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更新工件孔检测算法，包含说有的工件

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This commit is contained in:
YangOne 2026-07-14 19:27:44 +08:00
parent 1b7a66a738
commit 1807fb52ae
24 changed files with 66 additions and 46 deletions
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2
App/DiscHolePose/DiscHolePoseApp/DiscHolePoseApp.pro
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@ -100,7 +100,7 @@ win32:CONFIG(debug, debug|release) {
LIBS += -L../DiscHolePoseConfig/debug -lDiscHolePoseConfig
LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig
LIBS += -L../../../Module/AuthModule/debug -lAuthModule
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib
LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice
LIBS += -L../../../Nets/debug -lModbusTCPServer
LIBS += -L../../../Module/ShareMem/debug -lShareMem

2
App/DiscHolePose/DiscHolePoseConfig/DiscHolePoseConfig.pro
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@ -51,7 +51,7 @@ win32:CONFIG(debug, debug|release) {
LIBS += -L../../../Utils/VrUtils/debug -lVrUtils
LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig
LIBS += -L../../../AppUtils/AppCommon/debug -lAppCommon
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib
}else:win32:CONFIG(release, debug|release){
LIBS += -L../../../Utils/VrUtils/release -lVrUtils
LIBS += -L../../../AppUtils/AppConfig/release -lAppConfig

2
App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseApp/JiuruiWorkpiecePoseApp.pro
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@ -96,7 +96,7 @@ win32:CONFIG(debug, debug|release) {
LIBS += -L../JiuruiWorkpiecePoseConfig/debug -lJiuruiWorkpiecePoseConfig
LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig
LIBS += -L../../../Module/AuthModule/debug -lAuthModule
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib
LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice
LIBS += -L../../../Nets/debug -lModbusTCPServer
LIBS += -L../../../Module/ShareMem/debug -lShareMem

2
App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseConfig/JiuruiWorkpiecePoseConfig.pro
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@ -51,7 +51,7 @@ win32:CONFIG(debug, debug|release) {
LIBS += -L../../../Utils/VrUtils/debug -lVrUtils
LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig
LIBS += -L../../../AppUtils/AppCommon/debug -lAppCommon
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib
}else:win32:CONFIG(release, debug|release){
LIBS += -L../../../Utils/VrUtils/release -lVrUtils
LIBS += -L../../../AppUtils/AppConfig/release -lAppConfig

2
App/ScrewPosition/ScrewPositionApp/ScrewPositionApp.pro
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@ -99,7 +99,7 @@ win32:CONFIG(debug, debug|release) {
LIBS += -L../ScrewPositionConfig/debug -lScrewPositionConfig
LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig
LIBS += -L../../../Module/AuthModule/debug -lAuthModule
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib
LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice
LIBS += -L../../../Nets/debug -lModbusTCPServer
LIBS += -L../../../Module/ShareMem/debug -lShareMem

2
App/TireHolePose/TireHolePoseApp/TireHolePoseApp.pro
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@ -97,7 +97,7 @@ win32:CONFIG(debug, debug|release) {
LIBS += -L../TireHolePoseConfig/debug -lTireHolePoseConfig
LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig
LIBS += -L../../../Module/AuthModule/debug -lAuthModule
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib
LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice
LIBS += -L../../../Nets/debug -lModbusTCPServer
LIBS += -L../../../Module/ShareMem/debug -lShareMem

2
App/TireHolePose/TireHolePoseConfig/TireHolePoseConfig.pro
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@ -51,7 +51,7 @@ win32:CONFIG(debug, debug|release) {
LIBS += -L../../../Utils/VrUtils/debug -lVrUtils
LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig
LIBS += -L../../../AppUtils/AppCommon/debug -lAppCommon
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd
LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib
}else:win32:CONFIG(release, debug|release){
LIBS += -L../../../Utils/VrUtils/release -lVrUtils
LIBS += -L../../../AppUtils/AppConfig/release -lAppConfig

19
App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md
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@ -42,15 +42,15 @@
### 4.2 产品型号与拍照触发值（D1000）
| 序号 | 产品型号 | 触发相机1 | 触发相机2 | 定位算法 | 当前状态 |
|------|----------|-----------|-----------|----------|----------|
| 1 | 4WE6 | 1 | 2 | `wd_workpieceHolePositioning` | 已实现 |
| 2 | Z2S6 | 101 | 102 | `wd_workpieceHolePositioning_2` | 已实现 |
| 3 | Z2FS6_30_2 | 201 | 202 | `wd_workpieceHolePositioning_3` | 已实现 |
| 4 | DB10 | 301 | 302 | `wd_workpieceHolePositioning_3`（复用） | 已接入 |
| 5 | DB20 | 401 | 402 | `wd_workpieceHolePositioning_5` | 预留 |
| 序号 | 产品型号 | 触发相机1 | 触发相机2 | 当前状态 |
|------|----------|-----------|-----------|----------|
| 1 | 4WE6 | 1 | 2 | 已实现 |
| 2 | Z2S6 | 101 | 102 | 已实现 |
| 3 | Z2FS6_30_2 | 201 | 202 | 已实现 |
| 4 | DB10 | 301 | 302 | 已实现 |
| 5 | DB20 | 401 | 402 | 已实现 |
工件4复用工件3的定位算法接口，但读取工件4独立配置的算法参数。工件5仍为预留；收到工件5请求后，视觉系统清除D1000，并向D1002写入状态码11。
五种工件分别读取各自独立配置的检测参数。
### 4.3 检测结果状态码（D1002）
@ -118,7 +118,7 @@
2. **拍照执行**
- 检测到D1000为非零后，立即写0到D1000清除请求
- 暂停轮询，根据D1000的值选择对应产品和相机
- 触发相机拍照，执行该产品对应的工件孔定位算法
- 触发相机拍照，执行该产品对应的工件孔定位检测
3. **坐标输出**（仅检测成功时）
- 算法处理完成后，将坐标数据写入PLC的D2000开始的寄存器
@ -154,7 +154,6 @@
| 异常物料（`SX_ERR_UNKNOWN_OBJECT = -2501`） | 通知PLC，恢复轮询 | 2 |
| 无产品（`SX_ERR_ZERO_OBJECTS = -1010`，兼容空目标类错误） | 通知PLC，恢复轮询 | 3 |
| 其他算法检测失败 | 通知PLC，恢复轮询 | 11 |
| 工件5算法预留 | 清除请求，通知PLC，恢复轮询 | 11 |
| D1000触发值无效 | 清除请求，通知PLC，恢复轮询 | 11 |
| 检测成功有结果 | 发送坐标，通知PLC，恢复轮询 | 1 |
| 连接断开 | 自动重连，发送错误信号 | - |

2
App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h
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@ -18,7 +18,7 @@ inline const ProductInfo* Products()
{2, "Z2S6", true},
{3, "Z2FS6_30_2", true},
{4, "DB10", true},
{5, "DB20", false}
{5, "DB20", true}
};
return products;
}

1
App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp
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@ -170,6 +170,7 @@ int DetectPresenter::DetectWorkpieceHole(
groundCalibPara, workpiecePositioning, &errCode);
break;
case 2:
case 5:
algorithmName = "wd_workpieceHolePositioning_2";
wd_workpieceHolePositioning_2(
algorithmData, workpiecePara, lineSegPara, filterParam, growParam,

2
App/WorkpieceHole/WorkpieceHoleApp/Version.h
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@ -5,7 +5,7 @@
#define WORKPIECEHOLE_APP_NAME "工件孔定位"
// 版本字符串
#define WORKPIECEHOLE_VERSION_STRING "1.2.0"
#define WORKPIECEHOLE_VERSION_STRING "1.2.1"
#define WORKPIECEHOLE_BUILD_STRING "1"
#define WORKPIECEHOLE_FULL_VERSION_STRING "V" WORKPIECEHOLE_VERSION_STRING "_" WORKPIECEHOLE_BUILD_STRING

4
App/WorkpieceHole/WorkpieceHoleApp/Version.md
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@ -1,3 +1,7 @@
# 1.2.1
## build_1 2026-07-14
1. 更新算法包含1-5工件算法
# 1.2.0
## build_1 2026-07-14
1. 增加1-4的工件类型

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AppAlgo/workpieceHolePositioning/Arm/aarch64/libbaseAlgorithm.so
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AppAlgo/workpieceHolePositioning/Arm/aarch64/libworkpieceHolePositioning.so
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AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.dll
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AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.pdb
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AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.dll
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AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.pdb
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AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.dll
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AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.pdb
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AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.dll
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AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.pdb
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68
AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp
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@ -115,9 +115,12 @@ void _removeZeroLines(std::vector<std::vector< SVzNL3DPosition>>& scanData)
lastLine = line;
}
if (firstLine < 0)
{
scanData.clear();
return;
}
if (lastLine < (lineNum - 1))
if ( (lastLine < (lineNum - 1)) && (lastLine > 0))
scanData.erase(scanData.begin() + lastLine + 1, scanData.end());
scanData.erase(scanData.begin(), scanData.begin() + firstLine);
@ -1339,7 +1342,7 @@ void TuoPuFa_holePosition_test(void)
long t1 = (long)GetTickCount64();//统计时间
SSG_lineSegParam lineSegPara;
lineSegPara.distScale = 3.0;
lineSegPara.distScale = 10.0;
lineSegPara.segGapTh_y = 15.0; //
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
SSG_outlierFilterParam filterParam;
@ -1373,15 +1376,15 @@ void TuoPuFa_holePosition_test(void)
&errCode);
long t2 = (long)GetTickCount64();
if(errCode == SX_ERR_UNKNOWN_OBJECT)
printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1));
printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1));
else if(errCode == SX_ERR_ZERO_OBJECTS)
printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1));
printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1));
else
printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
//输出测试结果
sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
_outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning);
sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
sprintf_s(calibFile, "%sresult/LaserLine%d_corner_info.txt", dataPath[grp], fidx);
_outputWorkpieceInfo(calibFile, workpiecePositioning);
sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
@ -1390,6 +1393,7 @@ void TuoPuFa_holePosition_test(void)
double displayScale = 0.3;
cv::String imgName(calibFile);
_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
printf("done\n");
}
}
#endif
@ -1476,7 +1480,7 @@ void TuoPuFa_holePosition_test2(void)
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
char calibFile[250];
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
//groundCalibPara = _readCalibPara(calibFile);
groundCalibPara = _readCalibPara(calibFile);
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{
@ -1492,7 +1496,7 @@ void TuoPuFa_holePosition_test2(void)
long t1 = (long)GetTickCount64();//统计时间
SSG_lineSegParam lineSegPara;
lineSegPara.distScale = 3.0;
lineSegPara.distScale = 10.0;
lineSegPara.segGapTh_y = 15.0; //
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
SSG_outlierFilterParam filterParam;
@ -1507,7 +1511,7 @@ void TuoPuFa_holePosition_test2(void)
growParam.minVTypeTreeLen = 2.0; //mm
WD_workpieceHoleParam workpiecePara;
workpiecePara.workpieceType = 0;
workpiecePara.holeDiameter = 6.0; //
workpiecePara.holeDiameter = 8.0; //
workpiecePara.holeDist_W = 32.0;
workpiecePara.holeDist_L = 40.0;
workpiecePara.xLen = 44;
@ -1526,9 +1530,9 @@ void TuoPuFa_holePosition_test2(void)
&errCode);
long t2 = (long)GetTickCount64();
if (errCode == SX_ERR_UNKNOWN_OBJECT)
printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1));
printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1));
else if (errCode == SX_ERR_ZERO_OBJECTS)
printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1));
printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1));
else
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
//输出测试结果
@ -1943,11 +1947,11 @@ void TuoPuFa_holePosition_test5(void)
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
char calibFile[250];
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
//groundCalibPara = _readCalibPara(calibFile);
groundCalibPara = _readCalibPara(calibFile);
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{
//fidx =2;
//fidx =4;
char _scan_file[256];
sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx);
std::vector<std::vector< SVzNL3DPosition>> scanLines;
@ -1958,8 +1962,17 @@ void TuoPuFa_holePosition_test5(void)
long t1 = (long)GetTickCount64();//统计时间
WD_workpieceHoleParam workpiecePara;
workpiecePara.workpieceType = 0;
workpiecePara.holeDiameter = 6.0; //
workpiecePara.holeDist_W = 32.0;
workpiecePara.holeDist_L = 40.0;
workpiecePara.xLen = 44;
workpiecePara.yLen = 70;
workpiecePara.H = 28;
SSG_lineSegParam lineSegPara;
lineSegPara.distScale = 3.0;
lineSegPara.distScale = workpiecePara.H / 2; //此参数用于确定
lineSegPara.segGapTh_y = 15.0; //
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
SSG_outlierFilterParam filterParam;
@ -1970,16 +1983,9 @@ void TuoPuFa_holePosition_test5(void)
growParam.yDeviation_max = 4.0;
growParam.maxSkipDistance = 0.0;
growParam.zDeviation_max = 10.0;//
growParam.minLTypeTreeLen = 2.0; //mm
growParam.minVTypeTreeLen = 2.0; //mm
WD_workpieceHoleParam workpiecePara;
workpiecePara.workpieceType = 0;
workpiecePara.holeDiameter = 10.0; //
workpiecePara.holeDist_W = 32.0;
workpiecePara.holeDist_L = 40.0;
workpiecePara.xLen = 44;
workpiecePara.yLen = 70;
workpiecePara.H = 28;
growParam.minLTypeTreeLen = 1.5; //mm
growParam.minVTypeTreeLen = 1.5; //mm
int errCode = 0;
std::vector< WD_workpieceInfo> workpiecePositioning;
wd_workpieceHolePositioning_2(
@ -2695,6 +2701,7 @@ typedef enum
keSG_拓普发孔定位_工件3,
keSG_拓普发孔定位_工件4,
keSG_拓普发孔定位_工件5,
keSG_拓普发孔定位_工件全测试,
keSG_华航孔定位,
keSG_微力砂轮盘定位,
keSG_微力砂轮架子定位,
@ -2708,7 +2715,8 @@ int main()
//ESG_testMode testMode = keSG_拓普发孔定位_工件2;
//ESG_testMode testMode = keSG_拓普发孔定位_工件3;
//ESG_testMode testMode = keSG_拓普发孔定位_工件4;
ESG_testMode testMode = keSG_拓普发孔定位_工件5;
//ESG_testMode testMode = keSG_拓普发孔定位_工件5;
ESG_testMode testMode = keSG_拓普发孔定位_工件全测试;
//ESG_testMode testMode = keSG_华航孔定位;
//ESG_testMode testMode = keSG_微力砂轮盘定位;
//ESG_testMode testMode = keSG_微力砂轮架子定位;
@ -2726,6 +2734,14 @@ int main()
TuoPuFa_holePosition_test4();
else if (keSG_拓普发孔定位_工件5 == testMode)
TuoPuFa_holePosition_test5();
else if (keSG_拓普发孔定位_工件全测试 == testMode)
{
TuoPuFa_holePosition_test();
TuoPuFa_holePosition_test2();
TuoPuFa_holePosition_test3();
TuoPuFa_holePosition_test4();
TuoPuFa_holePosition_test5();
}
else if (keSG_华航孔定位 == testMode)
HuaHang_holePosition_test();
else if (keSG_微力砂轮盘定位 == testMode)

2
GrabBagPrj/AppList.md
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@ -17,7 +17,7 @@
| 11 | 铁路隧道槽道测量 | TunnelChannel | 1.0.0.3 |
| 12 | 螺杆定位 | ScrewPosition | 1.2.4.1 |
| 13 | 包裹拆线位置定位 | BagThreadPosition | 1.0.0.4 |
| 14 | 工件孔定位 | WorkpieceHole | 1.2.0.1 |
| 14 | 工件孔定位 | WorkpieceHole | 1.2.1.1 |
| 15 | 轮胎孔定位 | TireHolePose | 1.0.2.1 |
| 16 | 坑孔定位 | HolePitPosition | 无 |
| 17 | 钢筋焊缝定位 | RodWeldSeam | 1.0.0.1 |