存储机构-相机到抽屉前先拍照检测位置再执行下一动作

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -89,6 +89,8 @@ namespace OnlineStore.DeviceLibrary
         public ConcurrentQueue<InOutParam> waitBOutStoreList = new ConcurrentQueue<InOutParam>();
         //库位表
         public List<string> PositionNumList;
+        public bool IgnoreCamDect = false;
+        public bool CamDetectError = false;
         public BoxEquip(string cid, BoxEquip_Config config)
         {
             baseConfig = config;

source/DeviceLibrary/storeBean/boxBean/BoxEquip_AutoFindPos.cs

@@ -51,6 +51,17 @@ namespace OnlineStore.DeviceLibrary
             return "";
         }
         /// <summary>
+        /// 获取抽屉/仓位所在面的相机序号
+        /// </summary>
+        /// <param name="pos">位置</param>
+        /// <returns></returns>
+        private int CamPosSide(string pos)
+        {
+            if (pos.Substring(2, 2).Equals("AA")) return 0;
+            else if (pos.Substring(2, 2).Equals("BB")) return 1;
+            return 0;
+        }
+        /// <summary>
         /// 获取轴的负限位
         /// </summary>
         /// <param name="axisNo"></param>
@@ -183,7 +194,8 @@ namespace OnlineStore.DeviceLibrary
                     break;
                 case StepEnum.SA_02_Pos_To_Drawer_StartPoint:
                     //取图
-                    Bitmap bitmap = null;
+                    //Bitmap bitmap = null;
+                    AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId), out Bitmap bitmap);
                     int res = AutoFindPos.GetMarkInfo(bitmap, out ocsFXYR);
                     if (res == 0)
                     {
@@ -253,7 +265,8 @@ namespace OnlineStore.DeviceLibrary
 
                 case StepEnum.SA_07_Neg_To_Drawer_StartPoint:
                     //取图
-                    Bitmap bitmap1 = null;
+                    //Bitmap bitmap1 = null;
+                    AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId), out Bitmap bitmap1);
                     int res1 = AutoFindPos.GetMarkInfo(bitmap1, out ocsFXYR);
                     if (res1 == 0)
                     {

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -246,9 +246,13 @@ namespace OnlineStore.DeviceLibrary
                     UpdownAxisTo_P6_P12();
                     break;
                 case StepEnum.SI_08_ToPosition:
+                    if(CamCheckReelPosition())
+                    {
                         MoveInfo.NextMoveStep(StepEnum.SI_09_ToTray);
                         LogInfo($"存储机构-入库 {MoveInfo.SLog}：到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
                         ToTray();
+                        IgnoreCamDect = false;
+                    }
                     break;
                 case StepEnum.SI_09_ToTray:
                     MoveInfo.NextMoveStep(StepEnum.SI_10_LiftTray);

source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs

@@ -57,9 +57,13 @@ namespace OnlineStore.DeviceLibrary
                     }
                     break;
                 case StepEnum.SO_02_ToPosition:
+                    if(CamCheckReelPosition())
+                    {
                         MoveInfo.NextMoveStep(StepEnum.SO_03_ToTray);
                         LogInfo($"存储机构-出库 {MoveInfo.SLog}：到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
                         ToTray();
+                        IgnoreCamDect = false;
+                    }
                     break;
                 case StepEnum.SO_03_ToTray:
                     MoveInfo.NextMoveStep(StepEnum.SO_04_LiftTray);

source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs

@@ -20,6 +20,16 @@ namespace OnlineStore.DeviceLibrary
             return false;
         }
         /// <summary>
+        /// 忽略相机检测到的抽屉误差误差
+        /// </summary>
+        public void SetIgnoreCamDect()
+        {
+            if (MoveInfo.MoveType.Equals(MoveType.InStore) || MoveInfo.MoveType.Equals(MoveType.OutStore))
+            {
+                IgnoreCamDect = true;
+            }
+        }
+        /// <summary>
         /// 检查当前面是否A面
         /// </summary>
         /// <returns></returns>
@@ -193,7 +203,7 @@ namespace OnlineStore.DeviceLibrary
         ///  6=入库执行中,7=入仓完成，8=入仓失败
         /// 9=出库执行，10=出仓完成，11=出库失败
         /// </summary>
-        private void SetBoxStatus(DeviceStatus deviceStatus,RunStatus runStatus)
+        private void SetBoxStatus(DeviceStatus deviceStatus, RunStatus runStatus)
         {
             this.deviceStatus = deviceStatus;
             this.runStatus = runStatus;
@@ -210,7 +220,50 @@ namespace OnlineStore.DeviceLibrary
             }
             LogInfo($"存储机构-{InOutType} {MoveInfo.SLog}：料屉拉取升降轴、料屉拉取进出轴到待机点P1");
         }
-
+        #region 相机检查库位
+        /// <summary>
+        /// 检查抽屉是否偏位
+        /// </summary>
+        /// <returns></returns>
+        private bool CamCheckReelPosition()
+        {
+            if (IgnoreCamDect)
+            {
+                CamDetectError = false;
+                return true;
+            }
+            AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId), out Bitmap bitmap);
+            int res = AutoFindPos.GetMarkInfo(bitmap, out ocsFXYR);
+            if (res == 0)
+            {
+                LogInfo($"存储机构-相机检查库位 {MoveInfo.SLog}：取图[{MoveInfo.MoveParam.PosInfo.PosId}]");
+            }
+            else if (res == -4)
+            {
+                SetWarnMsg($"存储机构-相机检查库位异常[code={res}]，未找到Mark点。库位号:{MoveInfo.MoveParam.PosInfo.PosId}");
+                CamDetectError = true;
+                return false;
+            }
+            else
+            {
+                SetWarnMsg($"存储机构-相机检查库位异常[code={res}]，未找到Mark点。库位号:{MoveInfo.MoveParam.PosInfo.PosId}");
+                CamDetectError = true;
+                return false;
+            }
+            if (Math.Abs(Config.Drawer_X - ocsFXYR.fX) < Config.Drawer_X_Error && Math.Abs(Config.Drawer_Y - ocsFXYR.fY) < Config.Drawer_Y_Error)
+            {
+                CamDetectError = false;
+                return true;
+            }
+            else
+            {
+                SetWarnMsg($"存储机构-相机检查库位异常 {MoveInfo.SLog}：Mark点Y轴坐标{ocsFXYR.fY},模板Mark点Y轴坐标{Config.Drawer_Y},Y轴偏差{(Config.Drawer_Y - ocsFXYR.fY)};" +
+                    $"Mark点X轴坐标{ ocsFXYR.fX},模板Mark点X轴坐标{ Config.Drawer_X},X轴偏差{ (Config.Drawer_X - ocsFXYR.fX)}，");
+            }
+            CamDetectError = true;
+            return false;
+        }
+        #endregion
         #region 入库
         private DateTime startInStoreTime = DateTime.Now;
         public override bool StartInstore(InOutParam param)
@@ -222,7 +275,7 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.error(Name + " 启动入库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirpressure_Check=" + isNoAirpressure_Check);
                 return false;
             }
-            if(!PreInStoreCheck(param))
+            if (!PreInStoreCheck(param))
             {
                 return false;
             }
@@ -231,6 +284,7 @@ namespace OnlineStore.DeviceLibrary
             param.MoveP = new LineMoveP(Config, param.PosInfo.PosId);
             LogInfo("LoadInoutParam:" + JsonHelper.SerializeObject(param.MoveP));
             MoveInfo.NewMove(MoveType.InStore, param);
+            IgnoreCamDect = false;
             SetBoxStatus(DeviceStatus.InStoreExecute, RunStatus.Busy);
             MoveInfo.NextMoveStep(StepEnum.SI_00_StartInstore);
             return true;
@@ -238,7 +292,7 @@ namespace OnlineStore.DeviceLibrary
 
         private bool InDoorCheck(InOutParam param)
         {
-            if(CheckASide(param))
+            if (CheckASide(param))
             {
                 if (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.HIGH) && param.PosInfo != null)
                 {
@@ -278,14 +332,14 @@ namespace OnlineStore.DeviceLibrary
         /// <returns></returns>
         private bool OutDoorCheck(InOutParam param)
         {
-            if(param.PosInfo.PosSide.Equals("A"))//A面
+            if (param.PosInfo.PosSide.Equals("A"))//A面
             {
                 if (CheckAOutDoor())
                 {
                     return true;
                 }
             }
-            else if(param.PosInfo.PosSide.Equals("B"))//B面
+            else if (param.PosInfo.PosSide.Equals("B"))//B面
             {
                 if (CheckBOutDoor())
                 {
@@ -344,11 +398,11 @@ namespace OnlineStore.DeviceLibrary
                     reviceList = (from m in reviceList where m.PosInfo.PosId.Equals(param.PosInfo.PosId) select m).ToList<InOutParam>();
                     if (reviceList.Count == 0)
                     {
-                        if(param.PosInfo.PosSide.Equals("A"))
+                        if (param.PosInfo.PosSide.Equals("A"))
                         {
                             waitAOutStoreList.Enqueue(param);
                         }
-                        else if(param.PosInfo.PosSide.Equals("B"))
+                        else if (param.PosInfo.PosSide.Equals("B"))
                         {
                             waitBOutStoreList.Enqueue(param);
                         }
@@ -378,6 +432,7 @@ namespace OnlineStore.DeviceLibrary
             MoveInfo.NewMove(MoveType.OutStore, param);
             LogInfo("启动出库【" + param.PosInfo.ToStr() + "】  ");
             LogInfo("LoadInoutParam:" + JsonHelper.SerializeObject(param.MoveP));
+            IgnoreCamDect = false;
             MoveInfo.NextMoveStep(StepEnum.SI_01_PullAxis_Ready);
 
             return true;

source/XLRStoreClient/App.config

@@ -6,7 +6,7 @@
   <appSettings>
     <!--是否开机自动启动料仓-->
     <add key="App_AutoRun" value="0" />
-    <add key="App_Title" value="流水线客户端" />
+    <add key="App_Title" value="方仓客户端" />
     <!--Server address-->
     <add key="http.server" value="http://192.168.100.14/myproject/" />
     <!--   开始吹气的判断值（配置值=服务器发送的湿度值-开始吹气值）-->

source/XLRStoreClient/FrmXLRStore.Designer.cs

@@ -137,7 +137,7 @@
             this.tabPage2.Controls.Add(this.panel1);
             this.tabPage2.Location = new System.Drawing.Point(4, 29);
             this.tabPage2.Name = "tabPage2";
-            this.tabPage2.Size = new System.Drawing.Size(988, 605);
+            this.tabPage2.Size = new System.Drawing.Size(192, 67);
             this.tabPage2.TabIndex = 1;
             this.tabPage2.Text = " 设备状态  ";
             this.tabPage2.UseVisualStyleBackColor = true;
@@ -148,7 +148,7 @@
             this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.panel1.Location = new System.Drawing.Point(0, 0);
             this.panel1.Name = "panel1";
-            this.panel1.Size = new System.Drawing.Size(988, 605);
+            this.panel1.Size = new System.Drawing.Size(192, 67);
             this.panel1.TabIndex = 1;
             // 
             // tableLayoutPanel1
@@ -173,7 +173,7 @@
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 14.28571F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 19.04762F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 19.04762F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(988, 605);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(192, 67);
             this.tableLayoutPanel1.TabIndex = 0;
             // 
             // InputControl
@@ -184,10 +184,10 @@
             this.tableLayoutPanel1.SetColumnSpan(this.InputControl, 2);
             this.InputControl.Dock = System.Windows.Forms.DockStyle.Fill;
             this.InputControl.EquipText = "上料机构";
-            this.InputControl.Location = new System.Drawing.Point(3, 376);
+            this.InputControl.Location = new System.Drawing.Point(3, 43);
             this.InputControl.MoveInfo = "暂无出入库";
             this.InputControl.Name = "InputControl";
-            this.InputControl.Size = new System.Drawing.Size(982, 109);
+            this.InputControl.Size = new System.Drawing.Size(186, 6);
             this.InputControl.TabIndex = 5;
             this.InputControl.WorkStatus = "暂未启动";
             // 
@@ -197,10 +197,10 @@
             this.ReelControlA1.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
             this.ReelControlA1.ColorStatus = System.Drawing.Color.White;
             this.ReelControlA1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.ReelControlA1.Location = new System.Drawing.Point(3, 204);
+            this.ReelControlA1.Location = new System.Drawing.Point(3, 25);
             this.ReelControlA1.Name = "ReelControlA1";
             this.ReelControlA1.ReelText = "暂存区物料";
-            this.ReelControlA1.Size = new System.Drawing.Size(488, 80);
+            this.ReelControlA1.Size = new System.Drawing.Size(90, 3);
             this.ReelControlA1.TabIndex = 0;
             // 
             // ReelControlA2
@@ -209,10 +209,10 @@
             this.ReelControlA2.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
             this.ReelControlA2.ColorStatus = System.Drawing.Color.White;
             this.ReelControlA2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.ReelControlA2.Location = new System.Drawing.Point(3, 290);
+            this.ReelControlA2.Location = new System.Drawing.Point(3, 34);
             this.ReelControlA2.Name = "ReelControlA2";
             this.ReelControlA2.ReelText = "暂存区物料";
-            this.ReelControlA2.Size = new System.Drawing.Size(488, 80);
+            this.ReelControlA2.Size = new System.Drawing.Size(90, 3);
             this.ReelControlA2.TabIndex = 1;
             // 
             // ReelControlB1
@@ -221,10 +221,10 @@
             this.ReelControlB1.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
             this.ReelControlB1.ColorStatus = System.Drawing.Color.White;
             this.ReelControlB1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.ReelControlB1.Location = new System.Drawing.Point(497, 204);
+            this.ReelControlB1.Location = new System.Drawing.Point(99, 25);
             this.ReelControlB1.Name = "ReelControlB1";
             this.ReelControlB1.ReelText = "暂存区物料";
-            this.ReelControlB1.Size = new System.Drawing.Size(488, 80);
+            this.ReelControlB1.Size = new System.Drawing.Size(90, 3);
             this.ReelControlB1.TabIndex = 2;
             // 
             // ReelControlB2
@@ -233,10 +233,10 @@
             this.ReelControlB2.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
             this.ReelControlB2.ColorStatus = System.Drawing.Color.White;
             this.ReelControlB2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.ReelControlB2.Location = new System.Drawing.Point(497, 290);
+            this.ReelControlB2.Location = new System.Drawing.Point(99, 34);
             this.ReelControlB2.Name = "ReelControlB2";
             this.ReelControlB2.ReelText = "暂存区物料";
-            this.ReelControlB2.Size = new System.Drawing.Size(488, 80);
+            this.ReelControlB2.Size = new System.Drawing.Size(90, 3);
             this.ReelControlB2.TabIndex = 3;
             // 
             // BoxControl
@@ -250,7 +250,7 @@
             this.BoxControl.Location = new System.Drawing.Point(3, 3);
             this.BoxControl.MoveInfo = "暂无出入库";
             this.BoxControl.Name = "BoxControl";
-            this.BoxControl.Size = new System.Drawing.Size(982, 195);
+            this.BoxControl.Size = new System.Drawing.Size(186, 16);
             this.BoxControl.TabIndex = 4;
             this.BoxControl.WorkStatus = "暂未启动";
             // 
@@ -261,10 +261,10 @@
             this.ShelfAControl.ColorStatus = System.Drawing.Color.White;
             this.ShelfAControl.Dock = System.Windows.Forms.DockStyle.Fill;
             this.ShelfAControl.EquipText = "A料口";
-            this.ShelfAControl.Location = new System.Drawing.Point(3, 491);
+            this.ShelfAControl.Location = new System.Drawing.Point(3, 55);
             this.ShelfAControl.MoveInfo = "暂无出入库";
             this.ShelfAControl.Name = "ShelfAControl";
-            this.ShelfAControl.Size = new System.Drawing.Size(488, 111);
+            this.ShelfAControl.Size = new System.Drawing.Size(90, 9);
             this.ShelfAControl.TabIndex = 6;
             this.ShelfAControl.WorkStatus = "暂未启动";
             // 
@@ -275,10 +275,10 @@
             this.ShelfBControl.ColorStatus = System.Drawing.Color.White;
             this.ShelfBControl.Dock = System.Windows.Forms.DockStyle.Fill;
             this.ShelfBControl.EquipText = "B料口";
-            this.ShelfBControl.Location = new System.Drawing.Point(497, 491);
+            this.ShelfBControl.Location = new System.Drawing.Point(99, 55);
             this.ShelfBControl.MoveInfo = "暂无出入库";
             this.ShelfBControl.Name = "ShelfBControl";
-            this.ShelfBControl.Size = new System.Drawing.Size(488, 111);
+            this.ShelfBControl.Size = new System.Drawing.Size(90, 9);
             this.ShelfBControl.TabIndex = 7;
             this.ShelfBControl.WorkStatus = "暂未启动";
             // 
@@ -591,7 +591,7 @@
             this.MainMenuStrip = this.menuStrip1;
             this.Name = "FrmXLRStore";
             this.Opacity = 0.1D;
-            this.Text = "方仓系统";
+            this.Text = "方仓客户端";
             this.WindowState = System.Windows.Forms.FormWindowState.Maximized;
             this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FrmMain_FormClosing);
             this.FormClosed += new System.Windows.Forms.FormClosedEventHandler(this.FrmLineStore_FormClosed);

source/XLRStoreClient/boxForm/FrmBoxEquip.cs

@@ -196,7 +196,14 @@ namespace OnlineStore.XLRStore
                 {
                     return;
                 }
-
+                if(boxBean.CamDetectError)
+                {
+                    btnIgnoreCam.Visible = true;
+                }
+                else
+                {
+                    btnIgnoreCam.Visible = false;
+                }
             //    ReadIOList();
             //    ReadBtnDO();
             //    clampJawControl1.UpdateSta();
@@ -502,6 +509,11 @@ namespace OnlineStore.XLRStore
                 }
             }
         }
+
+        private void btnIgnoreCam_Click(object sender, EventArgs e)
+        {
+            boxBean.IgnoreCamDect = true;
+        }
     }
 
 }