机器视觉齿轮检测-编程知识

案例:齿轮内径检测

1.使用模板匹配

2.设置匹配区域

3.使用掩膜不必要的干扰（保留两个内径的圆形）

1.添加找圆工具

2.添加模板匹配中心坐标

3.给外圈圆添加找圆工具

RunParams.ExpectedCircularArc.CenterX

RunParams.ExpectedCircularArc.CenterY 找圆工具圆心坐标

因为我们模板匹配的是圆形所引匹配的圆形坐标就是找圆工具坐标

1.显示结果添加了圆形图案 CogCircle circle

文本 CogGraphicLabel label

public class CogToolBlockAdvancedScript : CogToolBlockAdvancedScriptBase
{
#region Private Member Variables
private Cognex.VisionPro.ToolBlock.CogToolBlock mToolBlock;
#endregion

//声明图形集合
private CogGraphicCollection col = new CogGraphicCollection();

public override bool GroupRun(ref string message, ref CogToolResultConstants result)
{

    //声明pma
    CogPMAlignTool pma = mToolBlock.Tools["CogPMAlignTool1"] as CogPMAlignTool;
    //声明找圆
    CogFindCircleTool fc = mToolBlock.Tools["CogFindCircleTool1"] as CogFindCircleTool;
    //声明一个圆图形变量目的是在图形界面显示每一个找到的圆
    CogCircle circle;
    //声明一个label标签目的是在图形界面显示每一个找到的圆半径
    CogGraphicLabel label;

    //清空
    col.Clear();
    // Run each tool using the RunTool function
    foreach(ICogTool tool in mToolBlock.Tools)
      mToolBlock.RunTool(tool, ref message, ref result);


    //遍历pma结果
    for (int i = 0; i < pma.Results.Count; i++)
    {
      //为找圆工具添加圆心
      fc.RunParams.ExpectedCircularArc.CenterX = pma.Results[i].GetPose().TranslationX;
      fc.RunParams.ExpectedCircularArc.CenterY = pma.Results[i].GetPose().TranslationY;
      //运行找圆
      fc.Run();

      //给变量圆赋值
      circle = new CogCircle();
      circle = fc.Results.GetCircle();
      circle.Color = CogColorConstants.Orange;
      //向集合中添加圆图形
      col.Add(circle);
      label = new CogGraphicLabel();
      label.SetXYText(circle.CenterX, circle.CenterY, "半径：" + circle.Radius.ToString("0.00"));
      label.Color = CogColorConstants.Red;
      //向集合中添加label
      col.Add(label);

    }

    return false;
}

public override void ModifyLastRunRecord(Cognex.VisionPro.ICogRecord lastRecord)
{
    for (int i = 0; i < col.Count; i++)
    {
              mToolBlock.AddGraphicToRunRecord(col[i], lastRecord, "CogPMAlignTool1.InputImage", "Script");
    }
}

案例：齿轮圆形到齿轮角距离检测

2. 模板匹配中心原点坐标赋值给 Region.centerX Region.centerY 卡尺工具的仿射矩形中心点坐标

Region.centerX Region.centerY 卡尺工具的仿射矩形中心点坐标

2.Edge0.PositionX 和Edge0.PositionY 的坐标赋值给点到点工具的起点坐标

3.找圆工具的圆心坐标赋值给点到点工具的终点坐标

#region namespace imports
using System;
using System.Collections;
using System.Collections.Generic;
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.Dimensioning;
#endregion

public class CogToolBlockAdvancedScript : CogToolBlockAdvancedScriptBase
{
#region Private Member Variables
private Cognex.VisionPro.ToolBlock.CogToolBlock mToolBlock;
#endregion

//声明图像集合
CogGraphicCollection col = new CogGraphicCollection();

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
    //映射模板匹配对象
    CogPMAlignTool pma = mToolBlock.Tools["CogPMAlignTool2"] as CogPMAlignTool;
    //映射卡尺工具对象
    CogCaliperTool cal = mToolBlock.Tools["CogCaliperTool1"] as CogCaliperTool;
    //映射找圆工具对象
    CogFindCircleTool fc = mToolBlock.Tools["CogFindCircleTool1"] as CogFindCircleTool;
    //映射点到点距离工具对象
    CogDistancePointPointTool dis = mToolBlock.Tools["CogDistancePointPointTool1"] as CogDistancePointPointTool;
    //清空图像集合
    col.Clear();

    //声明集合 --存储距离数据
    List<double> distances = new List<double>();



    foreach(ICogTool tool in mToolBlock.Tools)
      mToolBlock.RunTool(tool, ref message, ref result);

    //以模板匹配结果个数遍历
    for (int i = 0; i < pma.Results.Count; i++)
    {
      //获取pma结果的中心点坐标
      double x = pma.Results[i].GetPose().TranslationX;
      double y = pma.Results[i].GetPose().TranslationY;
      //角度 =弧度 *180/PI
      //弧度 =角度/180*PI
      //获取pma结果的弧度转化成角度
      double angle = pma.Results[i].GetPose().Rotation * 180 / Math.PI;
      //角度-90度转换成弧度供卡尺工具使用
      double rad = (angle - 90) / 180 * Math.PI;


      //给卡尺工具赋值并运行卡尺工具
      cal.Region.CenterX = x;
      cal.Region.CenterY = y;
      cal.Region.Rotation = rad;
      cal.Run();

      //给点到点距离工具赋值
      dis.StartX = fc.Results.GetCircle().CenterX;
      dis.StartY = fc.Results.GetCircle().CenterY;
      dis.EndX = cal.Results[0].Edge0.PositionX;
      dis.EndY = cal.Results[0].Edge0.PositionY;
      dis.Run();

      //保存距离到距离集合
      distances.Add(dis.Distance);

      //创建线段
      CogLineSegment line = new CogLineSegment();

      //设置线段的起点和终点
      line.SetStartEnd(fc.Results.GetCircle().CenterX, fc.Results.GetCircle().CenterY, cal.Results[0].Edge0.PositionX, cal.Results[0].Edge0.PositionY);
      //设置线段颜色
      line.Color = CogColorConstants.Red;
      //添加线段到图形集合中
      col.Add(line);

      //创建文本
      CogGraphicLabel label = new CogGraphicLabel();
     // 设置文本的位置和文本内容
      label.SetXYText(cal.Results[0].Edge0.PositionX, cal.Results[0].Edge0.PositionY, dis.Distance.ToString("0.00"));
      //设置文本颜色
      label.Color = CogColorConstants.Orange;
      //添加文本到图形集合中
      col.Add(label);

    }

    //筛选最大值和最小值和平均值
    double max = 0;
    double min = distances[0];
    double mean;
    double total = 0;
    //遍历距离集合
    for (int i = 0; i < distances.Count; i++)
    {
      //取最大值
      if (distances[i] > max)
        max = distances[i];
      //取最小值
      if (distances[i] < min)
        min = distances[i];
      //累加所有数值计算平均数
      total += distances[i];
    }
    //取平均数
    mean = total / distances.Count;


    //创建文本显示最大值最小值平均值
    CogGraphicLabel label2 = new CogGraphicLabel();
    label2.SetXYText(200, 150, "最大值：" + max.ToString("0.00"));
    label2.Color = CogColorConstants.Green;
    label2.Font = new Font("宋体", 20);
    CogGraphicLabel label3 = new CogGraphicLabel();
    label3.SetXYText(200, 180, "最小值：" + min.ToString("0.00"));
    label3.Color = CogColorConstants.Green;
    label3.Font = new Font("宋体", 20);
    CogGraphicLabel label4 = new CogGraphicLabel();
    label4.SetXYText(200, 210, "平均值：" + max.ToString("0.00"));
    label4.Color = CogColorConstants.Green;
    label4.Font = new Font("宋体", 20);
    //添加到图形集合
    col.Add(label2);
    col.Add(label3);
    col.Add(label4);
    //把结果给赋值给Block 输出属性
    mToolBlock.Outputs["Max"].Value = max;
    mToolBlock.Outputs["Min"].Value = min;
    mToolBlock.Outputs["Mean"].Value = mean;

    return false;
}

public override void ModifyLastRunRecord(Cognex.VisionPro.ICogRecord lastRecord)
{

    //添加图形到lastRunRecord窗口
    for (int i = 0; i < col.Count; i++)
    {
      mToolBlock.AddGraphicToRunRecord(col[i], lastRecord, "CogPMAlignTool1.InputImage", "script");
    }
}