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update 调试完成

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hjw
2024-09-11 20:47:06 +08:00
parent 232fab70b4
commit f46f71b176
8 changed files with 49 additions and 41 deletions
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32
CU/Feeding.py
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@ -2,8 +2,8 @@ import Constant
from Model.Position import Real_Position, Detection_Position from Model.Position import Real_Position, Detection_Position
from enum import Enum from enum import Enum
from COM.COM_Robot import RobotClient from COM.COM_Robot import RobotClient
from Model.RobotModel import CMDInstructRequest from Model.RobotModel import CMDInstructRequest, MoveType
#from Vision.camera_coordinate_dete import Detection from Vision.camera_coordinate_dete import Detection
class FeedStatus(Enum): class FeedStatus(Enum):
@ -45,19 +45,18 @@ class Feeding():
def run(self): def run(self):
# 获取事件坐标 # 获取事件坐标
real_position = Real_Position() real_position = Real_Position()
# real_position.init_position(self.robotClient.status_model.world_n[0], real_position.init_position(self.robotClient.status_model.world_0,
# self.robotClient.status_model.world_n[1], self.robotClient.status_model.world_1,
# self.robotClient.status_model.world_n[2], self.robotClient.status_model.world_2,
# self.robotClient.status_model.world_n[3], self.robotClient.status_model.world_3,
# self.robotClient.status_model.world_n[4], self.robotClient.status_model.world_4,
# self.robotClient.status_model.world_n[5], self.robotClient.status_model.world_5)
# self.robotClient.status_model.world_n[6]); # real_position.init_position(0,
real_position.init_position(0, # 0,
0, # 0,
0, # 0,
0, # 0,
0, # 0);
0);
if self.feedStatus==FeedStatus.FNone: if self.feedStatus==FeedStatus.FNone:
@ -84,7 +83,7 @@ class Feeding():
from Trace.handeye_calibration import R_matrix,getPosition from Trace.handeye_calibration import R_matrix,getPosition
rotation = R_matrix(self.robotClient.status_model.world_0, rotation = R_matrix(self.robotClient.status_model.world_0,
self.robotClient.status_model.world_1, self.robotClient.status_model.world_1,
self.robotClient.status_model.world_2, self.robotClient.status_model.world_2-5,
self.robotClient.status_model.world_3, self.robotClient.status_model.world_3,
self.robotClient.status_model.world_4, self.robotClient.status_model.world_4,
self.robotClient.status_model.world_5) self.robotClient.status_model.world_5)
@ -130,6 +129,7 @@ class Feeding():
position_instruction.m3 = real_position.U position_instruction.m3 = real_position.U
position_instruction.m4 = real_position.V position_instruction.m4 = real_position.V
position_instruction.m5 = real_position.W position_instruction.m5 = real_position.W
position_instruction.action = MoveType.WORLD.value
instruction_command = CMDInstructRequest() instruction_command = CMDInstructRequest()

36
Config/FeedLine.ini
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@ -1,21 +1,23 @@
[FeedLine1] [FeedLine1]
name = 阿萨德 name = 阿萨德
safeposition_x = 530.250488 safeposition_x = 534.907898
safeposition_y = 5.518621 safeposition_y = 5.525342
safeposition_z = 730.206665 safeposition_z = 737.267822
safeposition_u = -2.411429 safeposition_u = -2.196312
safeposition_v = -1.808494 safeposition_v = -4.094595
safeposition_w = -5.283112 safeposition_w = -5.294128
photoposition_x = 530.250488 photoposition_x = 534.907898
photoposition_y = 5.518621 photoposition_y = 5.525342
photoposition_z = 730.206665 photoposition_z = 737.267822
photoposition_u = -2.411429 photoposition_u = -2.196312
photoposition_v = -1.808494 photoposition_v = -4.094595
feedposition_x = 530.250488 photoposition_w = -5.294128
feedposition_y = 5.518621 feedposition_x = 534.907898
feedposition_z = 730.206665 feedposition_y = 5.525342
feedposition_u = -2.411429 feedposition_z = 737.267822
feedposition_v = -1.808494 feedposition_u = -2.196312
feedposition_v = -4.094595
feedposition_w = -5.294128
[FeedLine2] [FeedLine2]
name = 艾师傅 name = 艾师傅
@ -30,9 +32,11 @@ photoposition_y = 0.0
photoposition_z = 0.0 photoposition_z = 0.0
photoposition_u = 0.0 photoposition_u = 0.0
photoposition_v = 0.0 photoposition_v = 0.0
photoposition_w = 0.0
feedposition_x = 0.0 feedposition_x = 0.0
feedposition_y = 0.0 feedposition_y = 0.0
feedposition_z = 0.0 feedposition_z = 0.0
feedposition_u = 0.0 feedposition_u = 0.0
feedposition_v = 0.0 feedposition_v = 0.0
feedposition_w = 0.0

2
Constant.py
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@ -1,6 +1,6 @@
import os import os
position_accuracy = 0.02 position_accuracy = 0.05
manual_adjust_accuracy = 1 manual_adjust_accuracy = 1
speed = 10 speed = 10
feedLine_set_section = 'FeedLine' feedLine_set_section = 'FeedLine'

6
Model/RobotModel.py
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@ -124,11 +124,13 @@ class Instruction:
self.speed = 10 self.speed = 10
self.delay = 1.0 self.delay = 1.0
self.smooth = 0 self.smooth = 0
self.tool=2
def toString(self): def toString(self):
model_str = f'"oneshot":"{self.oneshot}","action":"{self.action.value}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \ model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \
f'"m3":"{self.m3}","m4":"{self.m4}","m5":"{self.m5}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \ f'"m3":"{self.m3}","m4":"{self.m4}","m5":"{self.m5}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \
f'"delay":"{self.delay}","smooth":"{self.smooth}"' f'"delay":"{self.delay}","smooth":"{self.smooth}","tool":"{self.tool}"'
print(model_str)
return model_str return model_str

2
Trace/handeye_calibration.py
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@ -64,7 +64,7 @@ def R_matrix(x,y,z,u,v,w):
# 图像识别结果：xyz和法向量 # 图像识别结果：xyz和法向量
def getPosition(x,y,z,a,b,c,rotation): def getPosition(x,y,z,a,b,c,rotation):
target = np.asarray([x, y, z,1]) target = np.asarray([x, y, z,1])
camera2robot = np.loadtxt('./cam_pose.txt', delimiter='') #相对目录且分隔符采用os.sep camera2robot = np.loadtxt('./Trace/com_pose.txt', delimiter=' ') #相对目录且分隔符采用os.sep
robot2base = rotation robot2base = rotation
camera2base = robot2base @ camera2robot camera2base = robot2base @ camera2robot
target_position = np.dot(camera2base, target) target_position = np.dot(camera2base, target)

2
Util/util_ini.py
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@ -17,10 +17,12 @@ def writeFeedLine_to_ini(feedLine_dirt,file_path:str):
config.set(key,'PhotoPosition_z',str(value.photo_position.Z)) config.set(key,'PhotoPosition_z',str(value.photo_position.Z))
config.set(key,'PhotoPosition_u',str(value.photo_position.U)) config.set(key,'PhotoPosition_u',str(value.photo_position.U))
config.set(key,'PhotoPosition_v',str(value.photo_position.V)) config.set(key,'PhotoPosition_v',str(value.photo_position.V))
config.set(key, 'PhotoPosition_w', str(value.photo_position.W))
config.set(key,'FeedPosition_x',str(value.feed_position.X)) config.set(key,'FeedPosition_x',str(value.feed_position.X))
config.set(key,'FeedPosition_y',str(value.feed_position.Y)) config.set(key,'FeedPosition_y',str(value.feed_position.Y))
config.set(key,'FeedPosition_z',str(value.feed_position.Z)) config.set(key,'FeedPosition_z',str(value.feed_position.Z))
config.set(key,'FeedPosition_u',str(value.feed_position.U)) config.set(key,'FeedPosition_u',str(value.feed_position.U))
config.set(key,'FeedPosition_v',str(value.feed_position.V)) config.set(key,'FeedPosition_v',str(value.feed_position.V))
config.set(key, 'FeedPosition_w', str(value.feed_position.W))
config.write(open(file_path,'w',encoding='utf-8')) config.write(open(file_path,'w',encoding='utf-8'))
return True return True

4
Vision/camera_coordinate_dete.py
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@ -23,13 +23,13 @@ class Detection:
def __init__(self, use_openvino_model = True): def __init__(self, use_openvino_model = True):
self.use_openvino_model = use_openvino_model self.use_openvino_model = use_openvino_model
if self.use_openvino_model==False: if self.use_openvino_model==False:
model_path = ''.join([os.getcwd(), '/model/pt/best.pt']) model_path = ''.join([os.getcwd(), '/Vision/model/pt/best.pt'])
device = 'cpu' device = 'cpu'
self.camera_rvc = camera() self.camera_rvc = camera()
self.model = yolov8_segment() self.model = yolov8_segment()
self.model.load_model(model_path, device) self.model.load_model(model_path, device)
else: else:
model_path = ''.join([os.getcwd(), '/model/openvino/best.xml']) model_path = ''.join([os.getcwd(), '/Vision/model/openvino/best.xml'])
device = 'CPU' device = 'CPU'
self.camera_rvc = camera() self.camera_rvc = camera()
self.model = yolov8_segment_openvino(model_path, device, conf_thres=0.3, iou_thres=0.3) self.model = yolov8_segment_openvino(model_path, device, conf_thres=0.3, iou_thres=0.3)

6
app.py
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@ -16,7 +16,7 @@ import Constant
from CU.Command import FeedCommand from CU.Command import FeedCommand
from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus
from Util.util_log import QTextEditLogger from Util.util_log import QTextEditLogger
#from Vision.camera_coordinate_dete import Detection from Vision.camera_coordinate_dete import Detection
from ui_untitled import Ui_MainWindow from ui_untitled import Ui_MainWindow
from COM.COM_Robot import RobotClient from COM.COM_Robot import RobotClient
from Expection import Error_Code from Expection import Error_Code
@ -109,7 +109,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
def init_Run(self): def init_Run(self):
self.robotClient = None self.robotClient = None
self.configReader = configparser.ConfigParser() self.configReader = configparser.ConfigParser()
self.detection = None# Detection() self.detection = Detection()
self.command_position_quene = Queue() self.command_position_quene = Queue()
self.status_address = DataAddress() self.status_address = DataAddress()
self.feedLine_dict = {} self.feedLine_dict = {}
@ -418,7 +418,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
position_instruction.m3 = float(x4) position_instruction.m3 = float(x4)
position_instruction.m4 = float(x5) position_instruction.m4 = float(x5)
position_instruction.m5 = float(x6) position_instruction.m5 = float(x6)
position_instruction.action = move_type position_instruction.action = move_type.value
instruction_command = CMDInstructRequest() instruction_command = CMDInstructRequest()
instruction_command.instructions.append(position_instruction) instruction_command.instructions.append(position_instruction)
request_command = instruction_command.toString() request_command = instruction_command.toString()