image_font

COM/COM_Robot.py

@@ -1,7 +1,9 @@
 import logging
 from enum import Enum
 from turtle import Turtle
-# from numpy.array_api import trunc
+
+from numpy.array_api import trunc
+
 import Constant
 from COM.COM_TCP import TCPClient
 import queue
@@ -43,11 +45,17 @@ class RobotClient(TCPClient):
     def send_Command(self):
         try:
             if self.command_quene.qsize()!=0:
+                log.log_message(logging.INFO, f'robot-command:从队列获取命令')
                 command = self.command_quene.get()
+                log.log_message(logging.INFO, f'robot-command:{command}')
                 self.client_socket.send(command.encode())
                 if True:
                     response = self.client_socket.recv(1024).decode('utf-8')
                     # response_message = json.loads(response)
+                    if response:
+                      log.log_message(logging.INFO, f'robot-command:{response},剩余:{self.command_quene.qsize()}条命令')
+                    else:
+                      log.log_message(logging.INFO, f'robot-command:无返回值,剩余:{self.command_quene.qsize()}条命令')
                 return True
             else:
                 return True

COM/COM_TCP.py

@@ -41,10 +41,11 @@ class TCPClient:
                 if (self.send_Status() and self.send_Command()):
                     self.error_count = 0
             except Exception as e:
+                log.log_message(logging.ERROR,f'COM_TCP: {str(e)}')
                 self.error_count += 1
             if self.error_count> 5:
                 print("Error: 机械臂控制程序中TCPClient is not connected")
-                log.log_message(logging.ERROR,Constant.str_tcp_connect_no_reply)
+                log.log_message(logging.ERROR,f'{Constant.str_tcp_connect_no_reply}:{str(e)}')
                 try:
                     self.CreatConnect()
                     log.log_message(logging.INFO, Constant.str_tcp_reconnect)

CU/Feeding.py

@@ -29,7 +29,7 @@ from Util.util_log import log
 from Model.RobotModel import Instruction
 from EMV.EMV import RelayController
 from CU.drop import DropPositionManager
-# from Mv3D.CameraImg import CameraImg
+from Mv3D.CameraUtil import CameraUtil
 class ResetStatus(Enum):
     RNone = 0
     RStart = 1
@@ -326,7 +326,7 @@ class Feeding(QObject):
         #用于同步控制EMV相关
         self.relay_controller = relay_controller
         self.relay_controller.take_robot_signal.connect(self.take_feed_notice)
-        # self.camera_img=CameraImg()
+        self.camera_img=CameraUtil()
         # 启动传感器2线程
         # self.relay_controller._running = True
         # self.sensor2_thread = None
@@ -340,8 +340,8 @@ class Feeding(QObject):
         # self.detect_thread.join()
         if self.detect.detection:
             self.detect.detection.release()
-        # if self.camera_img:
+        if self.camera_img:
-        #     self.camera_img.close_camera()
+            self.camera_img.release()
 
     def run_detect(self):
         #图片相关线程
@@ -502,7 +502,7 @@ class Feeding(QObject):
                         time.sleep(1)  # 每秒检查一次
                
                 #第二次执行FeedStatus.FPhoto时，改变码垛点
-                # self.camera_img.save_frame_path()
+                self.camera_img.save_img()
                 self.feedConfig.feedLine.set_feeding_to_end()
                 # self.take_photo_sigal.emit()
                 self.next_position()

Constant.py

@@ -3,7 +3,7 @@ import os
 # 调试变量
 Debug = False # 控制不加图像的Fphoto False是不加
 Debug1 = False # 打印很多日志节点
-DebugPosition = False # 调试位置，关闭机器人和传感器及判断
+DebugPosition = True # 调试位置，关闭机器人和传感器及判断
 # Debug2 = False
 feedStatus = True #feedStatus的状态打印
 

MainRecources_rc.py

@@ -102112,31 +102112,31 @@ qt_resource_struct = b"\
 \x00\x00\x00\x0e\x00\x02\x00\x00\x00\x0d\x00\x00\x00\x03\
 \x00\x00\x00\x00\x00\x00\x00\x00\
 \x00\x00\x00\xb2\x00\x00\x00\x00\x00\x01\x00\x03/R\
-\x00\x00\x01\x99\x8e\x16\x01I\
+\x00\x00\x01\x9a\x01M\x90X\
 \x00\x00\x00\x1e\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
-\x00\x00\x01\x99\x8e\x16\x01R\
+\x00\x00\x01\x9a\x01M\x90h\
 \x00\x00\x008\x00\x00\x00\x00\x00\x01\x00\x00\x05\x9a\
-\x00\x00\x01\x99\x8e\x16\x01N\
+\x00\x00\x01\x9a\x01M\x90X\
 \x00\x00\x00~\x00\x00\x00\x00\x00\x01\x00\x03\x13\xe9\
-\x00\x00\x01\x99\x8e\x16\x01O\
+\x00\x00\x01\x9a\x01M\x90h\
 \x00\x00\x00\xe4\x00\x00\x00\x00\x00\x01\x00\x0ff\xaf\
-\x00\x00\x01\x99\x8e\x16\x01I\
+\x00\x00\x01\x9a\x01M\x90X\
 \x00\x00\x01\xbc\x00\x00\x00\x00\x00\x01\x00\x18\xcf\xe2\
-\x00\x00\x01\x99\x8e\x16\x01O\
+\x00\x00\x01\x9a\x01M\x90h\
 \x00\x00\x01\x88\x00\x00\x00\x00\x00\x01\x00\x16\xd0\xa3\
-\x00\x00\x01\x99\x8e\x16\x01N\
+\x00\x00\x01\x9a\x01M\x90X\
 \x00\x00\x01\xa6\x00\x00\x00\x00\x00\x01\x00\x16\xd7X\
-\x00\x00\x01\x99\x8e\x16\x01Q\
+\x00\x00\x01\x9a\x01M\x90h\
 \x00\x00\x01\x16\x00\x00\x00\x00\x00\x01\x00\x0f\xd3\xa7\
-\x00\x00\x01\x99\x8e\x16\x01L\
+\x00\x00\x01\x9a\x01M\x90X\
 \x00\x00\x00\x92\x00\x00\x00\x00\x00\x01\x00\x03\x1eU\
-\x00\x00\x01\x99\x8e\x16\x01P\
+\x00\x00\x01\x9a\x01M\x90h\
 \x00\x00\x00\xc2\x00\x00\x00\x00\x00\x01\x00\x0f\x5c\xad\
-\x00\x00\x01\x99\x8e\x16\x01O\
+\x00\x00\x01\x9a\x01M\x90X\
 \x00\x00\x01\xd6\x00\x00\x00\x00\x00\x01\x00\x18\xd4\xc0\
-\x00\x00\x01\x99\x8e\x16\x01O\
+\x00\x00\x01\x9a\x01M\x90h\
 \x00\x00\x01P\x00\x00\x00\x00\x00\x01\x00\x16\xbe\x07\
-\x00\x00\x01\x99\x8e\x16\x01N\
+\x00\x00\x01\x9a\x01M\x90X\
 "
 
 def qInitResources():

Mv3D/CameraUtil.py

@@ -0,0 +1,202 @@
+# vision/camera.py
+import cv2
+import os
+import time
+from datetime import datetime
+import numpy as np
+import shutil  # 用于检查磁盘空间
+
+class CameraUtil:
+    """
+    海康摄像头工具类，用于初始化、设置配置、捕获图像等操作
+    """
+    def __init__(self):
+        self.camera = None
+        self.camera_type = "ip"
+        self.camera_ip = "192.168.0.234"
+        self.camera_port = 554
+        self.camera_username = "admin"
+        self.camera_password = "ailaimiye123"
+        self.camera_channel = 1
+
+    def set_config(self, camera_type="ip", ip=None, port=None, username=None, password=None, channel=1):
+        """
+        设置摄像头配置
+        """
+        self.camera_type = camera_type
+        if ip:
+            self.camera_ip = ip
+        if port:
+            self.camera_port = port
+        if username:
+            self.camera_username = username
+        if password:
+            self.camera_password = password
+        self.camera_channel = channel
+
+    def setup_capture(self, camera_index=0):
+        """
+        设置摄像头捕获
+        """
+        try:
+            rtsp_url = f"rtsp://{self.camera_username}:{self.camera_password}@{self.camera_ip}:{self.camera_port}/streaming/channels/{self.camera_channel}01"
+            self.camera = cv2.VideoCapture(rtsp_url, cv2.CAP_FFMPEG)
+
+            if not self.camera.isOpened():
+                print(f"无法打开网络摄像头: {rtsp_url}")
+                return False
+            print(f"网络摄像头初始化成功，地址: {rtsp_url}")
+             # 关键优化：设置极低的缓冲区大小
+            self.camera.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+            # 确保设置合理的帧率
+            self.camera.set(cv2.CAP_PROP_FPS, 25)
+            
+            # 设置超时参数
+            self.camera.set(cv2.CAP_PROP_OPEN_TIMEOUT_MSEC, 5000)  # 5秒超时
+            self.camera.set(cv2.CAP_PROP_READ_TIMEOUT_MSEC, 1000)  # 1秒读取超时
+            return True
+        except Exception as e:
+            print(f"摄像头设置失败: {e}")
+            return False
+    
+    def capture_frame(self):
+        """捕获当前帧并返回numpy数组，设置5秒总超时"""
+        try:
+            if self.camera is None:
+                print("摄像头未初始化")
+                return None
+
+            # 设置总超时时间为5秒
+            total_timeout = 5.0  # 5秒总超时时间
+            start_time = time.time()
+            
+            # 跳20帧，获取最新图像
+            frames_skipped = 0
+            while frames_skipped < 20:
+                # 检查总超时
+                if time.time() - start_time > total_timeout:
+                    print("捕获图像总超时")
+                    return None
+                self.camera.grab()
+                time.sleep(0.05)  # 稍微增加延迟，确保有新帧到达
+                frames_skipped += 1
+            
+            # 尝试读取帧，使用同一超时计时器
+            read_attempts = 0
+            max_read_attempts = 3
+            if self.camera.grab():
+              while read_attempts < max_read_attempts:
+                # 使用同一个超时计时器检查
+                if time.time() - start_time > total_timeout:
+                    print("捕获图像总超时")
+                    return None
+                
+                ret, frame = self.camera.retrieve()
+                if ret:
+                    return frame
+                else:
+                    print(f"尝试读取图像帧失败，重试 ({read_attempts+1}/{max_read_attempts})")
+                    read_attempts += 1
+                    # 短暂延迟后重试
+                    time.sleep(0.05)
+            
+            print("多次尝试后仍无法捕获有效图像帧")
+            return None
+        except Exception as e:
+            print(f"图像捕获失败: {e}")
+            return None
+
+    def release(self):
+        """释放摄像头资源"""
+        if self.camera is not None:
+            self.camera.release()
+            self.camera = None
+            print("摄像头资源已释放")
+
+    def save_frame(self, frame, save_dir="captured_frames", filename=None):
+        """
+        保存图像帧到指定目录，按日期创建子文件夹
+        :param frame: 要保存的图像帧
+        :param save_dir: 保存根目录
+        :param filename: 保存的文件名，如果为None则使用时分秒格式
+        :return: 保存的文件路径
+        """
+        try:
+            # 确保保存根目录存在
+            if not os.path.exists(save_dir):
+                os.makedirs(save_dir)
+                print(f"创建保存根目录: {save_dir}")
+            
+            # 检查磁盘可用空间 - 修复变量名称错误
+            total, used, free = shutil.disk_usage(save_dir)
+            if free < 1024 * 1024 * 20:  # 小于 20MB 就停止
+                print(f"❌ 磁盘空间严重不足（仅剩 {free / (1024**3):.2f} GB），停止运行。")
+                return None
+
+            # 获取当前日期，创建日期子文件夹
+            current_date = datetime.now().strftime("%Y%m%d")
+            date_dir = os.path.join(save_dir, current_date)
+            
+            # 确保日期子文件夹存在
+            if not os.path.exists(date_dir):
+                os.makedirs(date_dir)
+                print(f"创建日期文件夹: {date_dir}")
+
+            # 生成文件名（时分秒格式）
+            if filename is None:
+                time_str = datetime.now().strftime("%Y%m%d%H%M%S")
+                filename = f"{time_str}.jpg"
+            
+            # 保存图像到日期子文件夹
+            save_path = os.path.join(date_dir, filename)
+            loc_status=cv2.imwrite(save_path, frame)
+            if not loc_status:
+                print(f"保存图像失败: {save_path}")
+                return None
+            print(f"图像已保存到: {save_path}")
+            return save_path
+        except Exception as e:
+            print(f"保存图像失败: {e}")
+            return None
+    
+    def save_img(self):
+        """
+        保存当前帧
+        :return: None
+        """
+        if self.camera is None:
+            self.setup_capture()
+        frame = self.capture_frame()
+        if frame is not None:
+            self.save_frame(frame)
+            self.release()
+        else:
+            print("无法捕获图像帧")
+            return None
+    
+
+    def __del__(self):
+        """关闭
+        """
+        self.release()
+
+    
+if __name__ == "__main__":
+    camera = CameraUtil()
+    for i in range(10):
+        camera.save_img()
+        time.sleep(5)
+    camera.release()
+    # camera.set_config(camera_type="ip", ip="192.168.0.234", port=554, username="admin", password="ailaimiye123", channel=1)
+    # camera.setup_capture()
+    # for i in range(10):
+    # frame = camera.capture_frame()
+    
+    # if frame is not None:
+        # 保存当前帧
+        # camera.save_frame(frame)
+        # cv2.imshow("Camera Feed", frame)
+    print('success')
+            
+    # camera.release()
+    # cv2.destroyAllWindows()

log/log.log

@@ -17227,3 +17227,115 @@
 2025-09-24 21:48:05 - INFO - 退出系统
 2025-09-28 10:57:07 - INFO - 进入系统
 2025-09-28 10:57:30 - INFO - 退出系统
+2025-10-20 19:19:29 - INFO - 进入系统
+2025-10-20 19:20:09 - INFO - 退出系统
+2025-10-20 19:22:08 - INFO - 进入系统
+2025-10-20 19:22:21 - INFO - 退出系统
+2025-10-20 19:29:07 - INFO - 进入系统
+2025-10-20 19:29:43 - INFO - 退出系统
+2025-10-20 19:30:35 - INFO - 进入系统
+2025-10-20 19:33:22 - INFO - 退出系统
+2025-10-20 19:33:33 - INFO - 进入系统
+2025-10-20 19:34:22 - INFO - 退出系统
+2025-10-20 19:34:34 - INFO - 进入系统
+2025-10-20 19:34:50 - INFO - 退出系统
+2025-10-20 19:35:01 - INFO - 进入系统
+2025-10-20 19:35:19 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
+2025-10-20 19:35:19 - INFO - 切换到工具坐标
+2025-10-20 19:35:19 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
+2025-10-20 19:35:19 - INFO - 切换到自动运行状态
+2025-10-20 19:37:38 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
+2025-10-20 19:37:38 - INFO - 切换到工具坐标
+2025-10-20 19:37:38 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
+2025-10-20 19:37:38 - INFO - 切换到自动运行状态
+2025-10-20 19:37:39 - INFO - 第一层确认生产
+2025-10-20 19:37:40 - INFO - 1号线:投料开始
+2025-10-20 19:37:40 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
+2025-10-20 19:37:40 - INFO - 发送IO控制: 2，1
+2025-10-20 19:37:45 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
+2025-10-20 19:37:45 - INFO - 发送IO控制: 2，0
+2025-10-20 19:37:46 - INFO - 投料开始
+2025-10-20 19:37:46 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:37:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:37:46 - INFO - 投料开始
+2025-10-20 19:37:46 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:37:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:37:46 - INFO - 移动到中位位置
+2025-10-20 19:37:46 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:37:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:37:47 - INFO - 检测是否安全投料
+2025-10-20 19:37:47 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:37:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:37:47 - INFO - 检测是否安全投料
+2025-10-20 19:37:47 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:37:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:37:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:37:47 - INFO - 拍照
+2025-10-20 19:37:47 - INFO - 识别图像成功
+2025-10-20 19:37:48 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:37:48 - INFO - 拍照
+2025-10-20 19:37:48 - INFO - 传感器2检测到料包到位开始执行抓取
+2025-10-20 19:37:53 - INFO - 投料暂停
+2025-10-20 19:37:53 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]}
+2025-10-20 19:37:56 - INFO - 退出系统
+2025-10-20 19:38:18 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:38:37 - INFO - 进入系统
+2025-10-20 19:38:48 - INFO - 投料暂停
+2025-10-20 19:38:48 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]}
+2025-10-20 19:38:49 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
+2025-10-20 19:38:50 - INFO - 切换到工具坐标
+2025-10-20 19:38:50 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
+2025-10-20 19:38:50 - INFO - 切换到自动运行状态
+2025-10-20 19:38:50 - INFO - 第一层确认生产
+2025-10-20 19:38:51 - INFO - 1号线:投料开始
+2025-10-20 19:38:51 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
+2025-10-20 19:38:51 - INFO - 发送IO控制: 2，1
+2025-10-20 19:38:56 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
+2025-10-20 19:38:56 - INFO - 发送IO控制: 2，0
+2025-10-20 19:38:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:38:57 - INFO - 投料开始
+2025-10-20 19:38:57 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:38:57 - INFO - 投料开始
+2025-10-20 19:38:57 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:38:57 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:38:57 - INFO - 移动到中位位置
+2025-10-20 19:38:57 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:38:57 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:38:57 - INFO - 检测是否安全投料
+2025-10-20 19:38:58 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:38:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:38:58 - INFO - 检测是否安全投料
+2025-10-20 19:38:58 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:38:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:38:58 - INFO - 拍照
+2025-10-20 19:38:58 - INFO - 识别图像成功
+2025-10-20 19:38:58 - INFO - 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
+2025-10-20 19:38:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:38:59 - INFO - 拍照
+2025-10-20 19:38:59 - INFO - 传感器2检测到料包到位开始执行抓取
+2025-10-20 19:39:12 - INFO - 退出系统
+2025-10-20 19:39:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
+2025-10-20 19:50:26 - INFO - 进入系统
+2025-10-20 19:50:45 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
+2025-10-20 19:50:45 - INFO - 切换到工具坐标
+2025-10-20 19:50:45 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
+2025-10-20 19:50:46 - INFO - 切换到自动运行状态
+2025-10-20 19:50:56 - INFO - 第一层确认生产
+2025-10-20 19:51:33 - INFO - 退出系统
+2025-10-20 19:51:44 - INFO - 进入系统
+2025-10-20 19:51:47 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
+2025-10-20 19:51:47 - INFO - 切换到工具坐标
+2025-10-20 19:51:47 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
+2025-10-20 19:51:47 - INFO - 切换到自动运行状态
+2025-10-20 19:51:54 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
+2025-10-20 19:51:54 - INFO - 切换到工具坐标
+2025-10-20 19:51:55 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
+2025-10-20 19:51:55 - INFO - 切换到自动运行状态
+2025-10-20 19:51:55 - INFO - 第一层确认生产
+2025-10-20 19:52:01 - INFO - 退出系统
+2025-10-20 19:52:49 - INFO - 进入系统
+2025-10-20 19:52:55 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
+2025-10-20 19:52:56 - INFO - 切换到工具坐标
+2025-10-20 19:52:56 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
+2025-10-20 19:52:56 - INFO - 切换到自动运行状态
+2025-10-20 19:53:06 - INFO - 退出系统

main.py

@@ -17,7 +17,7 @@ from PyQt5.uic.properties import QtWidgets
 from PySide6 import QtCore
 from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent, QTimer
 from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt, QMovie, QIcon, QCursor, QColor, \
-    QTextCursor
+    QTextCursor,QFont
 from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel, QHeaderView, QTableWidget, \
     QTableWidgetItem, QWidget, QHBoxLayout, QAbstractItemView, QMessageBox, QSizePolicy, QComboBox, QMenu, QDialog, QGridLayout
 from datetime import datetime
@@ -1019,6 +1019,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         msg_box_person.setIcon(QMessageBox.Icon.Information)
         msg_box_person.setText("是否确认生产区域安全继续生产？")
         msg_box_person.setWindowTitle("提示")
+        font=QFont("Microsoft YaHei UI",20)
+        msg_box_person.setFont(font)
 
         ok_button = msg_box_person.addButton("确定", PySide6.QtWidgets.QMessageBox.ButtonRole.AcceptRole)
         cancel_button = msg_box_person.addButton("取消", PySide6.QtWidgets.QMessageBox.ButtonRole.RejectRole)
@@ -1154,7 +1156,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
             button.setStyleSheet(
                 """
                 *{background-color: #101F3F;
-                font: 10pt "楷体";
+                font: 20pt "楷体";
                 color:#ffffff;
                 border-radius: 5px;
                 min-height: 40px;
@@ -1181,7 +1183,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         cancel_button.setStyleSheet(
             """
             *{background-color: #6c757d;
-            font: 10pt "楷体";
+            font: 20pt "楷体";
             color:#ffffff;
             border-radius: 5px;
             min-height: 40px;
@@ -1678,6 +1680,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
         msg_box_finish.setText("码垛完成,请移走拖板")
         msg_box_finish.setWindowTitle("提示")
         msg_box_finish.addButton("确定", QMessageBox.AcceptRole)
+        loc_font=QFont("Microsoft YaHei UI",20)
+        msg_box_finish.setFont(font)
         result=msg_box_finish.exec()
         self.label_remain_num.setText(str(self.feeding.feedConfig.remain_count))
         self.stop_all_work()

resources_rc.py

@@ -4260,7 +4260,7 @@ qt_resource_struct = b"\
 \x00\x00\x00\x0a\x00\x02\x00\x00\x00\x01\x00\x00\x00\x03\
 \x00\x00\x00\x00\x00\x00\x00\x00\
 \x00\x00\x00\x1a\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
-\x00\x00\x01\x99\x8e\x16\x01P\
+\x00\x00\x01\x9a\x01M\x90h\
 "
 
 def qInitResources():

ui_MainWin.py

@@ -3445,7 +3445,7 @@ class Ui_MainWindow(object):
         self.lineEdit_num.setSizePolicy(sizePolicy1)
         self.lineEdit_num.setStyleSheet(u"color: rgb(255, 255, 255);\n"
 "border: 1px solid #dcdfe6;\n"
-"font: 9pt \"Microsoft YaHei UI\";")
+"font: 12pt \"Microsoft YaHei UI\";")
 
         self.gridLayout.addWidget(self.lineEdit_num, 0, 0, 1, 4)
 
@@ -3455,7 +3455,7 @@ class Ui_MainWindow(object):
         self.pushButton_numkeybord.setSizePolicy(sizePolicy1)
         self.pushButton_numkeybord.setStyleSheet(u"\n"
 "*{background-color: #101F3F;\n"
-"font: 11pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3475,7 +3475,7 @@ class Ui_MainWindow(object):
         self.pushButton_num_confirm.setSizePolicy(sizePolicy1)
         self.pushButton_num_confirm.setStyleSheet(u"\n"
 "*{background-color: #101F3F;\n"
-"font: 11pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "color:#ffffff\n"
 "}\n"
 "*:hover {\n"
@@ -3516,7 +3516,7 @@ class Ui_MainWindow(object):
         self.label_button_status.setStyleSheet(u"\n"
 "QLabel{\n"
 "background-color: rgba(255, 255, 255, 0);\n"
-"font: 700 16pt \"Microsoft YaHei UI\";\n"
+"font: 700 36pt \"Microsoft YaHei UI\";\n"
 "color:#FF0000;\n"
 "}")
 
@@ -3545,7 +3545,7 @@ class Ui_MainWindow(object):
         self.pushButton_reset.setSizePolicy(sizePolicy5)
         self.pushButton_reset.setStyleSheet(u"*{\n"
 "background-color: #FFFFBF;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3584,7 +3584,7 @@ class Ui_MainWindow(object):
         self.pushButton_stopFeed.setSizePolicy(sizePolicy5)
         self.pushButton_stopFeed.setStyleSheet(u"*{\n"
 "background-color: #FF0000;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3603,7 +3603,7 @@ class Ui_MainWindow(object):
         self.pushButton_pauseFeed.setSizePolicy(sizePolicy5)
         self.pushButton_pauseFeed.setStyleSheet(u"*{\n"
 "background-color: #2196F3;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"
@@ -3622,7 +3622,7 @@ class Ui_MainWindow(object):
         self.pushButton_startFeed.setSizePolicy(sizePolicy5)
         self.pushButton_startFeed.setStyleSheet(u"*{\n"
 "background-color: #499C54;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "\n"
 "border-radius: 10px;\n"
 "}\n"
@@ -3642,7 +3642,7 @@ class Ui_MainWindow(object):
         self.pushButton_clearAlarm.setSizePolicy(sizePolicy5)
         self.pushButton_clearAlarm.setStyleSheet(u"*{\n"
 "background-color: #1CB2B1;\n"
-"font: 9pt \"\u6977\u4f53\";\n"
+"font: 20pt \"\u6977\u4f53\";\n"
 "border-radius: 10px;\n"
 "}\n"
 "*:pressed\n"