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Commit c5a1d21e 由 几米阳光
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添加拍照点和固定点的配置。增加拍照点流程

1 个父辈 dc05986e
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内嵌 并排
正在显示 17 个修改的文件 包含 105 行增加 和 38 行删除
DeviceLibrary/Robot/MoveType.cs
...@@ -227,6 +227,10 @@ namespace URSoldering.DeviceLibrary ...@@ -227,6 +227,10 @@ namespace URSoldering.DeviceLibrary
/// 送丝下降 /// 送丝下降
/// </summary> /// </summary>
W23_SendWireDown = 23, W23_SendWireDown = 23,
/// <summary>
/// 等待3秒后识别位置进行坐标偏移
/// </summary>
W31_WaitToPositionOffset = 31,
Home_Reset = 100, Home_Reset = 100,
/// <summary> /// <summary>
......
DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs
...@@ -51,7 +51,7 @@ namespace URSoldering.DeviceLibrary ...@@ -51,7 +51,7 @@ namespace URSoldering.DeviceLibrary
IsInWeld = true ; IsInWeld = true ;
return ""; return "";
} }
private static void WeldProcess() private static void WeldProcess()
{ {
if (WeldMoveStep.IsInWait) if (WeldMoveStep.IsInWait)
...@@ -70,15 +70,27 @@ namespace URSoldering.DeviceLibrary ...@@ -70,15 +70,27 @@ namespace URSoldering.DeviceLibrary
else if (WeldMoveStep.moveStep.Equals(MoveStep.W01_RobotToHighPoint)) else if (WeldMoveStep.moveStep.Equals(MoveStep.W01_RobotToHighPoint))
{ {
WeldMoveStep.NextMoveStep(MoveStep.W02_RobotMoveToPoint); WeldMoveStep.NextMoveStep(MoveStep.W02_RobotMoveToPoint);
LogUtil.info(" " + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂"); WeldLog(" 预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint ); MoveToPoint(WeldMoveStep.CurrPoint);
WorkCountManager.AddWeldPint(); WorkCountManager.AddWeldPint();
WeldMoveStep.IsSlowSendWire = true; WeldMoveStep.IsSlowSendWire = true;
SlowSendWire(); SlowSendWire();
} }
else if (WeldMoveStep.moveStep.Equals(MoveStep.W02_RobotMoveToPoint)) else if (WeldMoveStep.moveStep.Equals(MoveStep.W02_RobotMoveToPoint))
{ {
if (WeldMoveStep.CurrPoint.pointType.Equals(0)) //中间点
if (WeldMoveStep.CurrPoint.pointType.Equals(1))
{
PointEndPross();
}
else if (WeldMoveStep.CurrPoint.pointType.Equals(3))
{
//拍照点
WeldMoveStep.NextMoveStep(MoveStep.W31_WaitToPositionOffset);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(3000));
WeldLog(" 等待三秒后进行坐标识别");
}
else
{ {
if (WeldMoveStep.IsSlowSendWire) if (WeldMoveStep.IsSlowSendWire)
{ {
...@@ -100,10 +112,11 @@ namespace URSoldering.DeviceLibrary ...@@ -100,10 +112,11 @@ namespace URSoldering.DeviceLibrary
} }
} }
} }
else }
{ else if (WeldMoveStep.moveStep.Equals(MoveStep.W31_WaitToPositionOffset))
PointEndPross(); {
} PositionOffProcess();
PointEndPross();
} }
else if (WeldMoveStep.moveStep.Equals(MoveStep.W03_SlowSendWire)) else if (WeldMoveStep.moveStep.Equals(MoveStep.W03_SlowSendWire))
{ {
...@@ -173,7 +186,8 @@ namespace URSoldering.DeviceLibrary ...@@ -173,7 +186,8 @@ namespace URSoldering.DeviceLibrary
} }
else if (WeldMoveStep.moveStep.Equals(MoveStep.W14_AOICheck)) else if (WeldMoveStep.moveStep.Equals(MoveStep.W14_AOICheck))
{ {
LastAOIResult= AOICheckFun.Invoke(); bool result = LastAOIResult = AOICheckFun.Invoke();
WeldLog("AOI检测结果：" + result);
Thread.Sleep(300); Thread.Sleep(300);
IsInWeld = false; IsInWeld = false;
if (WeldCount >= RobotConfig.ClearCount) if (WeldCount >= RobotConfig.ClearCount)
...@@ -186,10 +200,11 @@ namespace URSoldering.DeviceLibrary ...@@ -186,10 +200,11 @@ namespace URSoldering.DeviceLibrary
{ {
WeldEnd(); WeldEnd();
} }
} }
} }
private static void NewPoint() private static void NewPoint()
{ {
string pointName = WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】";
//运动到焊点，送丝下降，烙铁加温， //运动到焊点，送丝下降，烙铁加温，
WeldMoveStep.NextMoveStep(MoveStep.W02_RobotMoveToPoint); WeldMoveStep.NextMoveStep(MoveStep.W02_RobotMoveToPoint);
if (WeldMoveStep.IsFirstPoint()) if (WeldMoveStep.IsFirstPoint())
...@@ -206,12 +221,12 @@ namespace URSoldering.DeviceLibrary ...@@ -206,12 +221,12 @@ namespace URSoldering.DeviceLibrary
{ {
//普通焊点先移动至高位 //普通焊点先移动至高位
WeldMoveStep.NextMoveStep(MoveStep.W01_RobotToHighPoint); WeldMoveStep.NextMoveStep(MoveStep.W01_RobotToHighPoint);
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】移动至焊点高处"); LogUtil.info(" 新" + pointName + "移动至焊点高处");
MoveToHighPoint(WeldMoveStep.CurrPoint); MoveToHighPoint(WeldMoveStep.CurrPoint);
} }
else else
{ {
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂"); LogUtil.info(" 新" + pointName + "预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint); MoveToPoint(WeldMoveStep.CurrPoint);
WeldMoveStep.IsSlowSendWire = true; WeldMoveStep.IsSlowSendWire = true;
SlowSendWire(); SlowSendWire();
...@@ -220,17 +235,42 @@ namespace URSoldering.DeviceLibrary ...@@ -220,17 +235,42 @@ namespace URSoldering.DeviceLibrary
} }
else if (WeldMoveStep.CurrPoint.pointType.Equals(2)) else if (WeldMoveStep.CurrPoint.pointType.Equals(2))
{ {
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂"); LogUtil.info(" 新" + pointName + "预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint ); MoveToPoint(WeldMoveStep.CurrPoint );
WorkCountManager.AddWeldPint(); WorkCountManager.AddWeldPint();
WeldMoveStep.IsSlowSendWire = true; WeldMoveStep.IsSlowSendWire = true;
SlowSendWire(); SlowSendWire();
} }
else else if(WeldMoveStep.CurrPoint.pointType.Equals(1))
{ {
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】 移动机械臂"); //拖焊点
LogUtil.info(" 新" + pointName + " 移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint ); MoveToPoint(WeldMoveStep.CurrPoint );
}else if (WeldMoveStep.CurrPoint.pointType.Equals(3))
{
//拍照点
MoveToPoint(WeldMoveStep.CurrPoint);
}
else
{
LogUtil.info(" 新" + pointName + " 未知焊点类型，跳过直接下一个焊点");
PointEndPross();
}
}
/// <summary>
/// 坐标偏移处理
/// </summary>
private static void PositionOffProcess()
{
List<PositionResult> result= PositionOffsetFun?.Invoke();
if (result.Count > 0)
{
//TODO 坐标偏移
}
else
{
WeldLog("未找到偏移点");
} }
} }
private static void PointEndPross() private static void PointEndPross()
...@@ -244,9 +284,7 @@ namespace URSoldering.DeviceLibrary ...@@ -244,9 +284,7 @@ namespace URSoldering.DeviceLibrary
else else
{ {
if (WeldMoveStep.NextPoint()) if (WeldMoveStep.NextPoint())
{ {
//WeldMoveStep.NextMoveStep(MoveStep.Wait);
//WeldLog("开始下一个焊点：" + WeldMoveStep.CurrPoint.pointName);
NewPoint(); NewPoint();
} }
else else
...@@ -632,8 +670,7 @@ namespace URSoldering.DeviceLibrary ...@@ -632,8 +670,7 @@ namespace URSoldering.DeviceLibrary
{ {
if (WeldMoveStep.CurrPoint != null) if (WeldMoveStep.CurrPoint != null)
{ {
LogUtil.info( "焊点【" + WeldMoveStep.CurrPoint.pointName + "】" + str); LogUtil.info("焊点"+WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】" + str);
} }
else else
{ {
......
DeviceLibrary/RobotConfig/config/TEST.jpg
DeviceLibrary/RobotConfig/config/TEST.jpg

353.9 KB | 宽: | 高:

DeviceLibrary/RobotConfig/config/TEST.jpg

347.4 KB | 宽: | 高:

DeviceLibrary/RobotConfig/config/TEST.jpg
DeviceLibrary/RobotConfig/config/TEST.jpg
DeviceLibrary/RobotConfig/config/TEST.jpg
DeviceLibrary/RobotConfig/config/TEST.jpg
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DeviceLibrary/RobotConfig/config/boardData.txt
{"WeldTime":"00:00:00","myImage":null,"boardId":56,"WareCode":"hanjietest","ZHighValue":-20.0,"StationNum":0,"PartNumber":"보쌈꿎桿","boardName":"보쌈꿎桿","boardWidth":115,"boardLength":180,"pointList":[{"pointNum":1,"pointName":"P1","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":1.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":2,"pointName":"P2","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":1.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":3,"pointName":"P3","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":4,"pointName":"P4","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":5,"pointName":"P5","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":6,"pointName":"P6","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":7,"pointName":"P7","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":8,"pointName":"P8","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":9,"pointName":"P9","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000}],"originX":-64.1489,"originY":119.404,"imgName":"보쌈꿎桿.jpg","planNeedTime":0.0,"orgType":1,"solderingCount":0,"solderingTime":0.0,"solderCount":0,"solderTime":0.0} {"WeldTime":"00:00:00","myImage":null,"APointValue":{"UpdateTime":"2018-10-22T19:00:43.2420221+08:00","X":0.0,"Y":0.0,"Z":0.0,"RX":0.0,"RY":0.0,"RZ":0.0},"BPointValue":{"UpdateTime":"2018-10-22T19:00:43.2430223+08:00","X":0.0,"Y":0.0,"Z":0.0,"RX":0.0,"RY":0.0,"RZ":0.0},"CPointValue":{"UpdateTime":"2018-10-22T19:00:43.2430223+08:00","X":0.0,"Y":0.0,"Z":0.0,"RX":0.0,"RY":0.0,"RZ":0.0},"DPointValue":{"UpdateTime":"2018-10-22T19:00:43.2430223+08:00","X":0.0,"Y":0.0,"Z":0.0,"RX":0.0,"RY":0.0,"RZ":0.0},"boardId":59,"AoiFileName":"AOIPointProgram.vscf","WareCode":"","StationNum":0,"PartNumber":"1","boardName":"1","boardWidth":400,"boardLength":400,"pointList":[{"pointNum":1,"pointName":"P1","RobotX":-122.1,"RobotY":-418.13,"RobotZ":321.4,"RobotRX":0.6359,"RobotRY":3.0461,"RobotRZ":0.03,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"TypeValue":"普通焊点"},{"pointNum":2,"pointName":"P2","RobotX":-122.1,"RobotY":-418.13,"RobotZ":301.4,"RobotRX":-0.0054,"RobotRY":3.1163,"RobotRZ":0.0389,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"TypeValue":"普通焊点"},{"pointNum":3,"pointName":"P3","RobotX":-131.96,"RobotY":-355.36,"RobotZ":30.76,"RobotRX":0.9882,"RobotRY":-2.685,"RobotRZ":0.1507,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"TypeValue":"普通焊点"},{"pointNum":4,"pointName":"P4","RobotX":-122.1,"RobotY":-418.13,"RobotZ":301.4,"RobotRX":0.3898,"RobotRY":-3.0307,"RobotRZ":0.0342,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":2,"isNeedClear":false,"ClearTime":3000,"TypeValue":"拖焊焊点"},{"pointNum":5,"pointName":"P5","RobotX":-122.1,"RobotY":-418.13,"RobotZ":301.4,"RobotRX":0.3898,"RobotRY":-3.0307,"RobotRZ":0.0342,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":1,"isNeedClear":false,"ClearTime":3000,"TypeValue":"中间点"},{"pointNum":6,"pointName":"P6","RobotX":-122.1,"RobotY":-418.13,"RobotZ":301.4,"RobotRX":0.3898,"RobotRY":-3.0307,"RobotRZ":0.0342,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":2,"isNeedClear":false,"ClearTime":3000,"TypeValue":"拖焊焊点"}],"imgName":null,"planNeedTime":0.0,"solderingCount":0,"solderingTime":0.0,"solderCount":0,"solderTime":0.0}
{"WeldTime":"00:00:00","myImage":null,"boardId":57,"WareCode":"test","ZHighValue":-20.0,"StationNum":0,"PartNumber":"TEST","boardName":"TEST","boardWidth":115,"boardLength":180,"pointList":[{"pointNum":1,"pointName":"P1","RobotX":-75.1,"RoobtY":-345.67,"RobotZ":134.52,"RobotRX":3.112,"RobotRY":0.0649,"RobotRZ":0.0376,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":5.0,"startSendWireTime":2.0,"sendWireSpeed":20.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":2,"pointName":"P2","RobotX":-67.29,"RoobtY":-436.62,"RobotZ":293.68,"RobotRX":2.7394,"RobotRY":0.0599,"RobotRZ":0.0708,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":5.0,"startSendWireTime":3.0,"sendWireSpeed":20.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000}],"originX":-64.1489,"originY":119.404,"imgName":"TEST.jpg","planNeedTime":0.0,"orgType":1,"solderingCount":0,"solderingTime":0.0,"solderCount":0,"solderTime":0.0}
DeviceLibrary/bean/BoardInfo.cs
...@@ -127,6 +127,11 @@ namespace URSoldering.DeviceLibrary ...@@ -127,6 +127,11 @@ namespace URSoldering.DeviceLibrary
} }
} }
public URPointValue APointValue = new URPointValue();
public URPointValue BPointValue = new URPointValue();
public URPointValue CPointValue = new URPointValue();
public URPointValue DPointValue = new URPointValue();
//public double getImageOrgX() //public double getImageOrgX()
//{ //{
// double orgX = originX; // double orgX = originX;
...@@ -242,7 +247,11 @@ namespace URSoldering.DeviceLibrary ...@@ -242,7 +247,11 @@ namespace URSoldering.DeviceLibrary
public double sendWireTime { get; set; } public double sendWireTime { get; set; }
/// <summary> /// <summary>
/// 焊点类型，0=普通焊点，必须要焊接，1=中间点，机器人跳转位置使用 /// 焊点类型，
/// 0=普通焊点，必须要焊接，
/// 1=中间点，机器人跳转位置使用
/// 2=拖焊焊点
/// 3=拍照点，实现坐标偏移功能
/// </summary> /// </summary>
public int pointType { get; set; } public int pointType { get; set; }
/// <summary> /// <summary>
......
DeviceLibrary/bean/BoardManager.cs
...@@ -99,7 +99,14 @@ namespace URSoldering.DeviceLibrary ...@@ -99,7 +99,14 @@ namespace URSoldering.DeviceLibrary
{ {
board.WareCode = ""; board.WareCode = "";
} }
if (board.APointValue == null)
{
board.APointValue = new URPointValue();
board.BPointValue = new URPointValue();
board.CPointValue = new URPointValue();
board.DPointValue = new URPointValue();
isUpdate = true;
}
idList.Add(board.boardId); idList.Add(board.boardId);
nameList.Add(board.boardName); nameList.Add(board.boardName);
if (board.boardId.Equals(CurrBoardId)) if (board.boardId.Equals(CurrBoardId))
......
URSolderingClient/FrmBoardInfo.resx
...@@ -379,28 +379,31 @@ ...@@ -379,28 +379,31 @@
AeLDoohrNFdzAAAAAElFTkSuQmCC AeLDoohrNFdzAAAAAElFTkSuQmCC
</value> </value>
</data> </data>
<metadata name="dataGridViewTextBoxColumn2.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Col_ID.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="dataGridViewTextBoxColumn3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Col_X.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="dataGridViewTextBoxColumn4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Col_Y.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="dataGridViewTextBoxColumn5.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Col_Z.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="dataGridViewTextBoxColumn6.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Col_RX.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="dataGridViewTextBoxColumn7.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Col_RY.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="dataGridViewTextBoxColumn8.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Col_RZ.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="dataGridViewLinkColumn1.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Col_Update.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Col_Move.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="Column_pointNum.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column_pointNum.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
...@@ -409,6 +412,9 @@ ...@@ -409,6 +412,9 @@
<metadata name="Column_Name.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column_Name.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="Column_pointType.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column_X.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column_X.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
...@@ -463,9 +469,6 @@ ...@@ -463,9 +469,6 @@
<metadata name="Column_sendWireTime.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column_sendWireTime.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="Column_pointType.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column_isClear.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column_isClear.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
......
URSolderingClient/FrmBoardList.cs
...@@ -51,7 +51,8 @@ namespace URSoldering.Client ...@@ -51,7 +51,8 @@ namespace URSoldering.Client
} }
private void btnSave_Click(object sender, EventArgs e) private void btnSave_Click(object sender, EventArgs e)
{ {
if (cmbBoardList.Text != "" && cmbBoardList.SelectedIndex >= 0) int updateIndex = cmbBoardList.SelectedIndex;
if (cmbBoardList.Text != "" && updateIndex >= 0)
{ {
BoardInfo board = (BoardInfo)cmbBoardList.SelectedItem; BoardInfo board = (BoardInfo)cmbBoardList.SelectedItem;
FrmBoardInfo frm = new FrmBoardInfo(board); FrmBoardInfo frm = new FrmBoardInfo(board);
...@@ -59,6 +60,11 @@ namespace URSoldering.Client ...@@ -59,6 +60,11 @@ namespace URSoldering.Client
frm.ShowDialog(); frm.ShowDialog();
this.Visible = true; this.Visible = true;
LoadCom(); LoadCom();
if (updateIndex.Equals(cmbBoardList.SelectedIndex))
{
LoadBoard();
}
preId = -1; preId = -1;
} }
else else
......
URSolderingClient/FrmWork.cs
...@@ -640,7 +640,7 @@ namespace URSoldering.Client ...@@ -640,7 +640,7 @@ namespace URSoldering.Client
{ {
WeldRobotBean.StopWeld(); WeldRobotBean.StopWeld();
} }
} }
/// <summary> /// <summary>
/// true表示检测OK /// true表示检测OK
/// </summary> /// </summary>
......
URSolderingClient/FrmWork.resx
...@@ -125,7 +125,7 @@ ...@@ -125,7 +125,7 @@
AAEAAAD/////AQAAAAAAAAAMAgAAAFdTeXN0ZW0uV2luZG93cy5Gb3JtcywgVmVyc2lvbj00LjAuMC4w AAEAAAD/////AQAAAAAAAAAMAgAAAFdTeXN0ZW0uV2luZG93cy5Gb3JtcywgVmVyc2lvbj00LjAuMC4w
LCBDdWx0dXJlPW5ldXRyYWwsIFB1YmxpY0tleVRva2VuPWI3N2E1YzU2MTkzNGUwODkFAQAAACFTeXN0 LCBDdWx0dXJlPW5ldXRyYWwsIFB1YmxpY0tleVRva2VuPWI3N2E1YzU2MTkzNGUwODkFAQAAACFTeXN0
ZW0uV2luZG93cy5Gb3Jtcy5BeEhvc3QrU3RhdGUBAAAABERhdGEHAgIAAAAJAwAAAA8DAAAAJQAAAAIB ZW0uV2luZG93cy5Gb3Jtcy5BeEhvc3QrU3RhdGUBAAAABERhdGEHAgIAAAAJAwAAAA8DAAAAJQAAAAIB
AAAAAQAAAAAAAAAAAAAAABAAAAAAAAEAaAkAAKM4AAAAAAAACw== AAAAAQAAAAAAAAAAAAAAABAAAAAAAAEAnQkAAKM4AAAAAAAACw==
</value> </value>
</data> </data>
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
......
URSolderingClient/记录.txt
...@@ -42,6 +42,8 @@ AOI检测NG时，红灯亮，等到下次开始焊接时清理红灯。 ...@@ -42,6 +42,8 @@ AOI检测NG时，红灯亮，等到下次开始焊接时清理红灯。
2.每个电路板需要配置拍照点 2.每个电路板需要配置拍照点
3.流程修改：焊接之前，先去拍照点，拍照识别，取出坐标后进行整体坐标偏移，然后再焊接。 3.流程修改：焊接之前，先去拍照点，拍照识别，取出坐标后进行整体坐标偏移，然后再焊接。
AOI程序修改：分支1是左边偏移功能。分支2是AOI检测功能。
图片上自动编程功能： 图片上自动编程功能：
图片上要显示四个点：ABCD 图片上要显示四个点：ABCD
需要配置AC点或者BD点作为固定点 需要配置AC点或者BD点作为固定点
......
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