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写不NG流程：添加传送带运行、步进电机移动、线条个数方便后续夹爪的抓取、气动夹爪控制流程

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pengqi
2026-01-09 17:52:52 +08:00
parent 8821b30689
commit a8a35545cc
7 changed files with 410 additions and 43 deletions
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185
main_control.py
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@ -1,19 +1,19 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
"""
# @Time : 2025/12/12 11:05
# @Author : reenrr
# @File : main_control.py
# @Desc : 主控程序
'''
import multiprocessing # 多进程模块
import threading
from threading import Event
"""
import time
from EMV.EMV_test import press_sensors_triggered, control_solenoid, global_relay
from visual_algorithm.visual_algorithm import flaw_detection
import logging
import os
from conveyor_controller.conveyor_master_controller2_test import conveyor_control
from client import IndustrialPCClient
from DM.DM_Motor_test import DMMotorController, Control_Type, dm_motor_control
# ------------ 日志+参数配置 ------------
script_dir = os.path.dirname(os.path.abspath(__file__))
@ -29,59 +29,178 @@ logging.basicConfig(
]
)
# ------------全局事件-------------
manger = multiprocessing.Manager()
conveyor_start_event = manger.Event()
# -------------------------- 电机参数配置 --------------------------
SLAVE_ID = 0x01
MASTER_ID = 0x11
PORT = 'COM10'
BAUDRATE = 921600
def start_thread():
"""开启各种线程"""
global_relay.start_press_sensors_monitor() # 双压传感器监听线程
class LineMainControlSystem:
"""
线条主控系统类
"""
def __init__(self):
"""
构造方法：初始化类属性
"""
# 客户端
self.client = IndustrialPCClient(ip='127.0.0.1', port=8888, timeout=10)
# 连接服务端
if not self.client.connect():
return
def stop_thread():
"""关闭各种线程"""
global_relay.stop_press_sensors_monitor() # 双压传感器监听线程
# 合格线条处理记数
self.qualified_line_count = 0
self.qualified_trigger_threshold = 5
# 创建达妙电机实例、参数
self.motor_controller = DMMotorController(
slave_id=SLAVE_ID,
master_id=MASTER_ID,
port=PORT,
baudrate=BAUDRATE
)
self.dm_motor_init()
def quality_testing():
logging.info("线条开始质量检测：")
def dm_motor_init(self):
# 切换到位置-速度模式
self.motor_controller.switch_control_mode(Control_Type.POS_VEL)
# 执行质量检测
result = flaw_detection({"line_id": "L001", "straightness": 0.95, "noise_ratio": 0.08})
if result == "qualified":
# 使能电机
self.motor_controller.enable_motor()
# 将电机位置恢复到初始位置(防止断电，电机停在某个位置上）
dm_motor_position = self.motor_controller.get_position()
logging.info(f"初始位置{dm_motor_position}")
# 将位置移动到0位
self.motor_controller.control_pos_vel(p_desired=0, v_desired=30)
time.sleep(10)
def start_thread(self):
"""开启各种线程"""
logging.info("开启各类监听线程")
global_relay.start_press_sensors_monitor() # 双压传感器监听线程
def stop_thread(self):
"""关闭各种线程"""
logging.info("关闭各类监听线程")
global_relay.stop_press_sensors_monitor() # 双压传感器监听线程
def handle_line(self):
try:
logging.info("线条开始质量检测：")
# 执行质量检测
result = flaw_detection({"line_id": "L001", "straightness": 0.95, "noise_ratio": 0.08})
if result == "qualified":
self._handle_qualified_line()
elif result == "unqualified":
self._handle_unqualified_line()
except Exception as e:
logging.error(f"质量检测失败：{e}", exc_info=True)
finally:
# 关闭连接服务端
if self.client:
self.client.close()
logging.info("关闭连接服务端")
def _handle_qualified_line(self):
"""
处理合格线条的流程
"""
result = "合格"
logging.info("该线条是否合格：", result)
logging.info(f"该线条是否合格：{result}")
logging.info("等待线条落到传送带（双压传感器触发）...")
# 等待时间触发，超时时间设为10秒（避免无限等待）
if press_sensors_triggered.wait(timeout=10):
press_sensors_triggered.clear()
logging.info("线条已落到传送带，控制两个传送带向前移动")
# 触发传送带启动事件
conveyor_start_event.set()
# 传送带运行
conveyor_control()
# 验证传送带运行结果
press_sensor1_status = global_relay.get_device_status('press_sensor1', 'sensors')
press_sensor2_status = global_relay.get_device_status('press_sensor2', 'sensors')
if not press_sensor1_status and not press_sensor2_status:
logging.info("传送带运行正常,线条已移动")
self.qualified_line_count += 1
logging.info(f"已处理合格线条{self.qualified_line_count}/{self.qualified_trigger_threshold}个")
# 控制步进电机移动
logging.info("控制步进电机移动")
success, msg = self.client.send_command("test")
if not success:
logging.error(f"调用失败：{msg}")
else:
logging.info("步进电机移动成功")
# 判断线条个数
if self.qualified_line_count >= self.qualified_trigger_threshold:
# 舵机、电机相关控制
self.qualified_line_count = 0
else:
logging.warning("传送带运行异常，线条未正常移动，不更新合格计数")
else:
logging.info("超时警告：线条未落到传送带，请检查")
elif result == "unqualified":
logging.info("线条未落到传送带，请检查传感器或设备状态")
def _handle_unqualified_line(self):
"""
处理不合格线条的流程
"""
result = "不合格"
logging.info("该线条是否合格：", result)
logging.info("等待线条落到传送带上")
# 等待时间触发，超时时间设为10秒（避免无限等待）
if press_sensors_triggered.wait(timeout=10):
press_sensors_triggered.clear()
logging.info("线条已落到传送带")
# 执行NG动作，控制电磁阀
logging.info("进入NG动作")
control_solenoid() # 执行NG动作,控制电磁阀
control_solenoid() # 执行NG动作,控制电磁阀
logging.info("NG动作结束")
# logging.info("判断NG线条是否落入肥料区：")
def gripper_control(self):
"""
气动夹爪相关控制：达妙电机的移动、舵机的翻转
"""
# 打开电磁阀3
global_relay.open('solenoid_valve3', "devices")
# 控制达妙电机收缩
self.motor_controller.control_pos_vel(p_desired=282.6, v_desired=30) # 450mm 665-215
time.sleep(10)
# -----------对外接口-------------
def main_control():
logging.info("开启各种线程")
start_thread()
main_control_system = LineMainControlSystem()
logging.info("开始摆放线条")
try:
logging.info("开启各种线程")
main_control_system.start_thread()
# 质量检测
quality_testing()
while True: # 防止跳出循环
logging.info("开始摆放线条")
# 质量检测
main_control_system.handle_line()
except KeyboardInterrupt:
logging.info("用户手动退出")
finally:
# 程序退出时，关闭各类线程
main_control_system.stop_thread()
logging.info("主控程序已正常退出")
while True: # 防止跳出循环
time.sleep(1)
# ------------测试接口-------------
if __name__ == '__main__':