VisionPro项目记录2 —— 不规则胶路检测-海口c网

简介

本文介绍了一种基于Cognex视觉工具的胶路检测方法，分为直线和弧形两部分检测。

直线部分采用卡尺工具检测胶路宽度，通过动态调整仿射矩形区域进行多位置测量；弧形部分使用blob工具沿圆周设置检测区域。

两种方法均通过脚本实现工具映射、参数绑定和结果分析功能，支持调试模式显示检测区域和结果标注。

通过try-catch异常处理机制确保检测过程稳定，直线部分可检测断胶情况，弧形部分通过径向补偿实现圆周检测。

此方法具有参数可调性，可根据实际需求灵活配置工具组合和检测参数，适用于不同形状胶路的自动化检测需求。

效果总览

工具

使用结果分析工具输出总结果

直线部分

工具及参数

只用了最基础的模板和定位，卡尺工具是主体。

自定义参数可根据项目需求灵活配置

脚本

映射所有工具并运行，初始化所需参数并与输入参数完成绑定。

创建仿射矩形对象并配置参数，注释的部分为调试用途

调试时取消代码注释，调整步距参数，检查矩形的尺寸、位置和角度是否符合预期效果。

使用try-catch语句能够有效避免因断胶导致卡尺搜索失败时程序报错中断，从而确保后续代码和工具的正常执行。

添加了文字显示功能，采用方法重载的方式实现。通过定义两个同名方法，可以根据需要灵活选择不同的显示效果。

脚本源码

#region namespace imports
using System;
using System.Collections;
using System.Drawing;
using System.IO;
using System.Windows.Forms;
using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using Cognex.VisionPro3D;
using Cognex.VisionPro.PMAlign;
using Cognex.VisionPro.CalibFix;
using Cognex.VisionPro.Caliper;
#endregionpublic class CogToolBlockAdvancedScript : CogToolBlockAdvancedScriptBase
{#region Private Member Variablesprivate Cognex.VisionPro.ToolBlock.CogToolBlock mToolBlock;private CogGraphicCollection gc = new CogGraphicCollection();#endregion/// <summary>/// Called when the parent tool is run./// Add code here to customize or replace the normal run behavior./// </summary>/// <param name="message">Sets the Message in the tool's RunStatus.</param>/// <param name="result">Sets the Result in the tool's RunStatus</param>/// <returns>True if the tool should run normally,///          False if GroupRun customizes run behavior</returns>public override bool GroupRun(ref string message, ref CogToolResultConstants result){// To let the execution stop in this script when a debugger is attached, uncomment the following lines.// #if DEBUG// if (System.Diagnostics.Debugger.IsAttached) System.Diagnostics.Debugger.Break();// #endif// Run each tool using the RunTool function// 映射工具并运行，注意这里把 foreach 运行所有工具那行代码删了CogPMAlignTool pma = mToolBlock.Tools["CogPMAlignTool1"]as CogPMAlignTool;CogFixtureTool fix = mToolBlock.Tools["CogFixtureTool1"]as CogFixtureTool;CogCaliperTool cal = mToolBlock.Tools["CogCaliperTool1"]as CogCaliperTool;gc.Clear();pma.Run();fix.Run();cal.Run();// 给输出的结果初始化为falsemToolBlock.Outputs["FlowResult"].Value = false;bool FlowResult = true;// 初始化参数并与输入参数绑定double max = 0,min = 100,Pitch = (double) mToolBlock.Inputs["Pitch"].Value,StartX = (double) mToolBlock.Inputs["StartX"].Value,StartY = (double) mToolBlock.Inputs["StartY"].Value,SearchLength = (double) mToolBlock.Inputs["SearchLength"].Value,CaliperLengthX = (double) mToolBlock.Inputs["CaliperLengthX"].Value,CaliperLengthY = (double) mToolBlock.Inputs["CaliperLengthY"].Value,CaliperRotation = (double) mToolBlock.Inputs["CaliperRotation"].Value,SearchAngle = (double) mToolBlock.Inputs["SearchAngle"].Value,scale = (double) mToolBlock.Inputs["scale"].Value;int TestCount = (int) mToolBlock.Inputs["TestCount"].Value;bool breakLine = true;if (pma.RunStatus.Result == CogToolResultConstants.Accept){for (int i = 0; i < (SearchLength / Pitch) && i < TestCount; i++){ double CaliperDegrees = CaliperRotation * Math.PI / 180;double SearchDegrees = SearchAngle * Math.PI / 180;CogRectangleAffine rect = new CogRectangleAffine();rect.Rotation = CaliperDegrees;rect.CenterX = StartX - i * Pitch * Math.Sin(SearchDegrees);rect.CenterY = StartY + i * Pitch * Math.Cos(SearchDegrees);rect.SideXLength = Convert.ToInt32(mToolBlock.Inputs["CaliperLengthX"].Value);rect.SideYLength = Convert.ToInt32(mToolBlock.Inputs["CaliperLengthY"].Value);// 测试用显示矩形位置//rect.CenterX = pma.Results[0].GetPose().TranslationX + StartX - i * Pitch * Math.Sin(SearchDegrees);//rect.CenterY = pma.Results[0].GetPose().TranslationY + StartY + i * Pitch * Math.Cos(SearchDegrees);//gc.Add(rect);//MessageBox.Show("X坐标：" + rect.CenterX.ToString() + "Y坐标：" + rect.CenterY.ToString());// 把矩形给到卡尺的搜索范围并运行卡尺工具cal.Region = rect;cal.Run();max = max < (cal.Results[0].Width * scale) ? (cal.Results[0].Width * scale) : max;min = min > (cal.Results[0].Width * scale) ? (cal.Results[0].Width * scale) : min;//MessageBox.Show(max.ToString());try {	  if(cal.RunStatus.Result == CogToolResultConstants.Accept){if(((double) (cal.Results[0].Width * scale) > (double) mToolBlock.Inputs["WidthMax"].Value)|| ((double) (cal.Results[0].Width * scale) < (double) mToolBlock.Inputs["WidthMin"].Value)){AddLabel(pma.Results[0].GetPose().TranslationX + cal.Region.CenterX, pma.Results[0].GetPose().TranslationY + cal.Region.CenterY, "" + (cal.Results[0].Width * scale).ToString("f1"), CogColorConstants.Red);FlowResult = false;}else{AddLabel(pma.Results[0].GetPose().TranslationX + cal.Region.CenterX, pma.Results[0].GetPose().TranslationY + cal.Region.CenterY, "" + (cal.Results[0].Width * scale).ToString("f1"), CogColorConstants.Green);}}}catch (Exception){breakLine = false;AddLabel(pma.Results[0].GetPose().TranslationX + cal.Region.CenterX, pma.Results[0].GetPose().TranslationY + cal.Region.CenterY, "NG", CogColorConstants.Red);// MessageBox.Show("卡尺g了");// 继续执行或终止循环, 如果需要终止检测，可添加: return false;}}}AddLabel(520, 50, breakLine ? " " : "直线部分断胶", breakLine);AddLabel(520, 100, "直线部分最小值" + min.ToString("f1"), true);AddLabel(520, 150, "直线部分最大值" + max.ToString("f1"), true);mToolBlock.Outputs["FlowResult"].Value = FlowResult;return false;}// 添加文本方法private void AddLabel (double x, double y, string text, bool b){CogGraphicLabel label = new CogGraphicLabel();label.BackgroundColor = CogColorConstants.None;label.Color = b ? CogColorConstants.Green : CogColorConstants.Red;label.Font = new Font("楷体", 20);label.SetXYText(x, y, text);gc.Add(label);}private void AddLabel (double x, double y, string text, CogColorConstants color){CogGraphicLabel label = new CogGraphicLabel();label.BackgroundColor = CogColorConstants.None;label.Color = color;label.Font = new Font("楷体", 6);label.SetXYText(x, y, text);gc.Add(label);}#region When the Current Run Record is Created/// <summary>/// Called when the current record may have changed and is being reconstructed/// </summary>/// <param name="currentRecord">/// The new currentRecord is available to be initialized or customized.</param>public override void ModifyCurrentRunRecord(Cognex.VisionPro.ICogRecord currentRecord){}#endregion#region When the Last Run Record is Createdpublic override void ModifyLastRunRecord(Cognex.VisionPro.ICogRecord lastRecord){foreach (ICogGraphic item in gc){mToolBlock.AddGraphicToRunRecord(item, lastRecord, "CogPMAlignTool1.InputImage", "");}}#endregion#region When the Script is Initialized/// <summary>/// Perform any initialization required by your script here/// </summary>/// <param name="host">The host tool</param>public override void Initialize(Cognex.VisionPro.ToolGroup.CogToolGroup host){// DO NOT REMOVE - Call the base class implementation first - DO NOT REMOVEbase.Initialize(host);// Store a local copy of the script hostthis.mToolBlock = ((Cognex.VisionPro.ToolBlock.CogToolBlock)(host));}#endregion}

圆形部分

工具及参数

同直线部分一样，blob工具是核心

同上

调试的时候同样把相应的代码打开并调小步距。

脚本

同上

脚本源码

#region namespace imports
using System;
using System.Collections;
using System.Drawing;
using System.IO;
using System.Windows.Forms;
using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using Cognex.VisionPro3D;
using Cognex.VisionPro.PMAlign;
using Cognex.VisionPro.CalibFix;
using Cognex.VisionPro.Caliper;
using Cognex.VisionPro.Blob;
#endregionpublic class CogToolBlockAdvancedScript : CogToolBlockAdvancedScriptBase
{#region Private Member Variablesprivate Cognex.VisionPro.ToolBlock.CogToolBlock mToolBlock;private CogGraphicCollection gc = new CogGraphicCollection();#endregion/// <summary>/// Called when the parent tool is run./// Add code here to customize or replace the normal run behavior./// </summary>/// <param name="message">Sets the Message in the tool's RunStatus.</param>/// <param name="result">Sets the Result in the tool's RunStatus</param>/// <returns>True if the tool should run normally,///          False if GroupRun customizes run behavior</returns>public override bool GroupRun(ref string message, ref CogToolResultConstants result){// To let the execution stop in this script when a debugger is attached, uncomment the following lines.// #if DEBUG// if (System.Diagnostics.Debugger.IsAttached) System.Diagnostics.Debugger.Break();// #endif// Run each tool using the RunTool function// 映射工具并运行，注意这里把 foreach 运行所有工具那行代码删了CogPMAlignTool pma1 = mToolBlock.Tools["CogPMAlignTool1"]as CogPMAlignTool;CogFixtureTool fix1 = mToolBlock.Tools["CogFixtureTool1"]as CogFixtureTool;CogFindCircleTool cir1 = mToolBlock.Tools["CogFindCircleTool1"]as CogFindCircleTool;CogBlobTool blob1 = mToolBlock.Tools["CogBlobTool1"]as CogBlobTool;gc.Clear();pma1.Run();fix1.Run();cir1.Run();blob1.Run();// 给输出的结果初始化为falsemToolBlock.Outputs["FlowResult"].Value = false;bool FlowResult = true;// 初始化参数并与输入参数绑定double Pitch = (double) mToolBlock.Inputs["Pitch"].Value,             // 步长StartArc = (double) mToolBlock.Inputs["StartArc"].Value,       // 开始角度SearchAngle = (double) mToolBlock.Inputs["SearchAngle"].Value, // 搜索范围BlobLengthX = (double) mToolBlock.Inputs["BlobLengthX"].Value, // 矩形长BlobLengthY = (double) mToolBlock.Inputs["BlobLengthY"].Value, // 矩形宽scale = (double) mToolBlock.Inputs["scale"].Value;             // 缩放系数int TestCount = (int) mToolBlock.Inputs["TestCount"].Value,      // 循环次数限制RadiusCompensate = (int) mToolBlock.Inputs["RadiusCompensate"].Value; // 半径补偿// 主循环：生成仿射矩形并检测for (int i = 0; i < SearchAngle/Pitch && i < TestCount; i++){// 计算当前角度（度转弧度）double currentAngleDegrees = StartArc + i * Pitch;double currentAngleRadians = currentAngleDegrees * Math.PI / 180;// 创建仿射矩形（短边垂直于切线使矩形指向圆心）CogRectangleAffine rect = new CogRectangleAffine();rect.SideXLength = BlobLengthX;rect.SideYLength = BlobLengthY;rect.Rotation = currentAngleRadians;  // 短边与半径方向一致// 计算矩形中心位置rect.CenterX = cir1.Results.GetCircle().CenterX + (cir1.Results.GetCircle().Radius + RadiusCompensate) * Math.Cos(currentAngleRadians);rect.CenterY = cir1.Results.GetCircle().CenterY + (cir1.Results.GetCircle().Radius + RadiusCompensate) * Math.Sin(currentAngleRadians);blob1.Region = rect;blob1.Run();// 调试显示矩形位置//rect.CenterX = pma1.Results[0].GetPose().TranslationX + cir1.Results.GetCircle().CenterX +    //  (cir1.Results.GetCircle().Radius + RadiusCompensate) * Math.Cos(currentAngleRadians);//rect.CenterY = pma1.Results[0].GetPose().TranslationY + cir1.Results.GetCircle().CenterY +     //  (cir1.Results.GetCircle().Radius + RadiusCompensate) * Math.Sin(currentAngleRadians);//gc.Add(rect);try{if(blob1.Results.GetBlobs().Count > 0){AddLabel(pma1.Results[0].GetPose().TranslationX + rect.CenterX, pma1.Results[0].GetPose().TranslationY + rect.CenterY, "OK", true);}else{AddLabel(pma1.Results[0].GetPose().TranslationX + rect.CenterX, pma1.Results[0].GetPose().TranslationY + rect.CenterY, "NG", false);FlowResult = false;}}catch{AddLabel(pma1.Results[0].GetPose().TranslationX + cir1.Results.GetCircle().CenterX + rect.CenterX, pma1.Results[0].GetPose().TranslationY + cir1.Results.GetCircle().CenterY + rect.CenterY, "None", false);continue;}}//MessageBox.Show(angleRadians.ToString());AddLabel(520, 200, FlowResult ? " " : "圆形部分断胶", FlowResult ? CogColorConstants.Green : CogColorConstants.Red);mToolBlock.Outputs["FlowResult"].Value = FlowResult;return false;}// 添加文本方法private void AddLabel (double x, double y, string text, bool b){CogGraphicLabel label = new CogGraphicLabel();label.BackgroundColor = CogColorConstants.None;label.Color = b ? CogColorConstants.Green : CogColorConstants.Red;label.Font = new Font("楷体", 10);label.SetXYText(x, y, text);gc.Add(label);}private void AddLabel (double x, double y, string text, CogColorConstants color){CogGraphicLabel label = new CogGraphicLabel();label.BackgroundColor = CogColorConstants.None;label.Color = color;label.Font = new Font("楷体", 20);label.SetXYText(x, y, text);gc.Add(label);}#region When the Current Run Record is Created/// <summary>/// Called when the current record may have changed and is being reconstructed/// </summary>/// <param name="currentRecord">/// The new currentRecord is available to be initialized or customized.</param>public override void ModifyCurrentRunRecord(Cognex.VisionPro.ICogRecord currentRecord){}#endregion#region When the Last Run Record is Created/// <summary>/// Called when the last run record may have changed and is being reconstructed/// </summary>/// <param name="lastRecord">/// The new last run record is available to be initialized or customized.</param>public override void ModifyLastRunRecord(Cognex.VisionPro.ICogRecord lastRecord){foreach (ICogGraphic item in gc){mToolBlock.AddGraphicToRunRecord(item, lastRecord, "CogPMAlignTool1.InputImage", "");}}#endregion#region When the Script is Initialized/// <summary>/// Perform any initialization required by your script here/// </summary>/// <param name="host">The host tool</param>public override void Initialize(Cognex.VisionPro.ToolGroup.CogToolGroup host){// DO NOT REMOVE - Call the base class implementation first - DO NOT REMOVEbase.Initialize(host);// Store a local copy of the script hostthis.mToolBlock = ((Cognex.VisionPro.ToolBlock.CogToolBlock)(host));}#endregion}