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修改钢针到达抓料点位后再收缩和在震动点不走的问题

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This commit is contained in:
cdeyw
2025-02-20 17:48:54 +08:00
parent 1e73137f72
commit 0e69647b11
12 changed files with 3905 additions and 174 deletions
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2
.idea/AutoControlSystem.iml generated
View File

@ -2,7 +2,7 @@
<module type="PYTHON_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$" />
<orderEntry type="jdk" jdkName="rob" jdkType="Python SDK" />
<orderEntry type="jdk" jdkName="Python 3.9" jdkType="Python SDK" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
<component name="PyDocumentationSettings">

2
.idea/misc.xml generated
View File

@ -3,5 +3,5 @@
<component name="Black">
<option name="sdkName" value="rob" />
</component>
<component name="ProjectRootManager" version="2" project-jdk-name="rob" project-jdk-type="Python SDK" />
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
</project>

7
CU/Catch.py
View File

@ -1,10 +1,11 @@
#!/usr/bin/python3
import time
from enum import Enum
import Constant
from COM.COM_Robot import RobotClient
from Util.util_time import CClockPulse, CTon
from EMV import *
from .EMV import *
class CatchStatus(Enum):
CNone = 0
@ -37,10 +38,6 @@ class Catch:
# 网络继电器
open(1, 0, 0)
self.is_send_take_command = True
else:
if self.take_continue.Q(True,self.robotClient.time_delay_take*1000):
self.is_send_take_command = False
self.catch_status = CatchStatus.COk
if self.catch_status == CatchStatus.CDrop:
if not self.is_send_command:

2
CU/Detect.py
View File

@ -28,7 +28,7 @@ class Detect:
return
_, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True,
First_Depth=True, Iter_Max_Pixel=30,
save_img_point=0, Height_reduce=30, width_reduce=30)
save_img_point=1, Height_reduce=30, width_reduce=30)
self.detection_image = img.copy()
if xyz == None or uvw == None or points == None:

40
CU/EMV.py
View File

@ -9,7 +9,7 @@ PORT = 50000
# 电磁阀控制报文
valve_commands = {
1: {
'open': '00000000000601050000FF00',
'open': '00000000000601050000FF00',#钢针
'close': '000000000006010500000000',
},
2: {
@ -46,34 +46,38 @@ def send_command(command):
return False
# 控制电磁阀打开
def open(grasp, throw, shake):
def open(grasp, shake, throw):
if grasp:
print("打开电磁阀 1") # 抓取
print("打开电磁阀 1") # 钢针关闭
if send_command(valve_commands[1]['open']):
time.sleep(1) # 等待 1 秒
if throw:
print("打开电磁阀 2") # 扔袋
if send_command(valve_commands[2]['open']):
time.sleep(1) # 等待 1 秒
time.sleep(1)
if shake:
print("打开电磁阀 3") # 震动
print("打开电磁阀 2") # 震动
if send_command(valve_commands[2]['open']):
time.sleep(0.05)
if throw:
print("打开电磁阀 3") # 扔袋
if send_command(valve_commands[3]['open']):
time.sleep(1) # 等待 1 秒
time.sleep(0.5)
# 控制电磁阀关闭
def close(grasp, throw, shake):
def close(grasp, shake, throw):
if grasp:
print("关闭电磁阀 1")
print("关闭电磁阀 1")#钢针打开
if send_command(valve_commands[1]['close']):
time.sleep(1) # 等待 1 秒
if throw:
time.sleep(1)
if shake:
print("关闭电磁阀 2")
if send_command(valve_commands[2]['close']):
time.sleep(1) # 等待 1 秒
if shake:
time.sleep(0.05)
if throw:
print("关闭电磁阀 3")
if send_command(valve_commands[3]['close']):
time.sleep(1) # 等待 1 秒
time.sleep(0.5)
# 关闭电磁阀
close(True, True, True) # 参数传True和False
# open(True, False, False) # 参数传True和False
# close(False,False,True)
# for i in range(10):
# open(False,True,True)
# close(True,True,True)

11
CU/Feeding.py
View File

@ -322,7 +322,8 @@ class Feeding(QObject):
if feed_pos.get_position().compare(real_position):
self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
self.next_position(self.is_reverse)
if self.feedStatus == FeedStatus.FTake:
self.catch.catch_status=CatchStatus.CTake
elif self.feedStatus == FeedStatus.FPhoto:
@ -444,17 +445,11 @@ class Feeding(QObject):
# self.sendIOControl(self.robotClient.con_ios[2], 1)
self.log_signal.emit(logging.INFO, "到达抓料点位")
if self.catch.catch_status == CatchStatus.CNone :
self.catch.catch_status = CatchStatus.CTake
return
if self.catch.catch_status == CatchStatus.CTake:
return
if self.catch.catch_status == CatchStatus.COk :
self.catch.catch_status = CatchStatus.CNone
#self.feedConfig.feedLine.set_take_position(None)
# time.sleep(self.robotClient.time_delay_take)
self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
self.next_position()
self.catch.catch_status = CatchStatus.COk
else:
self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)

169
Config/FeedLine.ini
View File

@ -20,12 +20,12 @@ status = 3
linetype = 0
[Position1]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 1402.887451
y = 1126.740479
z = 2000.0
u = 6.669909
v = 7.899203
w = -151.361526
id = 1
order = 4
lineid = 1
@ -33,12 +33,12 @@ status = 3
linetype = 0
[Position7]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 230.52298
y = 1879.445435
z = 2000.432495
u = 3.915686
v = 18.44486
w = -107.223564
id = 7
order = 0
lineid = 1
@ -46,64 +46,64 @@ status = 3
linetype = 0
[Position8]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 1430.494385
y = 1765.716187
z = 2050.0
u = 1.57722
v = 4.174088
w = -87.506218
id = 8
order = 9
order = 8
lineid = 1
status = 6
linetype = 0
[Position9]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 1430.492554
y = 1765.717407
z = 1832.536255
u = 1.57702
v = 4.174215
w = -87.506783
id = 9
order = 10
order = 9
lineid = 1
status = 7
linetype = 0
[Position10]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 1375.01416
y = 1702.021973
z = 2117.369385
u = 8.211453
v = 4.232689
w = -100.153625
id = 10
order = 11
order = 10
lineid = 1
status = 8
linetype = 0
[Position12]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 2180.736328
y = 356.33316
z = 1850.0
u = 5.812903
v = 5.431066
w = -168.01712
id = 12
order = 12
order = 11
lineid = 1
status = 9
linetype = 0
[Position2]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 1765.864746
y = 345.495361
z = 2000.0
u = 6.676573
v = 7.941406
w = -179.064972
id = 2
order = 3
lineid = 1
@ -124,12 +124,12 @@ status = 2
linetype = 0
[Position13]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 1351.092285
y = 1188.34668
z = 2000.151001
u = 6.676482
v = 7.941721
w = -148.802124
id = 13
order = 1
lineid = 1
@ -137,12 +137,12 @@ status = 3
linetype = 0
[Position14]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 371.28418
y = 1757.579224
z = 2000.0
u = 7.908469
v = 6.585917
w = -95.263153
id = 14
order = 5
lineid = 1
@ -150,12 +150,12 @@ status = 3
linetype = 0
[Position5]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 352.000519
y = 1915.820068
z = 2022.926514
u = -179.120407
v = -1.876792
w = 2.38191
id = 5
order = 6
lineid = 1
@ -163,41 +163,28 @@ status = 5
linetype = 0
[Position15]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 1765.864746
y = 345.495361
z = 2000.0
u = 6.676573
v = 7.941406
w = -179.064972
id = 15
order = 2
lineid = 1
status = 2
linetype = 0
[Position4]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 4
[Position16]
x = 275.882446
y = 2153.374023
z = 2050.0
u = 8.369349
v = 1.971002
w = -108.256897
id = 16
order = 7
lineid = 1
status = 3
linetype = 0
[Position16]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
id = 16
order = 8
lineid = 1
status = 3
linetype = 0

4
Constant.py
View File

@ -1,11 +1,11 @@
import os
Debug = True
Debug = False
IO_EmergencyPoint = 2
max_log_len = 100
bag_height = 10 # 一袋的高度
position_accuracy_action = 0.1 #动作时的位置精度6 这个精度要高 必须到位置才做动作
position_accuracy_command = 6#命令时的位置精度
position_accuracy_command = 300 #命令时的位置精度
manual_adjust_accuracy = 1
# speed = 10
# shake_speed = 20

18
Seting.ini
View File

@ -1,7 +1,7 @@
[Main]
[Robot_Feed]
ipaddress = 127.0.0.1
ipaddress = 192.168.20.4
port = 502
j1_min = -150
j1_max = +150
@ -47,7 +47,7 @@ photo_v5 = 0.0
photo_w5 = 1.0
linecount = 2
remain_linename = 1
remain_count = 999
remain_count = 0
io_take_addr = 8
io_zip_addr = 11
io_shake_addr = 12
@ -56,7 +56,7 @@ putdelay = 0.1
shakedelay = 1.0
max_angle_interval = 20
smooth = 9
dynamic_height = 520.0
dynamic_height = 350.0
[Speed]
debug_speed = 50
@ -64,12 +64,12 @@ feed_speed = 550
reset_speed = 35
[Origin]
x = 7.0
y = 50.0
z = 1.0
u = 12.0
v = 0.0
w = 1.0
x = 204.996765
y = 1455.630493
z = 2324.525146
u = 6.460966
v = 37.462826
w = -84.569252
[Camera_Feed]
ipaddress = 127.0.0.1

2
Trace/handeye_calibration.py
View File

@ -76,7 +76,7 @@ def getPosition(x,y,z,a,b,c,rotation,points):
# 单位化方向向量
short_edge_direction = edge_vector / np.linalg.norm(edge_vector)
delta = -30#沿法向量方向抬高和压低，-指表示抬高，+值表示压低
delta = -200#沿法向量方向抬高和压低，-指表示抬高，+值表示压低
angle = np.asarray([a,b,c])
noraml = camera2robot[:3, :3]@angle
normal_vector = noraml / np.linalg.norm(noraml)

3813
log/log.log
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File diff suppressed because it is too large Load Diff

1
main.py
View File

@ -63,6 +63,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.init_Run()
self.init_robot_info()
self.init_IOPanel()
self.start_Runing()
self.init_log()