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Rs.SkyLine
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优化排料流程

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master
lhiven 2 years ago
parent 1a1d68a968
commit 89c6df5697
4 changed files with 241 additions and 139 deletions
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32
Rs.SkyLine/Commom/Ops.cs
Unescape Escape View File

@ -137,14 +137,17 @@ namespace Rs.MotionPlat.Commom
public static void Start()
{
Task.Run(() => {
WorkEnvironment.Instance.Ready();
if (WorkEnvironment.Instance.EnvReadyOkEvent.WaitOne())
if(MachineManage.Instance.MachineStatus== EMachineStatus.Homed || MachineManage.Instance.MachineStatus== EMachineStatus.Stop)
{
if(!WorkEnvironment.Instance.EnvironmentOk)
{
WorkEnvironment.Instance.Ready();
WorkEnvironment.Instance.EnvReadyOkEvent.WaitOne();
}
DischargeFlow.Instance.Start();
TurnoverFlow.Instance.Start();
MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Started);
var status = MachineManage.Instance.GetLoadUnloadStatus();
if(DischargeFlow.Instance.GetCurStep()=="等待任务" && TurnoverFlow.Instance.GetStep()== "等待任务")
if (DischargeFlow.Instance.GetCurStep() == "等待任务" && TurnoverFlow.Instance.GetStep() == "等待任务")
{
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
}
@ -155,11 +158,22 @@ namespace Rs.MotionPlat.Commom
public static void Stop()
{
DischargeFlow.Instance.Stop();
TurnoverFlow.Instance.Stop();
MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Stopped);
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Interrupt);
MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
if(MachineManage.Instance.MachineStatus== EMachineStatus.Working)
{
DischargeFlow.Instance.Stop();
TurnoverFlow.Instance.Stop();
MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Stopped);
//MachineManage.Instance.SetLoadUnloadStatus(ERunState.Interrupt);
MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
}
else if(MachineManage.Instance.MachineStatus== EMachineStatus.Homing)
{
foreach (IAxis axis in AxisControl.GetAllAxis())
{
axis.Abort_Go_Home();
}
}
}
public static void GoHome()

9
Rs.SkyLine/Flow/LoadAndUnloadTask.cs
Unescape Escape View File

@ -179,6 +179,15 @@ namespace Rs.MotionPlat.Flow
turnoverResult.Add(turnoverInfo);
}
public void CopyBarcodeToTask(int slotIndex,string sn)
{
TurnoverInfo ti = turnoverResult.Where(r => r.ToIndex == slotIndex && r.ToType == TurnoverType.Turnover).First();
if(ti!=null)
{
ti.SN = sn;
}
}
/// <summary>
/// 获取测试治具上料的任务信息
/// </summary>

337
Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
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@ -943,61 +943,97 @@ namespace Rs.MotionPlat.Flow
}
else
{
//获取所有需要放料的吸嘴，检测真空是否还在，如果真空异常则报警
List<Nozzle> lostNozzles = new List<Nozzle>();
List<Nozzle> toUnloadNozzles = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload);
if (toUnloadNozzles.Count > 0)
if(!curNozzle.HasProduct())
{
foreach (var nozzle in toUnloadNozzles)
bool exit = false;
while(!exit)
{
if (!nozzle.HasProduct())
//弹框报警
alarmInfo = $"检测到{curNozzle.NozzleIndex}吸嘴真空吸异常，可能丢料，请检查吸嘴的状态";
TestCenterMessageBox.Show(AlarmConstID.DischargeNozzleLostProductAlarm, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());
msgBox = TestCenterMessageBox.WaitResult(AlarmConstID.DischargeNozzleLostProductAlarm);
switch (msgBox.Button)
{
lostNozzles.Add(nozzle);
}
}
if (lostNozzles.Count > 0)
{
bool bSkip = false;
while (!bSkip)
{
//弹框报警
alarmInfo = $"检测到{lostNozzles.Select(ln => ln.NozzleIndex).ToJoinString()}吸嘴真空吸异常，可能丢料，请检查吸嘴的状态";
TestCenterMessageBox.Show(AlarmConstID.DischargeNozzleLostProductAlarm, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());
msgBox = TestCenterMessageBox.WaitResult(AlarmConstID.DischargeNozzleLostProductAlarm);
switch (msgBox.Button)
{
case ETipButton.Skip:
bSkip = true;
lostNozzles.ForEach(ln => ln.Reset());
break;
case ETipButton.Yes:
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
break;
default:
break;
}
}
}
else
{
if (curNozzle.Status == ENozzleStatus.ToUnload)
{
flowStep = EDischargeFlowStep.到放料位下方;
}
else
{
flowStep = EDischargeFlowStep.放料任务完成;
case ETipButton.Skip:
if (!curNozzle.HasProduct())
{
curNozzle.Reset();
exit= true;
flowStep = EDischargeFlowStep.放料任务完成;
}
break;
case ETipButton.Yes:
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
break;
default:
break;
}
}
}
else
{
flowStep = EDischargeFlowStep.放料任务完成;
flowStep = EDischargeFlowStep.到放料位下方;
}
#region 临时屏蔽
// //获取所有需要放料的吸嘴，检测真空是否还在，如果真空异常则报警
// List<Nozzle> lostNozzles = new List<Nozzle>();
// List<Nozzle> toUnloadNozzles = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload);
// if (toUnloadNozzles.Count > 0)
// {
// foreach (var nozzle in toUnloadNozzles)
// {
// if (!nozzle.HasProduct())
// {
// //lostNozzles.Add(nozzle);
// while (!bSkip)
// {
// }
// }
// }
// if (lostNozzles.Count > 0)
// {
// bool bSkip = false;
// while (!bSkip)
// {
// //弹框报警
// alarmInfo = $"检测到{lostNozzles.Select(ln => ln.NozzleIndex).ToJoinString()}吸嘴真空吸异常，可能丢料，请检查吸嘴的状态";
// TestCenterMessageBox.Show(AlarmConstID.DischargeNozzleLostProductAlarm, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetSkip_MoveToSafe_ButtonText());
// msgBox = TestCenterMessageBox.WaitResult(AlarmConstID.DischargeNozzleLostProductAlarm);
// switch (msgBox.Button)
// {
// case ETipButton.Skip:
// bSkip = true;
// lostNozzles.ForEach(ln => ln.Reset());
// break;
// case ETipButton.Yes:
// DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
// break;
// default:
// break;
// }
// }
// }
// else
// {
// if (curNozzle.Status == ENozzleStatus.ToUnload)
// {
// flowStep = EDischargeFlowStep.到放料位下方;
// }
// else
// {
// flowStep = EDischargeFlowStep.放料任务完成;
// }
// }
// }
// else
// {
// flowStep = EDischargeFlowStep.放料任务完成;
// }
#endregion
}
break;
//case EDischargeFlowStep.到放料位下方:
// DischargeDumpFlow.Instance.Start(curNozzle.ToType, curNozzle.NozzleIndex, curNozzle.ToIndex);
@ -1136,10 +1172,14 @@ namespace Rs.MotionPlat.Flow
switch (msgBox.Button)
{
case ETipButton.Skip:
curNozzle.Reset();
skip = true;
logInfo = GetClassName() + "选择了跳过按钮";
MessageQueue.Instance.Insert(logInfo);
if (!curNozzle.HasProduct())
{
curNozzle.Reset();
skip = true;
flowStep = EDischargeFlowStep.放料任务完成;
}
break;
case ETipButton.Yes:
logInfo = GetClassName() + "选择了移动到安全位按钮";
@ -1153,90 +1193,99 @@ namespace Rs.MotionPlat.Flow
else
{
curNozzle.VacSuction(EIoOperate.Close);
flowStep = EDischargeFlowStep.放料真空检测;
}
break;
case EDischargeFlowStep.放料真空检测:
if (curNozzle.ToType == TurnoverType.Turnover)
{
if (Ops.IsOn($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测") || GlobalVar.RunSpace)
{
logInfo = GetClassName()+$"周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测OK";
MessageQueue.Instance.Insert(logInfo);
flowStep = EDischargeFlowStep.放料任务完成;
}
else
{
bool exit = false;
Dictionary<ETipButton, string> buttons = new Dictionary<ETipButton, string>() {
{ ETipButton.Retry,"重拍|Regrab" },
{ETipButton.Skip,"跳过|Skip" },
{ETipButton.Yes,"移动到安全位|MoveToSafePos" }
};
while (!exit)
{
TestCenterMessageBox.Show(AlarmConstID.TurnoverDumpFailAlarm, alarmInfo, ETipButton.Retry | ETipButton.Skip | ETipButton.Yes, buttons);
msgBox = TestCenterMessageBox.WaitResult(AlarmConstID.TurnoverDumpFailAlarm);
if (msgBox != null)
{
switch (msgBox.Button)
{
case ETipButton.Retry://重拍
logInfo = GetClassName()+$"选择了重拍";
MessageQueue.Instance.Insert(logInfo);
if (UpCameraCheckFlow.Instance.CheckTurnoverTrayDumpOK(curNozzle.ToIndex))
{
exit=true;
flowStep = EDischargeFlowStep.放料任务完成;
}
break;
case ETipButton.Skip://跳过
logInfo = GetClassName()+$"选择了跳过";
MessageQueue.Instance.Insert(logInfo);
//logInfo = $"{nameof(DischargeFlow)}-通知强力吸头到{curNozzle.ToType}盘{curNozzle.ToIndex}穴位处理异常料";
//MessageQueue.Instance.Insert(logInfo);
//WarningSuckerNgFlow.Instance.Start(ETrayType.Turnover, curNozzle.ToIndex);
//WarningSuckerNgFlow.Instance.Wait();
if (!UpCameraCheckFlow.Instance.CheckTurnoverTrayHasProduct(null,curNozzle.ToIndex))
{
exit=true;
curNozzle.Reset();
flowStep = EDischargeFlowStep.放料任务完成;
}
break;
case ETipButton.Yes://移动到安全位
logInfo = GetClassName() + $"选择了移动到安全位";
MessageQueue.Instance.Insert(logInfo);
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
break;
default:
break;
}
}
}
//logInfo = $"{nameof(DischargeFlow)}-周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常";
//MessageQueue.Instance.Warn(logInfo);
//if (UpCameraCheckFlow.Instance.CheckStockTrayHasProduct(null, EStockType.Turnover, curNozzle.ToIndex))
//{
// flowStep = EDischargeFlowStep.放料任务完成;
//}
//else
//{
// flowStep = EDischargeFlowStep.周转盘放料真空报警;
//}
//DialogResult dr = Msg.ShowError($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常,点击确定后跳过");
//alarmInfo = $"周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常";
//TestCenterMessageBox.Show(AlarmConstID.TurnoverDumpFailAlarm, alarmInfo, ETipButton.Ok);
//box = TestCenterMessageBox.WaitResult(AlarmConstID.TurnoverDumpFailAlarm);
//if (box.Button== ETipButton.Ok)
//{
//flowStep = EDischargeFlowStep.放料任务完成;
//}
}
}
else
{
flowStep = EDischargeFlowStep.放料任务完成;
}
break;
#region 临时屏蔽，排料头放料到周转盘时，不进行周转盘的真空检测，只要没有粘料就继续执行
//case EDischargeFlowStep.放料真空检测:
// if (curNozzle.ToType == TurnoverType.Turnover)
// {
// if (Ops.IsOn($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测") || GlobalVar.RunSpace)
// {
// logInfo = $"{nameof(DischargeFlow)}-周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测OK";
// MessageQueue.Instance.Insert(logInfo);
// flowStep = EDischargeFlowStep.放料任务完成;
// }
// else
// {
// logInfo = $"{nameof(DischargeFlow)}-周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常";
// MessageQueue.Instance.Warn(logInfo);
// if(UpCameraCheckFlow.Instance.CheckStockTrayHasProduct(null,EStockType.Turnover, curNozzle.ToIndex))
// {
// flowStep = EDischargeFlowStep.放料任务完成;
// }
// else
// {
// flowStep = EDischargeFlowStep.周转盘放料真空报警;
// }
// //DialogResult dr = Msg.ShowError($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常,点击确定后跳过");
// //alarmInfo = $"周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常";
// //TestCenterMessageBox.Show(AlarmConstID.TurnoverDumpFailAlarm, alarmInfo, ETipButton.Ok);
// //box = TestCenterMessageBox.WaitResult(AlarmConstID.TurnoverDumpFailAlarm);
// //if (box.Button== ETipButton.Ok)
// //{
// //flowStep = EDischargeFlowStep.放料任务完成;
// //}
// }
// }
// else
// {
// flowStep = EDischargeFlowStep.放料任务完成;
// }
// break;
//case EDischargeFlowStep.周转盘放料真空报警:
// Dictionary<ETipButton, string> buttons = new Dictionary<ETipButton, string>() {
// { ETipButton.Retry,"重拍|Regrab" },
// {ETipButton.Skip,"跳过|Skip" },
// {ETipButton.Yes,"移动到安全位|MoveToSafePos" }
// };
// TestCenterMessageBox.Show(AlarmConstID.TurnoverDumpFailAlarm, alarmInfo, ETipButton.Retry| ETipButton.Skip| ETipButton.Yes,buttons);
// msgBox = TestCenterMessageBox.WaitResult(AlarmConstID.TurnoverDumpFailAlarm);
// if(msgBox!=null)
// {
// switch (msgBox.Button)
// {
// case ETipButton.Retry://重拍
// logInfo = $"{nameof(DischargeFlow)}-选择了重拍";
// MessageQueue.Instance.Insert(logInfo);
// if(UpCameraCheckFlow.Instance.CheckTurnoverTrayDumpOK(curNozzle.ToIndex))
// {
// flowStep = EDischargeFlowStep.放料任务完成;
// }
// break;
// case ETipButton.Skip://跳过
// logInfo = $"{nameof(DischargeFlow)}-选择了跳过";
// MessageQueue.Instance.Insert(logInfo);
// logInfo = $"{nameof(DischargeFlow)}-通知强力吸头到{curNozzle.ToType}盘{curNozzle.ToIndex}穴位处理异常料";
// MessageQueue.Instance.Insert(logInfo);
// WarningSuckerNgFlow.Instance.Start( ETrayType.Turnover, curNozzle.ToIndex);
// WarningSuckerNgFlow.Instance.Wait();
// flowStep = EDischargeFlowStep.放料任务完成;
// break;
// case ETipButton.Yes://移动到安全位
// logInfo = $"{nameof(DischargeFlow)}-选择了移动到安全位";
// MessageQueue.Instance.Insert(logInfo);
// logInfo = $"{nameof(DischargeFlow)}-通知排料头回安全位";
// MessageQueue.Instance.Insert(logInfo);
// DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
// logInfo = $"{nameof(DischargeFlow)}-排料头已回到安全位";
// MessageQueue.Instance.Insert(logInfo);
// break;
// default:
// break;
// }
// }
// break;
#endregion
case EDischargeFlowStep.放料任务完成:
//AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home();
@ -1277,6 +1326,7 @@ namespace Rs.MotionPlat.Flow
GlobalTray.MultiTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
}
LoadAndUnloadTask.Instance.AddTurnoverResult(curNozzle);
}
curNozzle.Reset();
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0)
@ -1298,6 +1348,21 @@ namespace Rs.MotionPlat.Flow
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 8);
UpCameraScanBarCodeFlow.Instance.Scan(1, false);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
{
if(TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
{
if (vr.SearchModelOK && vr.OffsetX < 0.5 && vr.OffsetY < 0.5 && vr.OffsetR < 5)//定位成功
{
if(vr.ScanBarCodeOK)
{
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, vr.SN);
}
}
}
}
OnUpCameraGrabResult?.Invoke(result);
}
//判断周转盘第三行有没有产品,如果有产品则拍第三行
@ -1308,6 +1373,20 @@ namespace Rs.MotionPlat.Flow
SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 24);
UpCameraScanBarCodeFlow.Instance.Scan(24, true);
List<VisionResult> result = UpCameraScanBarCodeFlow.Instance.Wait();
foreach (var vr in result)
{
if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct)
{
if (vr.SearchModelOK && vr.OffsetX < 0.5 && vr.OffsetY < 0.5 && vr.OffsetR < 5)//定位成功
{
if (vr.ScanBarCodeOK)
{
//复制二维码
LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, vr.SN);
}
}
}
}
OnUpCameraGrabResult?.Invoke(result);
}
@ -1346,7 +1425,7 @@ namespace Rs.MotionPlat.Flow
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
}
logInfo = $"{nameof(DischargeFlow)}-排料任务结束到安全位";
logInfo =GetClassName()+ $"排料任务结束到安全位";
MessageQueue.Instance.Insert(logInfo);
flowStep = EDischargeFlowStep.等待任务结束到安全位;
}

2
Rs.SkyLine/Flow/SubFlow/UpCameraCheckFlow.cs
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@ -77,7 +77,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
/// <returns></returns>
public bool CheckTurnoverTrayHasProduct(Action<HObject> checkFinishedEvent,int slotIndex=1)
{
//Go(ETrayType.Turnover, slotIndex);
Go(ETrayType.Turnover, slotIndex);
int result = VisionManager.TurnoverTrayHasProduct(checkFinishedEvent);
if (result == 1)
return true;

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