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Commit e004515f 由 LN
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复位时去校准位进行声波信号检测。

1 个父辈 f8461585
内嵌 并排
正在显示 10 个修改的文件 包含 204 行增加 和 50 行删除
DeviceLibrary/DeviceLibrary/flyelectronicControl/Flyelectronic_485_RGB_Controller.cs
...@@ -164,7 +164,7 @@ namespace DeviceLibrary ...@@ -164,7 +164,7 @@ namespace DeviceLibrary
if (r > 0) if (r > 0)
{ {
var recvdata = Encoding.ASCII.GetString(recv, 0, r); var recvdata = Encoding.ASCII.GetString(recv, 0, r);
log("recvdata: " + recvdata); debuglog("recvdata: " + recvdata);
return recv.Take(r).ToArray();//.Split(','); return recv.Take(r).ToArray();//.Split(',');
} }
} }
...@@ -192,6 +192,11 @@ namespace DeviceLibrary ...@@ -192,6 +192,11 @@ namespace DeviceLibrary
loge.Info(Name + $"[{comPortName}]" + ":" + msg); loge.Info(Name + $"[{comPortName}]" + ":" + msg);
Console.WriteLine(msg); Console.WriteLine(msg);
} }
void debuglog(string msg)
{
loge.Info(Name + $"[{comPortName}]" + ":" + msg);
Console.WriteLine(msg);
}
static class CommandByte static class CommandByte
{ {
public static byte[] GetDeviceID = ConvertStringToByteArray("DD 55 EE 00 00 00 00 00 8F 01 00 00 00 03 00 01 00 00 00 AA BB"); public static byte[] GetDeviceID = ConvertStringToByteArray("DD 55 EE 00 00 00 00 00 8F 01 00 00 00 03 00 01 00 00 00 AA BB");
......
DeviceLibrary/DeviceLibrary/weightSensor/OKLE_WeightSensor.cs
...@@ -237,7 +237,7 @@ namespace DeviceLibrary ...@@ -237,7 +237,7 @@ namespace DeviceLibrary
port.DiscardInBuffer(); port.DiscardInBuffer();
CalculateCRC(recvdata, recvdata.Length - 2, out ushort checksun); CalculateCRC(recvdata, recvdata.Length - 2, out ushort checksun);
var crcbyte = BitConverter.GetBytes(checksun); var crcbyte = BitConverter.GetBytes(checksun);
log(cmdname + "\trecvdata: " + BitConverter.ToString(recvdata).Replace("-", " ") + " crc:" + BitConverter.ToString(crcbyte).Replace("-", " ")); debuglog(cmdname + "\trecvdata: " + BitConverter.ToString(recvdata).Replace("-", " ") + " crc:" + BitConverter.ToString(crcbyte).Replace("-", " "));
if (recvdata.Length > 5 if (recvdata.Length > 5
&& recvdata[1] == buff[1] && recvdata[1] == buff[1]
&& recvdata[recvdata.Length - 2] == crcbyte[0] && recvdata[recvdata.Length - 2] == crcbyte[0]
...@@ -388,5 +388,10 @@ namespace DeviceLibrary ...@@ -388,5 +388,10 @@ namespace DeviceLibrary
loge.Info("x光高压:" + msg); loge.Info("x光高压:" + msg);
Console.WriteLine(msg); Console.WriteLine(msg);
} }
void debuglog(string msg)
{
loge.Debug("x光高压:" + msg);
Console.WriteLine(msg);
}
} }
} }
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -204,7 +204,6 @@ namespace DeviceLibrary ...@@ -204,7 +204,6 @@ namespace DeviceLibrary
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed); UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}:升降轴去取料高点【{Fix.UpDown_PH}】【{Config.UpDown_P1_speed}】"); MoveInfo.log($"{storeMoveType}:升降轴去取料高点【{Fix.UpDown_PH}】【{Config.UpDown_P1_speed}】");
SensorProcess();
break; break;
case MoveStep.StoreFIX02: case MoveStep.StoreFIX02:
MoveInfo.NextMoveStep(MoveStep.StoreFIX03); MoveInfo.NextMoveStep(MoveStep.StoreFIX03);
...@@ -214,11 +213,6 @@ namespace DeviceLibrary ...@@ -214,11 +213,6 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:进出轴去取料点【{Fix.InOut_P2}】【{Config.InOut_P2_speed}】"); MoveInfo.log($"{storeMoveType}:进出轴去取料点【{Fix.InOut_P2}】【{Config.InOut_P2_speed}】");
break; break;
case MoveStep.StoreFIX03: case MoveStep.StoreFIX03:
bool sCheck= SensorProcess();
if (!sCheck)
{
}
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToFix)); RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToFix));
MoveInfo.NextMoveStep(MoveStep.StoreFIX04); MoveInfo.NextMoveStep(MoveStep.StoreFIX04);
...@@ -230,6 +224,14 @@ namespace DeviceLibrary ...@@ -230,6 +224,14 @@ namespace DeviceLibrary
break; break;
case MoveStep.StoreFIX04: case MoveStep.StoreFIX04:
if (To.Reel.PlateW.Equals(7) && RobotManage.NeedSensorPro())
{
MoveInfo.NextMoveStep(MoveStep.StoreFIX041_Sensor);
MoveInfo.log($"{storeMoveType}:等待500ms进行声波传感器检测");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else
{
if (Setting_Init.Enable_CheckReelLocInFix) if (Setting_Init.Enable_CheckReelLocInFix)
{ {
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_01_InoutBackToP1); MoveInfo.NextMoveStep(MoveStep.StoreFIX04_01_InoutBackToP1);
...@@ -241,8 +243,23 @@ namespace DeviceLibrary ...@@ -241,8 +243,23 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.StoreFIX05); MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
} }
}
break; break;
case MoveStep.StoreFIX041_Sensor:
RobotManage.SensorProcess();
if (Setting_Init.Enable_CheckReelLocInFix)
{
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_01_InoutBackToP1);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
MoveInfo.log($"{storeMoveType}:进出轴回到待机点【{Config.InOut_P1}】【{Config.InOut_P1_speed}】");
}
else
{
MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
break;
#region 料盘放置位置检查 #region 料盘放置位置检查
case MoveStep.StoreFIX04_01_InoutBackToP1: case MoveStep.StoreFIX04_01_InoutBackToP1:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_02_UpToCamLoc); MoveInfo.NextMoveStep(MoveStep.StoreFIX04_02_UpToCamLoc);
...@@ -461,46 +478,5 @@ namespace DeviceLibrary ...@@ -461,46 +478,5 @@ namespace DeviceLibrary
// return RobotManage.CameraA; // return RobotManage.CameraA;
//} //}
/// <summary>
/// 返回ture表示没问题，返回false需要报警
/// </summary>
/// <returns></returns>
private bool SensorProcess()
{
try
{
if (Setting_Init.Device_DauxiKS107_PortName == "" || RobotManage.dauxiKS107Controller == null || RobotManage.dauxiKS107Controller.PortIsOpen ()== false)
{
return true ;
}
if (RobotManage.dauxiKS107Controller.Quary(out int value, out string errMsg))
{
int cha = value - Setting_Init.Device_DauxiKS107_BaseValue;
if (cha > Setting_Init.Device_DauxiKS107_ErrorValue)
{
TimeSpan span = DateTime.Now - RobotManage.LastResetTime;
RobotManage.SensorNeedReset = true;
if (span.TotalHours > 1)
{
LogUtil.error($"传感器误差过大，需要复位：当前值：{value}，基准值：{Setting_Init.Device_DauxiKS107_BaseValue}，SensorErroCount={RobotManage.SensorNeedReset}, 最大误差：{Setting_Init.Device_DauxiKS107_ErrorValue}，" +
$"上次复位时间{RobotManage.LastResetTime.ToShortDateString()}，一小时内出现红外传感器检测错误，需要报警");
RobotManage.SensorNeedAlarm = true;
return false;
}
else
{
LogUtil.error($"传感器误差过大，需要复位：当前值：{value}，基准值：{Setting_Init.Device_DauxiKS107_BaseValue}，SensorErroCount={RobotManage.SensorNeedReset}，最大误差：{Setting_Init.Device_DauxiKS107_ErrorValue}");
}
}
}
}
catch (Exception ex)
{
LogUtil.error("SensorProcess 出错：" + ex.ToString());
}
return true;
}
} }
} }
DeviceLibrary/theMachine/MainMachine _Common.cs
...@@ -224,7 +224,6 @@ namespace DeviceLibrary ...@@ -224,7 +224,6 @@ namespace DeviceLibrary
if (_alarmType.Equals(AlarmType.AxisAlarm) || _alarmType.Equals(AlarmType.AxisMoveError)) if (_alarmType.Equals(AlarmType.AxisAlarm) || _alarmType.Equals(AlarmType.AxisMoveError))
{ {
LogUtil.error(Name + "轴报警， 停止运动， 打开报警灯"); LogUtil.error(Name + "轴报警， 停止运动， 打开报警灯");
StopMove(true); StopMove(true);
} }
else if (_alarmType == AlarmType.SuddenStop) else if (_alarmType == AlarmType.SuddenStop)
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -498,9 +498,17 @@ namespace DeviceLibrary ...@@ -498,9 +498,17 @@ namespace DeviceLibrary
} }
else else
{ {
if (RobotManage.NeedSensorPro())
{
ResetMoveInfo.NextMoveStep(MoveStep.H21_HomeStartCheck);
ResetMoveInfo.log("夹爪上没有料盘，开始去进行超声感应器检测");
}
else
{
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("夹爪上上没有料盘"); ResetMoveInfo.log("夹爪上上没有料盘");
} }
}
break; break;
case MoveStep.H08_HomeReset: case MoveStep.H08_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H09_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
...@@ -596,8 +604,16 @@ namespace DeviceLibrary ...@@ -596,8 +604,16 @@ namespace DeviceLibrary
} }
else if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && !h.Value) else if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && !h.Value)
{ {
if (RobotManage.NeedSensorPro())
{
ResetMoveInfo.NextMoveStep(MoveStep.H21_HomeStartCheck);
ResetMoveInfo.log("关门NG口门，开始去进行超声感应器检测");
}
else
{
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("关门NG口门"); ResetMoveInfo.log("关门NG口门");
}
CloseSingleDoor(ResetMoveInfo); CloseSingleDoor(ResetMoveInfo);
OpenFlipDoor(ResetMoveInfo); OpenFlipDoor(ResetMoveInfo);
} }
...@@ -606,6 +622,93 @@ namespace DeviceLibrary ...@@ -606,6 +622,93 @@ namespace DeviceLibrary
Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待阻挡物离开光栅"), MsgLevel.warning); Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待阻挡物离开光栅"), MsgLevel.warning);
} }
break; break;
#region 声波传感器检测
case MoveStep.H21_HomeStartCheck:
FixPos = BoxStorePosition.GetFixPos(Config, new ReelParam("",7,8));
if (FixPos == null)
{
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("未找到校准库位，不进行声波传感器检测");
}
else
{
ResetMoveInfo.NextMoveStep(MoveStep.H22_HomeCheck);
Middle_Axis.AbsMove(ResetMoveInfo, FixPos.Middle_P2, Config.Middle_P2_speed);
ResetMoveInfo.log($"{FixPos.posid} 旋转轴去取料点P2【{FixPos.Middle_P2}】【{Config.Middle_P2_speed}】");
UpDown_Axis.AbsMove(ResetMoveInfo, FixPos.UpDown_PH, Config.UpDown_P1_speed);
ResetMoveInfo.log($" {FixPos.posid}升降轴去取料高点【{FixPos.UpDown_PH}】【{Config.UpDown_P1_speed}】");
Comp_Axis.AbsMove(ResetMoveInfo, FixPos.Comp_PL, Config.Comp_P2_speed);
ResetMoveInfo.log($"{FixPos.posid}:压紧轴去压紧低点【{FixPos.Comp_PL}】【{Config.Comp_P2_speed}】");
}
break;
case MoveStep.H22_HomeCheck:
ResetMoveInfo.NextMoveStep(MoveStep.H23_HomeCheck);
InOut_Axis.AbsMove(ResetMoveInfo, FixPos.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.SensorDetection(Setting_Init.Device_WeightSensor_MaxValue);
ResetMoveInfo.log($"{FixPos.posid}:进出轴去取料点【{FixPos.InOut_P2}】【{Config.InOut_P2_speed}】");
break;
case MoveStep.H23_HomeCheck:
ResetMoveInfo.NextMoveStep(MoveStep.H24_HomeCheck);
Comp_Axis.AbsMove(ResetMoveInfo, FixPos.Comp_PH, Config.Comp_P2_speed);
ResetMoveInfo.log($"{FixPos.posid}:压紧轴去压紧高点【{FixPos.Comp_PH}】【{Config.Comp_P2_speed}】");
UpDown_Axis.AbsMove(ResetMoveInfo, FixPos.UpDown_PL, Config.UpDown_P3_speed / 2);
ResetMoveInfo.log($"{FixPos.posid}:升降轴去取料低点【{FixPos.UpDown_PL}】【{Config.UpDown_P3_speed / 2}】");
break;
case MoveStep.H24_HomeCheck:
ResetMoveInfo.NextMoveStep(MoveStep.H25_HomeCheck);
ResetMoveInfo.log($"{FixPos.posid}:等待500ms进行声波传感器检测");
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.H25_HomeCheck:
bool checkOk= RobotManage.SensorProcess();
if (checkOk)
{
ResetMoveInfo.NextMoveStep(MoveStep.H27_HomeCheck);
InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
ResetMoveInfo.log($"{FixPos.posid}:进出轴返回待机点【{Config.InOut_P1}】【{Config.InOut_P1_speed}】");
}
else
{
//直接到报警步骤
ResetMoveInfo.NextMoveStep(MoveStep.H31_HomeError);
ResetMoveInfo.log($"{FixPos.posid}:声波感应器误差过大，需要报警");
}
break;
case MoveStep.H27_HomeCheck:
ResetMoveInfo.NextMoveStep(MoveStep.H28_HomeCheck);
ResetMoveInfo.log("旋转轴,升降轴,压紧轴,到P1待机点");
Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
Comp_Axis.AbsMove(ResetMoveInfo,Config.Comp_P1,Config.Comp_P1_speed);
break;
case MoveStep.H28_HomeCheck:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("声波感应器检测OK");
break;
case MoveStep.H31_HomeError:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
Msg.add(crc.GetString("shengboError", "声波感应器误差过大，请检查后重新复位"), MsgLevel.alarm);
break;
// H22_HomeCheck,//旋转轴到校准为止，升降轴到高点，压紧轴压紧
//H23_HomeCheck,//进出轴进入
//H24_HomeCheck,//升降轴下降，压紧轴放松
//H25_HomeCheck,//等待500毫秒
//H26_HomeCheck,//开始检测
//H27_HomeCheck,//进出轴返回待机点
//H28_HomeCheck,//旋转轴升降轴到待机点
//H31_HomeError,//检测错误，报警
#endregion
case MoveStep.HEND_HomeReset: case MoveStep.HEND_HomeReset:
//forceHome = false; //forceHome = false;
StringMoveInfo.NewMove(MoveStep.Wait); StringMoveInfo.NewMove(MoveStep.Wait);
...@@ -651,6 +754,7 @@ namespace DeviceLibrary ...@@ -651,6 +754,7 @@ namespace DeviceLibrary
break; break;
} }
} }
private BoxStorePosition FixPos = null;
//bool _IgnoreSafecheck = false; //bool _IgnoreSafecheck = false;
public bool IgnoreSafecheck public bool IgnoreSafecheck
{ {
......
DeviceLibrary/theMachine/MoveStep.cs
...@@ -37,6 +37,18 @@ namespace DeviceLibrary ...@@ -37,6 +37,18 @@ namespace DeviceLibrary
H14_HomeReset, H14_HomeReset,
H15_HomeReset, H15_HomeReset,
H16_HomeReset, H16_HomeReset,
//回原点后，声波传感器检测
H21_HomeStartCheck,
H22_HomeCheck,//旋转轴到校准为止，升降轴到高点，压紧轴压紧
H23_HomeCheck,//进出轴进入
H24_HomeCheck,//升降轴下降，压紧轴放松
H25_HomeCheck,//等待500毫秒
H26_HomeCheck,//开始检测
H27_HomeCheck,//进出轴返回待机点
H28_HomeCheck,//旋转轴升降轴到待机点
H31_HomeError,//检测错误，报警
HEND_HomeReset, HEND_HomeReset,
...@@ -148,6 +160,7 @@ namespace DeviceLibrary ...@@ -148,6 +160,7 @@ namespace DeviceLibrary
StoreFIX02, StoreFIX02,
StoreFIX03, StoreFIX03,
StoreFIX04, StoreFIX04,
StoreFIX041_Sensor,//等待500ms后超声感应器检测
StoreFIX04_01_InoutBackToP1, StoreFIX04_01_InoutBackToP1,
StoreFIX04_02_UpToCamLoc, StoreFIX04_02_UpToCamLoc,
StoreFIX04_03_CheckLocation, StoreFIX04_03_CheckLocation,
......
DeviceLibrary/theMachine/RobotManage.cs
...@@ -301,8 +301,57 @@ namespace DeviceLibrary ...@@ -301,8 +301,57 @@ namespace DeviceLibrary
Setting_Init.Buffer_FixBuffInfo = ""; Setting_Init.Buffer_FixBuffInfo = "";
} }
#endregion #endregion
public static bool NeedSensorPro()
{
if (Setting_Init.Device_DauxiKS107_PortName == "" || RobotManage.dauxiKS107Controller == null || RobotManage.dauxiKS107Controller.PortIsOpen() == false)
{
return false;
}
return true;
}
/// <summary>
/// 返回ture表示没问题，返回false需要报警
/// </summary>
/// <returns></returns>
public static bool SensorProcess()
{
try
{
if (Setting_Init.Device_DauxiKS107_PortName == "" || RobotManage.dauxiKS107Controller == null || RobotManage.dauxiKS107Controller.PortIsOpen() == false)
{
return true;
}
if (RobotManage.dauxiKS107Controller.Quary(out int value, out string errMsg))
{
int cha = value - Setting_Init.Device_DauxiKS107_BaseValue;
if (cha > Setting_Init.Device_DauxiKS107_ErrorValue)
{
TimeSpan span = DateTime.Now - RobotManage.LastResetTime;
RobotManage.SensorNeedReset = true;
if (span.TotalHours > 1)
{
LogUtil.error($"传感器误差过大，需要复位：当前值：{value}，基准值：{Setting_Init.Device_DauxiKS107_BaseValue}，SensorErroCount={RobotManage.SensorNeedReset}, 最大误差：{Setting_Init.Device_DauxiKS107_ErrorValue}，" +
$"上次复位时间{RobotManage.LastResetTime.ToShortDateString()}，一小时内出现红外传感器检测错误，需要报警");
RobotManage.SensorNeedAlarm = true;
return false;
}
else
{
LogUtil.error($"传感器误差过大，需要复位：当前值：{value}，基准值：{Setting_Init.Device_DauxiKS107_BaseValue}，SensorErroCount={RobotManage.SensorNeedReset}，最大误差：{Setting_Init.Device_DauxiKS107_ErrorValue}");
}
}
} }
}
catch (Exception ex)
{
LogUtil.error("SensorProcess 出错：" + ex.ToString());
}
return true;
}
}
public enum StoreType public enum StoreType
{ {
TypeA, TypeB TypeA, TypeB
......
TheMachine/resources/en-US.lngres
...@@ -431,3 +431,4 @@ comDataError 串口{0}数据错误{1} Serial port {0} data error {1} ...@@ -431,3 +431,4 @@ comDataError 串口{0}数据错误{1} Serial port {0} data error {1}
comOpenFail 串口{0}打开失败 Serial port {0} open failed comOpenFail 串口{0}打开失败 Serial port {0} open failed
shengbosensor 声波传感器 Acoustic Sensors shengbosensor 声波传感器 Acoustic Sensors
yalisensor 压力传感器 Pressure sensors yalisensor 压力传感器 Pressure sensors
shengboError 声波感应器误差过大，请检查后重新复位 Acoustic sensor error is too large, please check and reset
TheMachine/resources/ja-JP.lngres
...@@ -433,4 +433,5 @@ comDataError 涓插彛{0}鏁版嵁閿欒{1} 銈枫儶銈€儷銉濄兗銉 {0} 銉囥兗銈裤偍銉 ...@@ -433,4 +433,5 @@ comDataError 涓插彛{0}鏁版嵁閿欒{1} 銈枫儶銈€儷銉濄兗銉 {0} 銉囥兗銈裤偍銉
comOpenFail 串口{0}打开失败 シリアルポート {0} のオープンに失敗 comOpenFail 串口{0}打开失败 シリアルポート {0} のオープンに失敗
shengbosensor 声波传感器 音響センサー shengbosensor 声波传感器 音響センサー
yalisensor 压力传感器 圧力センサー yalisensor 压力传感器 圧力センサー
shengboError 声波感应器误差过大，请检查后重新复位 音響センサーのエラーが大きすぎます
TheMachine/resources/zh-CN.lngres
...@@ -418,3 +418,4 @@ comDataError 串口{0}数据错误{1} 串口{0}数据错误{1} ...@@ -418,3 +418,4 @@ comDataError 串口{0}数据错误{1} 串口{0}数据错误{1}
comOpenFail 串口{0}打开失败 串口{0}打开失败 comOpenFail 串口{0}打开失败 串口{0}打开失败
shengbosensor 声波传感器 声波传感器 shengbosensor 声波传感器 声波传感器
yalisensor 压力传感器 压力传感器 yalisensor 压力传感器 压力传感器
shengboError 声波感应器误差过大，请检查后重新复位 声波感应器误差过大，请检查后重新复位
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