修改：检测NG时红灯亮

DeviceLibrary/DeviceLibrary.csproj

@@ -85,6 +85,7 @@
     </Reference>
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="bean\AOIDataResult.cs" />
     <Compile Include="bean\BoardInfo.cs" />
     <Compile Include="bean\RobotBean.cs" />
     <Compile Include="bean\RobotManager.cs" />

DeviceLibrary/Robot/LineSolderingRobot.cs

@@ -8,7 +8,7 @@ namespace URSoldering.DeviceLibrary
 {
     public partial class URSolderingRobot : RobotBean
     {
-        private AlarmType alarmType = AlarmType.None;
+       
         public string WareCode = "";  
         public SolderingRobotConfig Config;
         public LineStepBean LineStep = new LineStepBean();
@@ -65,6 +65,7 @@ namespace URSoldering.DeviceLibrary
             KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
             KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
             Status = RobotStatus.Reset;
+            WeldRobotBean.LastAOIResult = true;
             WeldRobotBean.IsInWeld = false;
             IsInProcess = false;
             ledTimer.Enabled = true;

DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs

@@ -9,12 +9,15 @@ namespace URSoldering.DeviceLibrary
     partial class WeldRobotBean
     {
         public static bool  IsInWeld=false;
+        public static bool LastAOIResult = true;
         //public delegate void GetCode();
         //public static event GetCode GetCodeFun;
 
-        public delegate void AOICheck( );
+        public delegate bool AOICheck( );
         public static event AOICheck AOICheckFun;
-        
+
+        public delegate List<PositionResult> PositionOffset();
+        public static event PositionOffset PositionOffsetFun;
         public static string StartWeld( )
         {
             StopSleep();
@@ -44,6 +47,7 @@ namespace URSoldering.DeviceLibrary
             {
                 return "没有找到需要焊接的焊点，启动焊接失败！";
             }
+            LastAOIResult = true;
             IsInWeld = true ;
             return "";
         }
@@ -169,7 +173,7 @@ namespace URSoldering.DeviceLibrary
             }
             else if (WeldMoveStep.moveStep.Equals(MoveStep.W14_AOICheck))
             {
-                AOICheckFun.Invoke();
+                LastAOIResult= AOICheckFun.Invoke();
                 Thread.Sleep(300);
                 IsInWeld = false;
                 if (WeldCount >= RobotConfig.ClearCount)

DeviceLibrary/bean/AOIDataResult.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace URSoldering.DeviceLibrary
+{
+    public class PositionResult
+    {
+        public PositionResult(double x, double y, int type, WeldPointInfo point)
+        {
+            this.DataX = x;
+            this.DataY = y;
+            this.DataType = type;
+            this.PointInfo = point;
+        }
+        /// <summary>
+        /// 位置X
+        /// </summary>
+        public double DataX = 0;
+        /// <summary>
+        /// 位置Y
+        /// </summary>
+        public double DataY = 0;
+        /// <summary>
+        /// 数据类型，1=少锡，2=多锡
+        /// </summary>
+        public int DataType = 0;
+        /// <summary>
+        /// 拍照点、基准点坐标
+        /// </summary>
+        public WeldPointInfo PointInfo = null;
+    }
+}

DeviceLibrary/bean/RobotBean.cs

@@ -7,6 +7,7 @@ namespace URSoldering.DeviceLibrary
 {
     public class RobotBean
     {
+        public AlarmType alarmType = AlarmType.None;
         /// <summary>
         /// 报警或者警告信息
         /// </summary>
@@ -94,6 +95,17 @@ namespace URSoldering.DeviceLibrary
                     KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
                 }
             }
+            if (Status>RobotStatus.Wait && alarmType.Equals(AlarmType.None))
+            { 
+                if (WeldRobotBean.LastAOIResult.Equals(false))
+                {
+                    KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.HIGH);
+                }
+                else
+                {
+                    KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
+                }
+            }
 
         }
         protected virtual void mainTimer_Elapsed(object sender, ElapsedEventArgs e)

URSolderingClient/FrmWork.cs

@@ -37,7 +37,8 @@ namespace URSoldering.Client
             LoadListPoint();
             
             Robot = RobotManager.SolderingRobot;
-            WeldRobotBean.AOICheckFun += AOICheck; 
+            WeldRobotBean.AOICheckFun += AOICheck;
+            WeldRobotBean.PositionOffsetFun += RunPositionOffset;
             //Robot.GetCodeFun += GetCode;
             LogUtil.logBox = this.logBox;
             LogUtil.showCount = 1;
@@ -640,11 +641,15 @@ namespace URSoldering.Client
                 WeldRobotBean.StopWeld();
             }
         }   
-        private void AOICheck()
+        /// <summary>
+        /// true表示检测OK
+        /// </summary>
+        /// <returns></returns>
+        private bool AOICheck()
         {
             try
             {
-                this.label1.Text = "视觉/光学检测"; 
+                this.label1.Text = "AOI检测"; 
                 lblCodeResult.Visible = false;
                 RunAOI(1);
                 int result = CKResult("Result",10);
@@ -654,6 +659,7 @@ namespace URSoldering.Client
                     lblAOIResult.ForeColor = Color.Blue;
                     lblAOIResult.Text = "检测OK";
                     WorkCountManager.AddOKCount();
+                    return true;
                 }
                 else
                 {
@@ -668,6 +674,7 @@ namespace URSoldering.Client
             {
                 LogUtil.error("AOI检测出错：" + ex.ToString());
             }
+            return false;
         }
 
         private bool RunAOI(int num)
@@ -721,7 +728,112 @@ namespace URSoldering.Client
             {
                 return 0;
             }
-        } 
+        }
+         
+        private List<PositionResult> RunPositionOffset( )
+        {
+            List<PositionResult> pointList = new List<PositionResult>(); 
+            try
+            { 
+                this.label1.Text = "视觉坐标偏移";
+                lblCodeResult.Visible = false;
+                RunAOI(0);
+                Thread.Sleep(100);
+                string shaoxi = "坐标偏移"  ;
+                int result1 = CKResult(shaoxi, 10);
+                if (!result1.Equals(1))
+                {
+                    pointList = GetPhotoResult(shaoxi, 100);
+                }
+                string resultList = "";
+                if (pointList.Count <= 0)
+                {
+                    lblAOIResult.Text = shaoxi + "未识别到焊点";
+                }
+                else
+                {
+                    lblAOIResult.Text = shaoxi + "识别结果："; 
+                    foreach (PositionResult result in pointList)
+                    {
+                        lblAOIResult.Text += " X：" + result.DataX + "，Y：" + result.DataY + "；";
+                    }
+                }
+                resultList = lblAOIResult.Text;
+                LogUtil.info(resultList);   
+                lblAOIResult.Visible = true;
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("视觉坐标偏移出错：" + ex.ToString());
+            }
+            return pointList;
+        }
+        private List<PositionResult> GetPhotoResult(string name, int DataId)
+        {
+            WeldPointInfo point = null;
+            if (WeldRobotBean.WeldMoveStep.CurrPoint != null)
+            {
+                point = WeldRobotBean.WeldMoveStep.CurrPoint;
+            }
+            List<PositionResult> aOIDataResults = new List<PositionResult>();
+            string result = "";
+            try
+            {
+                int idTool = axCKVisionCtrl1.GetTool(name);
+                //NG的话需要获取数量，然后获取数据列表
+                int num = 0;
+                string value = "";
+                object objValue = new VariantWrapper(value);
+                if (axCKVisionCtrl1.GetValue(idTool, 100, 0, ref objValue) == true)
+                {
+                    result = objValue.ToString();
+                    num = Convert.ToInt32(result);
+                }
+
+                LogUtil.info("获取【" + name + "】的数量：" + num);
+                for (int i = 0; i < num; i++)
+                {
+                    double x = 0, y = 0;
+                    if (name.Equals("少锡"))
+                    {
+                        objValue = new VariantWrapper(value);
+                        if (axCKVisionCtrl1.GetValue(idTool, 102, i, ref objValue) == true)
+                        {
+                            result = objValue.ToString();
+                            x = Convert.ToDouble(result);
+                        }
+                        objValue = new VariantWrapper(value);
+                        if (axCKVisionCtrl1.GetValue(idTool, 103, i, ref objValue) == true)
+                        {
+                            result = objValue.ToString();
+                            y = Convert.ToDouble(result);
+                        }
+                        aOIDataResults.Add(new PositionResult(x, y, 1, point));
+                    }
+                    else
+                    {
+                        objValue = new VariantWrapper(value);
+                        if (axCKVisionCtrl1.GetValue(idTool, 103, i, ref objValue) == true)
+                        {
+                            result = objValue.ToString();
+                            x = Convert.ToDouble(result);
+                        }
+                        objValue = new VariantWrapper(value);
+                        if (axCKVisionCtrl1.GetValue(idTool, 104, i, ref objValue) == true)
+                        {
+                            result = objValue.ToString();
+                            y = Convert.ToDouble(result);
+                        }
+                        aOIDataResults.Add(new PositionResult(x, y, 2, point));
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("获取【" + name + "】出错：" + ex.ToString());
+            }
+            return aOIDataResults;
+        }
         private void btnLook_Click(object sender, EventArgs e)
         {
             FrmWorkCount frm = new FrmWorkCount();

URSolderingClient/记录.txt

@@ -24,3 +24,12 @@ UR机器人是否到位判断条件修改：只判断X.Y.Z坐标是否一致
 拖焊点直接移动，普通焊点先移动至焊点高处，再下降焊接
 
 
+20181012
+最近修改内容：
+抬起高度>0时，会先抬起再移动到焊点，抬起高度<=0时直接移动到焊点
+配置ISDebug=1时，不检测夹具状态和急停状态
+配置ISDebug=0时，才会检测夹具状态和急停状态
+
+AOI检测NG时，红灯亮，等到下次开始焊接时清理红灯。
+
+