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fujinliang
2025-12-28 17:20:02 +08:00
parent b8b9679bc8
commit cddb7531ab
23 changed files with 2138 additions and 198 deletions
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vision/visual_callback.py
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@ -6,7 +6,9 @@ from hardware.transmitter import TransmitterController
import time
import threading
from datetime import datetime
import logging
from hardware.upper_plc import OmronFinsPollingService
from vision.muju_cls.muju_utils import run_stable_classification_loop
class VisualCallback:
# 类变量，用于存储实例引用，实现单例检测
@ -26,19 +28,10 @@ class VisualCallback:
if hasattr(self, '_initialized') and self._initialized:
return
self.angle_mode = "normal"
self.relay_controller = RelayController()
self.transmitter_controller = TransmitterController(self.relay_controller)
self.init_weight = 100
self.mould_finish_weight = 0
self.mould_need_weight = 100
self.finish_count = 0
self.overflow = False
self.is_start_visual=False
# 线程安全的参数传递
self._current_angle = None
self._overflow_detected = None
self._new_data_available = threading.Event()
self._is_processing = threading.Lock()
self._stop_event = threading.Event()
@ -47,43 +40,91 @@ class VisualCallback:
self._door_control_lock = threading.Lock()
# 记录当前控制门的线程名称，用于调试
self._current_controlling_thread = None
# 新增标志位：指示safe_control_lower_close是否正在执行
self._is_safe_closing = False
self._is_feed_start=True
#是否启动后的第一个模具
self._is_first_module=True
self.init_val()
# self._setup_logging_2()
#F块完成重量的70%，控制夹脚，F块多于这个比例就没有记录了（注意）
self._max_f_angle_ratio=0.7
#完成多少，调整角度比例 ，多于0.8就没记录了（注意）
self._max_angle_radio=0.8
#完成多少，忽略未浇筑满
self._max_ignore_radio=0.5
# 创建并启动单个持续运行的线程
# self.plc_data=5
self.plc_service = OmronFinsPollingService("192.168.250.233")
self.plc_service.register_data_callback(self.on_plc_update)
# self.plc_service.register_status_callback(self.on_status_change)
self.plc_service.start_polling(interval=2.0)
# 创建并启动单个持续运行的线程
self.callback_thread = threading.Thread(
target=self._run_thread_loop,
daemon=True
)
self.callback_thread.start()
self.feed_thread = threading.Thread(
target=self._run_feed,
daemon=True
)
self.feed_thread.start()
"""启动系统监控"""
self.monitor_thread = threading.Thread(
target=self._monitor_loop,
daemon=True,
name='monitor'
)
self.monitor_thread.start()
def init_val(self):
#初始化值
"""初始化视觉回调处理器"""
self.angle_mode = "normal"
self.overflow = False
self.is_start_visual=False
# 线程安全的参数传递
self._current_angle = None
self._overflow_detected = None
# 新增标志位：指示safe_control_lower_close是否正在执行
self._is_safe_closing = False
self._is_feed_start=True
#未浇筑满时间，用于确定是否进入未浇筑满
self._before_finish_time=None
#进入未浇筑满状态标志位
self._is_before_finish=False
#是否浇筑满标志位
self._is_finish=False
# self._is_finish_ratio=0
#是否震荡关闭平面（设想90%后关闭几秒，让液面平整）
# self._is_zd_close=False
#浇筑完成比例（重量）
self._is_finish_ratio=0
#下料阶段，汇总时用枚举
self._is_feed_stage=0
#振动相关参数
self._last_arch_one_weight=0
self._last_arch_two_weight=0
self._last_arch_three_weight=0
self._last_arch_four_weight=0
self._last_arch_five_weight=0
self._last_arch_time=0
#是否为F块
self._is_small_f=None
#采集数据用，下料重量=之前下的重量+最后一阶段(下-->模具车)重量差
#记录最后一次下料斗到模具车前的重量
self._finish_weight=0
#记录最后一次下料斗到车初始重量
self._inital_finish_lweight=0
# 初始化控制间隔和堆料状态跟踪属性
self._last_overflow_state = False
self._last_control_time = 0
self._initialized = True
self.plc_data=None
# self.plc_data=5
self.plc_service = OmronFinsPollingService("192.168.250.233")
self.plc_service.register_data_callback(self.on_plc_update)
# self.plc_service.register_status_callback(self.on_status_change)
self.plc_service.start_polling(interval=2.0)
def angle_visual_callback(self, current_angle, overflow_detected):
"""
视觉控制主逻辑，供外部推送数据
@ -111,8 +152,67 @@ class VisualCallback:
# 释放处理锁
self._is_processing.release()
def _monitor_loop(self):
"""监控循环"""
while not self._is_finish:
try:
current_time = time.time()
# 检查下料斗破拱（只有在下料过程中才检查）
if self._is_feed_stage==1: # 下料斗--》模具车
_arch_weight = self.transmitter_controller.read_data(2)
if _arch_weight is not None and _arch_weight>0:
# 检查重量变化是否过慢
if (abs(_arch_weight - self._last_arch_one_weight) < 200) and \
(current_time - self._last_arch_time) >= 2:
print('---------------------第一阶段振动5秒-----------------')
self.relay_controller.control_arch_lower_open_sync(5)
self._last_arch_one_weight = _arch_weight
elif self._is_feed_stage==2: #上料斗到下料斗，料多，谨慎振动
_arch_weight = self.transmitter_controller.read_data(1)
if _arch_weight is not None:
# 检查重量变化是否过慢
# if (abs(_arch_weight - self._last_arch_two_weight) < 50) and \
# (current_time - self._last_arch_time) >= 2:
# self.relay_controller.control_arch_upper_open_sync(3)
self._last_arch_two_weight = _arch_weight
elif self._is_feed_stage==3: #第二次下料斗-》模具车
_arch_weight = self.transmitter_controller.read_data(2)
if _arch_weight is not None:
# 检查重量变化是否过慢
if (abs(_arch_weight - self._last_arch_three_weight) < 100) and \
(current_time - self._last_arch_time) >= 2:
print('---------------------第三阶段振动5秒-----------------')
self.relay_controller.control_arch_lower_open_sync(3)
self._last_arch_three_weight = _arch_weight
elif self._is_feed_stage==4: #上料斗--》下料斗
_arch_weight = self.transmitter_controller.read_data(1)
if _arch_weight is not None:
# 检查重量变化是否过慢
# if (abs(_arch_weight - self._last_arch_four_weight) < 200) and \
# (current_time - self._last_arch_time) > 2:
# self.relay_controller.control_arch_upper_open_sync(5)
self._last_arch_four_weight = _arch_weight
elif self._is_feed_stage==5: #下料斗->模具车
_arch_weight = self.transmitter_controller.read_data(2)
if _arch_weight is not None:
_min_arch_weight=20
if self._is_finish_ratio<self._max_angle_radio:
_min_arch_weight=50
if (abs(_arch_weight - self._last_arch_five_weight) < _min_arch_weight) and \
(current_time - self._last_arch_time) >= 2:
print('---------------------第五阶段振动5秒-----------------')
self.relay_controller.control_arch_lower_open_sync(5)
self._last_arch_five_weight = _arch_weight
# 更新最后读取时间
self._last_arch_time = current_time
time.sleep(2)
except Exception as e:
print(f"监控线程错误: {e}")
def _run_thread_loop(self):
"""
接受视觉回调数据
线程主循环，持续运行
等待新数据，然后调用处理方法
"""
@ -138,14 +238,25 @@ class VisualCallback:
while True:
print("------------已启动----------------")
if self._is_feed_start:
if self.plc_data==5:
self.run_feed()
break
else:
print("-----------上料斗未就位----------------")
print("-----------上料斗未就位----------------")
# if self.plc_data==5:
#_is_finish_ratio完成 比例，根据重量过滤一下
if self._overflow_detected=='未堆料':
if self._is_first_module:
print('------------进入第一块111111-------------')
self._is_first_module=False
self.run_feed_all()
break
elif self._is_finish and self._is_finish_ratio>=0.7:
print('-----------进入连续块111111-----------')
# self.init_val()
# self.run_feed_all()
# else:
# print("-----------上料斗未就位----------------")
# print("---------3--上料斗未就位----------------")
time.sleep(0.5)
time.sleep(2)
def safe_control_lower_close(self,duration=3):
"""线程安全的下料斗关闭方法"""
@ -167,154 +278,294 @@ class VisualCallback:
# 无论成功失败，都要重置标志位
self._is_safe_closing = False
def close_lower_door_visual(self):
"""关闭下料斗门"""
self.is_start_visual=False
time.sleep(0.5)
self.safe_control_lower_close()
def _visual_close(self):
self.is_start_visual=False
self._is_finish=True
self._is_feed_stage=0
print(f'--------进入关闭-----------')
self.safe_control_lower_close(3)
print(f'--------关闭完成-----------')
#记录重量
_current_weight=self.transmitter_controller.read_data(2)
if _current_weight is not None:
self._finish_weight= self._finish_weight+(self._inital_finish_lweight-_current_weight)
with open('weight.txt', 'a') as f:
timestamp = datetime.now().strftime("%H:%M:%S")
f.write(f"{timestamp} - {self._finish_weight}\n")
def run_feed_all(self):
"""
全流程下料：包括判断模具类型
"""
_is_f= run_stable_classification_loop()
print(f'------------已判断出模具类型: {_is_f}-------------')
if _is_f is not None:
if _is_f=='模具车1':
self._is_small_f=True
print('-------------F块模具--------------')
print('-------------F块模具--------------')
print('-------------F块模具--------------')
self.run_feed_f()
elif _is_f=='模具车2':
self._is_small_f=False
self.run_feed()
print('-------------其他模具---------------')
if self._is_small_f is None:
print('-----------未判断出模具类型--------------')
return
def run_feed_f(self):
"""第一阶段下料：下料斗向模具车下料（低速）"""
print("--------------------开始下料（F块）--------------------")
# loc_relay=self.relay_controller
loc_mitter=self.transmitter_controller
max_weight_none=5
cur_weight_none=0
initial_lower_weight=loc_mitter.read_data(2)
if initial_lower_weight is None:
print("-----f上料斗重量异常-----")
return
first_finish_weight=0
self._finish_weight=first_finish_weight
self._inital_finish_lweight=initial_lower_weight
need_total_weight=0.54*2416
if initial_lower_weight>100:
if not self._is_finish:
self.is_start_visual=True
initial_lower_weight=loc_mitter.read_data(2)
if initial_lower_weight is None:
print("-----f上料斗重量异常2-----")
return
self._is_feed_stage=5
while not self._is_finish:
current_weight = loc_mitter.read_data(2)
if current_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
#如果重量连续5次为None，认为下料斗未就位，跳出循环
print('------------f下到模具车,下料斗重量异常----------------')
print('------------f下到模具车,下料斗重量异常----------------')
self.close_lower_door_visual()
return
#视觉处理关闭，异常的话重量没有生效
continue
cur_weight_none=0
first_finish_weight=initial_lower_weight-current_weight
self._is_finish_ratio=(first_finish_weight)/need_total_weight
print(f'------------已下料比例: {self._is_finish_ratio}-------------')
if self._is_finish_ratio>self._max_f_angle_ratio:
#关5秒
#大于0.7后不再检测了，直接交给视觉控制夹脚
# print(f'------------已下料比例: {self._is_finish_ratio}-------------')
break
# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
time.sleep(1)
# initial_lower_weight=_current_lower_weight
print(f'------------已下料（F）: {first_finish_weight}kg-------------')
print(f'------------已下料（F）: {first_finish_weight}kg-------------')
print(f'------------已完成-------------')
def run_feed(self):
"""第一阶段下料：下料斗向模具车下料（低速）"""
print("--------------------开始下料--------------------")
print("--------------------开始下料（普通块）--------------------")
loc_relay=self.relay_controller
loc_mitter=self.transmitter_controller
max_weight_none=5
cur_weight_none=0
initial_lower_weight=loc_mitter.read_data(2)
initial_upper_weight=loc_mitter.read_data(1)
# initial_upper_weight=loc_mitter.read_data(1)
if initial_lower_weight is None:
print("---------------下料斗重量异常----------------")
return
first_finish_weight=0
# need_total_weight=1.91*2416
start_time=None
need_total_weight=1.91*2416
# start_time=None
self.is_start_visual=True
if initial_lower_weight>100:
#下料斗的料全部下完
while not self._is_finish:
loc_mitter.is_start_lower=True
self._is_feed_stage=1
while not self._is_finish:
current_weight = loc_mitter.read_data(2)
first_finish_weight=initial_lower_weight-current_weight
if current_weight<500:
# 破拱控制
if start_time is None or time.time()-start_time>5:
start_time=time.time()
loc_relay.control_arch_lower_open()
if current_weight<250:
start_time=None
self.is_start_visual=False
loc_mitter.is_start_lower=False
time.sleep(0.5)
self.safe_control_lower_close()
break
print(f'------------已下料: {first_finish_weight}kg-------------')
if current_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
print("-----------下料斗重量异常(第一次下到模具车)--------------")
self.close_lower_door_visual()
return
continue
cur_weight_none=0
if current_weight<250 and current_weight>0:
self.close_lower_door_visual()
break
time.sleep(1)
# _current_lower_weight=loc_mitter.read_data(2)
# first_finish_weight=initial_lower_weight-_current_lower_weight
_current_lower_weight=loc_mitter.read_data(2)
if _current_lower_weight is None:
print("-------下料斗重量异常---------")
return
first_finish_weight=initial_lower_weight-_current_lower_weight
# initial_lower_weight=_current_lower_weight
# print(f'------------已下料: {first_finish_weight}kg-------------')
# print(f'------------已下料: {first_finish_weight}kg-------------')
print(f'------------已下料（第一次）: {first_finish_weight}kg-------------')
print(f'------------已下料（第一次）: {first_finish_weight}kg-------------')
self._is_feed_stage=0
while self.plc_data!=5:
print('------------上料斗未就位----------------')
print('------------上料斗未就位----------------')
time.sleep(1)
if self.plc_data==5:
print(f'------------上料斗向下料斗转移(留3000KG）-------------')
#打开上料斗出砼门，开5就，开三分之一下
loc_relay.control_upper_open_sync(6)
self._is_feed_stage=2
loc_time_count=1
upper_open_time=time.time()
while not self._is_finish:
loc_mitter.is_start_upper=True
current_upper_weight = loc_mitter.read_data(1)
if current_upper_weight<3000:
if current_upper_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
#如果重量连续5次为None，认为上料斗未就位，跳出循环
print('------------第一次上到下,上料斗重量异常----------------')
print('------------第一次上到下,上料斗重量异常----------------')
loc_relay.control_upper_close_sync(5+loc_time_count)
return
continue
cur_weight_none=0
if current_upper_weight<3000 and current_upper_weight>0:
#关5秒,loc_time_count多关一秒
loc_relay.control_upper_close_sync(4+loc_time_count)
loc_mitter.is_start_upper=False
loc_relay.control_upper_close_sync(5+loc_time_count)
break
else:
if time.time()-upper_open_time>5:
upper_open_time=time.time()
loc_relay.control_upper_open_sync(0.5)
loc_time_count=loc_time_count+0.5
if loc_time_count<6:
upper_open_time=time.time()
loc_relay.control_upper_open_sync(0.8)
loc_time_count=loc_time_count+0.8
else:
time.sleep(0.5)
# time.sleep(0.4)
else:
loc_relay.control_upper_close_sync(6+loc_time_count)
self.is_start_visual=True
loc_mitter.is_start_lower=False
loc_mitter.test_lower_weight=2000
initial_lower_weight=loc_mitter.read_data(2)
if initial_lower_weight is None:
print("-------下料斗重量异常(第二次下料到模具车)---------")
return
self._is_feed_stage=3
while not self._is_finish:
loc_mitter.is_start_lower=True
current_weight = loc_mitter.read_data(2)
second_finish_weight=initial_lower_weight-current_weight
if current_weight<500:
#关5秒
if start_time is None or time.time()-start_time>5:
start_time=time.time()
loc_relay.control_arch_lower_open()
if current_weight<250:
start_time=None
self.is_start_visual=False
loc_mitter.is_start_lower=False
time.sleep(0.5)
self.safe_control_lower_close()
break
print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
if current_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
print("-------下料斗重量异常(第二次下料到模具车)---------")
self.close_lower_door_visual()
return
continue
cur_weight_none=0
# second_finish_weight=initial_lower_weight-current_weight
if current_weight<250:
self.close_lower_door_visual()
break
# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
time.sleep(1)
# _current_lower_weight=loc_mitter.read_data(2)
# first_finish_weight=first_finish_weight+initial_lower_weight-_current_lower_weight
# print(f'------------已下料: {first_finish_weight}kg-------------')
# print(f'------------已下料: {first_finish_weight}kg-------------')
_current_lower_weight=loc_mitter.read_data(2)
if _current_lower_weight is None:
print("-------下料斗重量异常(第二次下到模)---------")
return
first_finish_weight=first_finish_weight+initial_lower_weight-_current_lower_weight
print(f'------------已下料（第二次）: {first_finish_weight}kg-------------')
print(f'------------已下料（第二次）: {first_finish_weight}kg-------------')
self._is_feed_stage=0
if self.plc_data==5:
#第二次上料斗向下料斗转移
loc_relay.control_upper_open_sync(6)
loc_relay.control_upper_open_sync(11)
loc_time_count=1
upper_open_time=time.time()
loc_mitter.is_start_upper=False
loc_mitter.test_upper_weight=3000
#第二次到下料斗还需要的量
#loc_left_need_weight=need_total_weight-first_finish_weight
initial_upper_weight=loc_mitter.read_data(1)
start_time=None
# initial_upper_weight=loc_mitter.read_data(1)
# start_time=None
self._is_feed_stage=4
while not self._is_finish:
# print(f'------------上料斗向下料斗转移22222-------------')
loc_mitter.is_start_upper=True
current_upper_weight = loc_mitter.read_data(1)
if current_upper_weight<500:
#关5秒,loc_time_count多关一秒
if start_time is None or time.time()-start_time>4:
start_time=time.time()
loc_relay.control_arch_upper_open()
if current_upper_weight<100:
start_time=None
loc_relay.control_upper_close_sync(4+loc_time_count)
loc_mitter.is_start_upper=False
if current_upper_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
#如果重量连续5次为None，认为上料斗未就位，跳出循环
print('------------第二次上到下,上料斗重量异常----------------')
print('------------第二次上到下,上料斗重量异常----------------')
loc_relay.control_upper_close_sync(15)
break
continue
cur_weight_none=0
if current_upper_weight<400 and current_upper_weight>0:
loc_relay.control_arch_upper_open()
loc_relay.control_upper_open_sync(5)
# start_time=None
#5秒后关闭
loc_relay.control_upper_close_after()#control_upper_close_sync(8+loc_time_count)
break
else:
if time.time()-upper_open_time>3:
if time.time()-upper_open_time>2:
# if loc_time_count<6:
upper_open_time=time.time()
loc_relay.control_upper_open_sync(0.8)
loc_time_count=loc_time_count+0.8
loc_relay.control_upper_open_sync(1)
loc_time_count=loc_time_count+1
else:
time.sleep(0.5)
else:
loc_relay.control_upper_close_sync(15)
# time.sleep(0.4)
#第二次下料斗转移到模具车
#第三次下料斗转移到模具车
if not self._is_finish:
self.is_start_visual=True
# loc_mitter.is_start_lower=False
# loc_mitter.test_lower_weight=2000
# initial_lower_weight=loc_mitter.read_data(2)
# while not self._is_finish:
# loc_mitter.is_start_lower=True
# current_weight = loc_mitter.read_data(2)
# second_finish_weight=initial_lower_weight-current_weight
# # self._is_finish_ratio=(second_finish_weight+first_finish_weight)/need_total_weight
# # print(f'------------已下料比例: {self._is_finish_ratio}-------------')
# if current_weight<500:
# #关5秒
# if start_time is None or time.time()-start_time>5:
# start_time=time.time()
# loc_relay.control_arch_lower_open()
# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
# time.sleep(1)
initial_lower_weight=loc_mitter.read_data(2)
self._finish_weight=first_finish_weight
self._inital_finish_lweight=initial_lower_weight
if initial_lower_weight is None:
print("-------下料斗重量异常(第三次下到模具车)---------")
return
self._is_feed_stage=5
while not self._is_finish:
current_weight = loc_mitter.read_data(2)
if current_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
#重量异常退出
print('------------第三次下到模具车,下料斗重量异常----------------')
self.close_lower_door_visual()
return
continue
cur_weight_none=0
second_finish_weight=initial_lower_weight-current_weight
self._is_finish_ratio=(second_finish_weight+first_finish_weight)/need_total_weight
print(f'------------已下料比例: {self._is_finish_ratio}-------------')
if self._is_finish_ratio>self._max_angle_radio:
#关5秒
# print(f'------------已下料比例: {self._is_finish_ratio}-------------')
break
# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
time.sleep(1)
# _current_lower_weight=loc_mitter.read_data(2)
# first_finish_weight=first_finish_weight+initial_lower_weight-_current_lower_weight
# print(f'------------已下料: {first_finish_weight}kg-------------')
@ -354,54 +605,66 @@ class VisualCallback:
# time.sleep(3)
else:
if overflow_detected=='浇筑满':
self.is_start_visual=False
self._is_finish=True
self.safe_control_lower_close(3)
self._visual_close()
return
# print(f'--------已关闭已关闭-----------')
elif overflow_detected=="大堆料":
print(f'--------未浇筑满，大堆料，不开关-----------')
else:
self._pulse_control('open',0.5)
print(f'--------未浇筑满，大堆料-----------')
self._pulse_control('open',0.3)
time.sleep(0.3)
self._pulse_control('close',0.6)
time.sleep(2)
self._pulse_control('close',0.4)
time.sleep(1)
self._is_before_finish=True
else:
# self._pulse_control('open',0.5)
# time.sleep(0.3)
# self._pulse_control('close',0.6)
self._pulse_control('open',0.6)
time.sleep(0.3)
self._pulse_control('close',0.7)
time.sleep(1)
self._is_before_finish=True
if self._is_finish_ratio<=self._max_ignore_radio:
#如果重量未达到最大忽略角度，需要跳出
self._is_before_finish=False
return
elif overflow_detected == "浇筑满":
self.is_start_visual=False
self._is_finish=True
self.safe_control_lower_close(3)
self._visual_close()
return
else:
self._before_finish_time=None
# if self._is_finish_ratio>=0.8:
# if overflow_detected == "大堆料":
# TARGET_ANGLE = 10.0 # 大堆料时控制在15度左右
# elif overflow_detected == "小堆料":
# TARGET_ANGLE = 20.0 # 小堆料时控制在35度左右
# else:
# TARGET_ANGLE = 25.0 # 未溢料时开到最大56度
# if self._is_finish_ratio>=0.9 and not self._is_zd_close:
# #关闭10秒，直接关闭，不等待
# print('-----------------达到90% 关闭--------------------')
# self._is_zd_close=True
# self.safe_control_lower_close()
# time.sleep(10)
# return
# else:
#根据溢料状态动态调整目标角度
if overflow_detected == "大堆料":
TARGET_ANGLE = 15.0 # 大堆料时控制在15度左右
elif overflow_detected == "小堆料":
TARGET_ANGLE = 25.0 # 小堆料时控制在35度左右
if self._is_finish_ratio>=self._max_angle_radio or (self._is_finish_ratio>self._max_f_angle_ratio and self._is_small_f):
if overflow_detected == "大堆料":
TARGET_ANGLE = 5.0 # 大堆料时控制在15度左右
elif overflow_detected == "小堆料":
TARGET_ANGLE = 15.0 # 小堆料时控制在35度左右
else:
TARGET_ANGLE = 25.0 # 未溢料时开到最大56度
else:
TARGET_ANGLE = 45.0 # 未溢料时开到最大56度
if self._is_feed_stage==1 or self._is_feed_stage==3:
#根据溢料状态动态调整目标角度
if overflow_detected == "大堆料":
TARGET_ANGLE = 15.0 # 大堆料时控制在15度左右
elif overflow_detected == "小堆料":
TARGET_ANGLE = 45.0 # 小堆料时控制在35度左右
else:
TARGET_ANGLE = 55.0 # 未溢料时开到最大56度
else:
#根据溢料状态动态调整目标角度
if overflow_detected == "大堆料":
TARGET_ANGLE = 15.0 # 大堆料时控制在15度左右
elif overflow_detected == "小堆料":
TARGET_ANGLE = 25.0 # 小堆料时控制在35度左右
else:
TARGET_ANGLE = 45.0 # 未溢料时开到最大56度
# 确保目标角度在硬件范围内（5-56度）
TARGET_ANGLE = max(5.0, min(56.0, TARGET_ANGLE))
# PID控制参数
KP = 0.15 # 比例系数
KP = 0.2 # 比例系数
KI = 0 # 积分系数
KD = 0 # 微分系数
# KP = 0.15 # 比例系数
@ -618,6 +881,12 @@ class VisualCallback:
if self.callback_thread.is_alive():
self.callback_thread.join(timeout=1.0)
if self.feed_thread.is_alive():
self.feed_thread.join(timeout=1.0)
if self.monitor_thread.is_alive():
self.monitor_thread.join(timeout=1.0)
def __del__(self):
"""析构函数，确保线程安全关闭"""
self.shutdown()