From 69e88c2b6bb931652fed90beaf52433d4386a672 Mon Sep 17 00:00:00 2001 From: cdeyw <827523911@qq.com> Date: Tue, 4 Mar 2025 15:52:54 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E8=B7=9F=E9=9A=8F=E6=B3=95?= =?UTF-8?q?=E5=90=91=E9=87=8F=E6=96=B9=E5=90=91=E7=A7=BB=E5=8A=A8=E9=97=AE?= =?UTF-8?q?=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CU/Detect.py | 5 +- CU/EMV.py | 4 +- CU/Feeding.py | 31 +- Config/FeedLine.ini | 61 +- Constant.py | 4 +- Model/Position.py | 15 +- Seting.ini | 4 +- Trace/handeye_calibration.py | 8 +- log/log.log | 7167 ++++++++++++++++++++++++++++++++++ 9 files changed, 7230 insertions(+), 69 deletions(-) diff --git a/CU/Detect.py b/CU/Detect.py index 162e08e..02c6bef 100644 --- a/CU/Detect.py +++ b/CU/Detect.py @@ -39,7 +39,10 @@ class Detect: position = Real_Position().init_position(*target_position[:3], *noraml_base[:3]) - position.Z = position.Z + # position.Z = position.Z + position.a = uvw[0] + position.b = uvw[1] + position.c = uvw[2] self.detect_position = position self.detect_status = DetectStatus.DOk diff --git a/CU/EMV.py b/CU/EMV.py index c4c5a74..f2bd00c 100644 --- a/CU/EMV.py +++ b/CU/EMV.py @@ -36,7 +36,7 @@ def send_command(command): print(f"收到响应: {binascii.hexlify(response)}") # 校验响应 if response == byte_data: - print("命令成功下发，继电器已执行操作。") + # print("命令成功下发，继电器已执行操作。") return True else: print("命令下发失败，响应与请求不符。") @@ -67,7 +67,7 @@ def close(grasp, shake, throw): if send_command(valve_commands[1]['close']): time.sleep(1) if shake: - print("关闭电磁阀 2") + # print("关闭电磁阀 2") if send_command(valve_commands[2]['close']): time.sleep(0.05) if throw: diff --git a/CU/Feeding.py b/CU/Feeding.py index fc9d30b..1fc22bd 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -20,6 +20,7 @@ from enum import Enum, IntEnum from COM.COM_Robot import RobotClient, DetectType from Model.RobotModel import CMDInstructRequest, MoveType from Trace.handeye_calibration import getPosition +from Trace.handeye_calibration import getxyz from Util.util_math import get_distance from Util.util_time import CRisOrFall from Vision.camera_coordinate_dete import Detection @@ -132,21 +133,21 @@ class FeedLine: def set_take_position(self,position:Real_Position,dynamic_height=0): for i in range(len(self.feeding_to_end)): if self.feeding_to_end[i].status == FeedStatus.FTake.value: - if position != None: - befor_take_position = Real_Position().init_position(position.X, - position.Y, - position.Z+dynamic_height, - position.U, - position.V, - position.W) - after_take_position = Real_Position().init_position(position.X, - position.Y, - position.Z+dynamic_height, - position.U, - position.V, - position.W) - self.feeding_to_end[i - 1].set_position(befor_take_position) - self.feeding_to_end[i + 1].set_position(after_take_position) + xyz = getxyz(position.X, position.Y, position.Z, position.a, position.b, position.c) + befor_take_position = Real_Position().init_position(xyz[0], + xyz[1], + xyz[2], + position.U, + position.V, + position.W) + after_take_position = Real_Position().init_position(xyz[0], + xyz[1], + xyz[2], + position.U, + position.V, + position.W) + self.feeding_to_end[i - 1].set_position(befor_take_position) + self.feeding_to_end[i + 1].set_position(after_take_position) self.feeding_to_end[i].set_position(position) diff --git a/Config/FeedLine.ini b/Config/FeedLine.ini index d56ccaf..33f32e7 100644 --- a/Config/FeedLine.ini +++ b/Config/FeedLine.ini @@ -46,12 +46,12 @@ status = 3 linetype = 0 [Position8] -x = 1430.494385 -y = 1765.716187 +x = 1445.789185 +y = 1707.384888 z = 2050.0 -u = 1.57722 -v = 4.174088 -w = -87.506218 +u = 2.204855 +v = 3.428981 +w = -85.25634 id = 8 order = 8 lineid = 1 @@ -59,12 +59,12 @@ status = 6 linetype = 0 [Position9] -x = 1427.58313 -y = 1724.46875 -z = 1831.32312 -u = 1.923308 -v = 3.454441 -w = -87.299934 +x = 1445.789185 +y = 1707.384888 +z = 1826.260132 +u = 2.204855 +v = 3.428981 +w = -85.25634 id = 9 order = 9 lineid = 1 @@ -92,7 +92,7 @@ u = 5.812903 v = 5.431066 w = -168.01712 id = 12 -order = 14 +order = 13 lineid = 1 status = 9 linetype = 0 @@ -189,12 +189,12 @@ status = 3 linetype = 0 [Position4] -x = 1556.585449 -y = 1663.580322 -z = 2331.091553 -u = 48.062508 -v = -0.372809 -w = -96.427994 +x = 1510.92981 +y = 1653.713745 +z = 2381.065186 +u = 60.821259 +v = -4.995515 +w = -99.228653 id = 4 order = 11 lineid = 1 @@ -202,28 +202,15 @@ status = 8 linetype = 0 [Position11] -x = 1331.740112 -y = 1787.211548 -z = 2307.181641 -u = -34.621368 -v = 19.412609 -w = -132.657135 +x = 1256.956909 +y = 1809.304443 +z = 2368.663574 +u = -45.444492 +v = 18.997807 +w = -131.11731 id = 11 order = 12 lineid = 1 status = 8 linetype = 0 -[Position17] -x = 1364.639404 -y = 1892.286743 -z = 2276.495361 -u = 11.343127 -v = 48.749588 -w = -110.22995 -id = 17 -order = 13 -lineid = 1 -status = 8 -linetype = 0 - diff --git a/Constant.py b/Constant.py index 4e114bd..1ca423e 100644 --- a/Constant.py +++ b/Constant.py @@ -5,7 +5,7 @@ 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 = 300 #命令时的位置精度 +position_accuracy_command = 500 #命令时的位置精度 manual_adjust_accuracy = 1 # speed = 10 # shake_speed = 20 @@ -13,7 +13,7 @@ manual_adjust_accuracy = 1 # return_speed = 10 feedLine_set_section = 'FeedLine' position_set_section = 'Position' -feedLine_set_file = f'.{os.sep}Config{os.sep}feedLine.ini' +feedLine_set_file = f'.{os.sep}Config{os.sep}FeedLine.ini' MAX_Position_num = 1000 MAX_Line_num = 10 set_ini = 'Seting.ini' diff --git a/Model/Position.py b/Model/Position.py index 7a89b59..bdb3b91 100644 --- a/Model/Position.py +++ b/Model/Position.py @@ -16,12 +16,15 @@ class Position: def compare(self,position,is_action=False): - distance = math.sqrt((self.X-position.X)**2+ - (self.Y-position.Y)**2+ - (self.Z - position.Z)**2+ - (self.U - position.U)**2+ - (self.V - position.V)**2+ - (self.W - position.W) ** 2) + # distance = math.sqrt((self.X-position.X)**2+ + # (self.Y-position.Y)**2+ + # (self.Z - position.Z)**2+ + # (self.U - position.U)**2+ + # (self.V - position.V)**2+ + # (self.W - position.W) ** 2) + distance = math.sqrt((self.X - position.X) ** 2 + + (self.Y - position.Y) ** 2 + + (self.Z - position.Z) ** 2 ) if distance<=(position_accuracy_action if is_action else position_accuracy_command): return True else: diff --git a/Seting.ini b/Seting.ini index 38e6b71..188d75a 100644 --- a/Seting.ini +++ b/Seting.ini @@ -59,9 +59,9 @@ smooth = 9 dynamic_height = 350.0 [Speed] -debug_speed = 80 +debug_speed = 100 feed_speed = 100 -reset_speed = 80 +reset_speed = 100 [Origin] x = 204.996765 diff --git a/Trace/handeye_calibration.py b/Trace/handeye_calibration.py index 3be6314..a4e0776 100644 --- a/Trace/handeye_calibration.py +++ b/Trace/handeye_calibration.py @@ -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 = -200#沿法向量方向抬高和压低，-指表示抬高，+值表示压低 + delta = -10#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) @@ -87,13 +87,13 @@ def getPosition(x,y,z,a,b,c,rotation,points): return target_position,noraml_base def getxyz(x,y,z,a,b,c): - target = np.asarray([x, y, z, 1]) + target = np.asarray([x, y, z]) camera2robot = np.loadtxt('./Trace/com_pose2.txt', delimiter=' ') - target_position_raw = np.dot(camera2robot, target) + # target_position_raw = np.dot(camera2robot, target) delta = -500 # 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) - target_position = target_position_raw[:3] + delta * normal_vector + target_position = target + delta * normal_vector return target_position diff --git a/log/log.log b/log/log.log index 6c2db95..937f8d9 100644 --- a/log/log.log +++ b/log/log.log @@ -13217,3 +13217,7170 @@ 2025-02-27 13:07:30 - 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ERROR - ޻ظ +2025-02-27 16:51:43 - ERROR - ޻ظ +2025-02-27 16:51:53 - ERROR - ޻ظ +2025-02-27 16:52:04 - ERROR - ޻ظ +2025-02-27 16:52:14 - ERROR - ޻ظ +2025-02-27 16:52:25 - ERROR - ޻ظ +2025-02-27 16:52:35 - ERROR - ޻ظ +2025-02-27 16:52:46 - ERROR - ޻ظ +2025-02-27 16:52:56 - ERROR - ޻ظ +2025-02-27 16:53:06 - ERROR - ޻ظ +2025-02-27 16:53:17 - ERROR - ޻ظ +2025-02-27 16:53:27 - ERROR - ޻ظ +2025-02-27 16:53:38 - ERROR - ޻ظ +2025-02-27 16:53:48 - ERROR - ޻ظ +2025-02-27 16:53:59 - ERROR - ޻ظ +2025-02-27 16:54:09 - ERROR - ޻ظ +2025-02-27 16:54:19 - ERROR - ޻ظ +2025-02-27 16:54:30 - ERROR - ޻ظ +2025-02-27 16:54:40 - ERROR - ޻ظ +2025-02-27 16:54:51 - ERROR - ޻ظ +2025-02-27 16:55:01 - ERROR - ޻ظ +2025-02-27 16:55:12 - ERROR - ޻ظ +2025-02-27 16:55:22 - ERROR - ޻ظ +2025-02-27 16:55:32 - ERROR - ޻ظ +2025-02-27 16:55:43 - ERROR - ޻ظ +2025-02-27 16:55:53 - ERROR - ޻ظ +2025-02-27 16:56:04 - ERROR - ޻ظ +2025-02-27 16:56:14 - ERROR - ޻ظ +2025-02-27 16:56:25 - ERROR - ޻ظ +2025-02-27 16:56:35 - ERROR - ޻ظ +2025-02-27 16:56:45 - ERROR - ޻ظ +2025-02-27 16:56:56 - ERROR - ޻ظ +2025-02-27 16:57:06 - ERROR - ޻ظ +2025-02-27 16:57:17 - ERROR - ޻ظ +2025-02-27 16:57:27 - ERROR - ޻ظ +2025-02-27 16:57:38 - ERROR - ޻ظ +2025-02-27 16:57:48 - ERROR - ޻ظ +2025-02-27 16:57:58 - ERROR - ޻ظ +2025-02-27 16:58:09 - ERROR - ޻ظ +2025-02-27 16:58:19 - ERROR - ޻ظ +2025-02-27 16:58:30 - ERROR - ޻ظ +2025-02-27 16:58:40 - ERROR - ޻ظ +2025-02-27 16:58:50 - ERROR - ޻ظ +2025-02-27 16:59:01 - ERROR - ޻ظ +2025-02-27 16:59:11 - ERROR - ޻ظ +2025-02-27 16:59:22 - ERROR - ޻ظ +2025-02-27 16:59:32 - ERROR - ޻ظ +2025-02-27 16:59:43 - ERROR - ޻ظ +2025-02-27 16:59:53 - ERROR - ޻ظ +2025-02-27 17:00:03 - ERROR - ޻ظ +2025-02-27 17:00:14 - ERROR - ޻ظ +2025-02-27 17:00:24 - ERROR - ޻ظ +2025-02-27 17:00:35 - ERROR - ޻ظ +2025-02-27 17:00:45 - ERROR - ޻ظ +2025-02-27 17:00:56 - ERROR - ޻ظ +2025-02-27 17:01:06 - ERROR - ޻ظ +2025-02-27 17:01:16 - ERROR - ޻ظ +2025-02-27 17:01:27 - ERROR - ޻ظ +2025-02-27 17:01:37 - ERROR - ޻ظ +2025-02-27 17:01:48 - ERROR - ޻ظ +2025-02-27 17:01:58 - ERROR - ޻ظ +2025-02-27 17:02:09 - ERROR - ޻ظ +2025-02-27 17:02:19 - ERROR - ޻ظ +2025-02-27 17:02:29 - ERROR - ޻ظ +2025-02-27 17:02:40 - ERROR - ޻ظ +2025-02-27 17:02:50 - ERROR - ޻ظ +2025-02-27 17:03:01 - ERROR - ޻ظ +2025-02-27 17:03:11 - ERROR - ޻ظ +2025-02-27 17:03:21 - ERROR - ޻ظ +2025-02-27 17:03:32 - ERROR - ޻ظ +2025-02-27 17:03:42 - ERROR - ޻ظ +2025-02-27 17:03:53 - ERROR - ޻ظ +2025-02-27 17:04:03 - ERROR - ޻ظ +2025-02-27 17:04:14 - ERROR - ޻ظ +2025-02-27 17:04:24 - ERROR - ޻ظ +2025-02-27 17:04:34 - ERROR - ޻ظ +2025-02-27 17:04:45 - ERROR - ޻ظ +2025-02-27 17:04:55 - ERROR - ޻ظ +2025-02-27 17:05:06 - ERROR - ޻ظ +2025-02-27 17:05:16 - ERROR - ޻ظ +2025-02-27 17:05:27 - ERROR - ޻ظ +2025-02-27 17:05:37 - ERROR - ޻ظ +2025-02-27 17:05:47 - ERROR - ޻ظ +2025-02-27 17:05:58 - ERROR - ޻ظ +2025-02-27 17:06:08 - ERROR - ޻ظ +2025-02-27 17:06:19 - ERROR - ޻ظ +2025-02-27 17:06:29 - ERROR - ޻ظ +2025-02-27 17:06:40 - ERROR - ޻ظ +2025-02-27 17:06:50 - ERROR - ޻ظ +2025-02-27 17:07:00 - ERROR - ޻ظ +2025-02-27 17:07:11 - ERROR - ޻ظ +2025-02-27 17:07:21 - ERROR - ޻ظ +2025-02-27 17:07:32 - ERROR - ޻ظ +2025-02-27 17:07:42 - ERROR - ޻ظ +2025-02-27 17:07:53 - ERROR - ޻ظ +2025-02-27 17:08:03 - ERROR - ޻ظ +2025-02-27 17:08:13 - ERROR - ޻ظ +2025-02-27 17:08:24 - ERROR - ޻ظ +2025-02-27 17:08:34 - ERROR - ޻ظ +2025-02-27 17:08:45 - ERROR - ޻ظ +2025-02-27 17:08:55 - ERROR - ޻ظ +2025-02-27 17:09:05 - ERROR - ޻ظ +2025-02-27 17:09:16 - ERROR - ޻ظ +2025-02-27 17:09:26 - ERROR - ޻ظ +2025-02-27 17:09:37 - ERROR - ޻ظ +2025-02-27 17:09:47 - ERROR - ޻ظ +2025-02-27 17:09:58 - ERROR - ޻ظ +2025-02-27 17:10:08 - ERROR - ޻ظ +2025-02-27 17:10:18 - ERROR - ޻ظ +2025-02-27 17:10:29 - ERROR - ޻ظ +2025-02-27 17:10:39 - ERROR - ޻ظ +2025-02-27 17:10:50 - ERROR - ޻ظ +2025-02-27 17:11:00 - ERROR - ޻ظ +2025-02-27 17:11:11 - ERROR - ޻ظ +2025-02-27 17:11:21 - ERROR - ޻ظ +2025-02-27 17:11:31 - ERROR - ޻ظ +2025-02-27 17:11:42 - ERROR - ޻ظ +2025-02-27 17:11:52 - ERROR - ޻ظ +2025-02-27 17:12:03 - ERROR - ޻ظ +2025-02-27 17:12:13 - ERROR - ޻ظ +2025-02-27 17:12:24 - ERROR - ޻ظ +2025-02-27 17:12:34 - ERROR - ޻ظ +2025-02-27 17:12:44 - ERROR - ޻ظ +2025-02-27 17:12:55 - ERROR - ޻ظ +2025-02-27 17:13:05 - ERROR - ޻ظ +2025-02-27 17:13:16 - ERROR - ޻ظ +2025-02-27 17:13:26 - ERROR - ޻ظ +2025-02-27 17:13:37 - ERROR - ޻ظ +2025-02-27 17:13:47 - ERROR - ޻ظ +2025-02-27 17:13:57 - ERROR - ޻ظ +2025-02-27 17:14:08 - ERROR - ޻ظ +2025-02-27 17:14:18 - ERROR - ޻ظ +2025-02-27 17:14:29 - ERROR - ޻ظ +2025-02-27 17:14:39 - ERROR - ޻ظ +2025-02-27 17:14:50 - ERROR - ޻ظ +2025-02-27 17:15:00 - ERROR - ޻ظ +2025-02-27 17:15:10 - ERROR - ޻ظ +2025-02-27 17:15:21 - ERROR - ޻ظ +2025-02-27 17:15:31 - ERROR - ޻ظ +2025-02-27 17:15:42 - ERROR - ޻ظ +2025-02-27 17:15:52 - ERROR - ޻ظ +2025-02-27 17:16:03 - ERROR - ޻ظ +2025-02-27 17:16:13 - ERROR - ޻ظ +2025-02-27 17:16:23 - ERROR - ޻ظ +2025-02-27 17:16:34 - ERROR - ޻ظ +2025-02-27 17:16:44 - ERROR - ޻ظ +2025-02-27 17:16:55 - ERROR - ޻ظ +2025-02-27 17:17:05 - ERROR - ޻ظ +2025-02-27 17:17:15 - ERROR - ޻ظ +2025-02-27 17:17:26 - ERROR - ޻ظ +2025-02-27 17:17:36 - ERROR - ޻ظ +2025-02-27 17:17:47 - ERROR - ޻ظ +2025-02-27 17:17:57 - ERROR - ޻ظ +2025-02-27 17:18:08 - ERROR - ޻ظ +2025-02-27 17:18:18 - ERROR - ޻ظ +2025-02-27 17:18:28 - ERROR - ޻ظ +2025-02-27 17:18:39 - ERROR - ޻ظ +2025-02-27 17:18:49 - ERROR - ޻ظ +2025-02-27 17:19:00 - ERROR - ޻ظ +2025-02-27 17:19:10 - ERROR - ޻ظ +2025-02-27 17:19:21 - ERROR - ޻ظ +2025-02-27 17:19:31 - ERROR - ޻ظ +2025-02-27 17:19:41 - ERROR - ޻ظ +2025-02-27 17:19:52 - ERROR - ޻ظ +2025-02-27 17:20:02 - ERROR - ޻ظ +2025-02-27 17:20:13 - ERROR - ޻ظ +2025-02-27 17:20:23 - ERROR - ޻ظ +2025-02-27 17:20:34 - ERROR - ޻ظ +2025-02-27 17:20:44 - ERROR - ޻ظ +2025-02-27 17:20:54 - ERROR - ޻ظ +2025-02-27 17:21:05 - ERROR - ޻ظ +2025-02-27 17:21:15 - ERROR - ޻ظ +2025-02-27 17:21:26 - ERROR - ޻ظ +2025-02-27 17:21:36 - ERROR - ޻ظ +2025-02-27 17:21:46 - ERROR - ޻ظ +2025-02-27 17:21:57 - ERROR - ޻ظ +2025-02-27 17:22:07 - ERROR - ޻ظ +2025-02-27 17:22:18 - ERROR - ޻ظ +2025-02-27 17:22:28 - ERROR - ޻ظ +2025-02-27 17:22:39 - ERROR - ޻ظ +2025-02-27 17:22:49 - 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