPlat.Recipe
}
private void BindPoints()
{
BindBasePoint();
BindRunPoint();
}
void BindBasePoint()
{
string querySql = $"select * from TrayPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
DataTable dtRunPoints = db.GetDataTable(querySql);
@ -52,10 +58,12 @@ namespace Rs.MotionPlat.Recipe
{
dgvBasePoints.DataSource = dtRunPoints;
}
}
querySql = $"select * from TrayRunPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
dtRunPoints = db.GetDataTable(querySql);
void BindRunPoint()
{
string querySql = $"select * from TrayRunPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
DataTable dtRunPoints = db.GetDataTable(querySql);
if (ObjectHelper.IsNotNullorEmpty(dtRunPoints))
{
dgvRunPoints.DataSource = dtRunPoints;
@ -166,7 +174,7 @@ namespace Rs.MotionPlat.Recipe
if(selectedSlot!=null)
{
int nozzleIndex = 0;
string querySql = $"select * from TrayPoints where trayid={dt.Rows[0]["id"]} and slotindex={selectedSlot.Index}";
string querySql = $"select * from TrayRunPoints where trayid={dt.Rows[0]["id"]} and slotindex={selectedSlot.Index}";
DataTable dtGoPosition = db.GetDataTable(querySql);
if(ObjectHelper.IsNotNullorEmpty(dtGoPosition))
{
@ -177,14 +185,10 @@ namespace Rs.MotionPlat.Recipe
if (parentMenu.Text.IndexOf("Nozzle") >= 0)
{
nozzleIndex = int.Parse(parentMenu.Text.Replace("Nozzle", "").Replace("GO", ""));
SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
targetX += dist.X;
targetY += dist.Y;
}
if(subMenu.Text=="GrabPos")
{
targetX += GlobalVar.StockTakePictureOffsetX;
targetY += GlobalVar.StockTakePictureOffsetY;
//SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
targetX += NozzleManager.GetNozzleToCameraOffsetX(nozzleIndex);
targetY += NozzleManager.GetNozzleToCameraOffsetY2(nozzleIndex);
}
DialogResult dr = Msg.ShowQuestion($"Are you sure to move loadx to {targetX},loady to {targetY}?");
if(dr== DialogResult.OK)
@ -410,6 +414,7 @@ namespace Rs.MotionPlat.Recipe
{
ThreePointLocationFlow.Instance.Location(ETrayType.Ok);
}
BindPoints();
});
}
}

Write Preview
Loading…
Cancel
Save