样例程序17:MM_S17_Vis_ParseLabel

程序简介

功能说明

机器人触发Mech-Vision工程运行以获取视觉结果,接着对标签进行解析,然后根据不同标签增加不同处理流程,进而执行抓取和放置操作。

文件路径

Mech-Vision和Mech-Viz软件安装目录下Communication Component/Robot_Interface/ABB/sample/MM_S17_Vis_ParseLabel

对于RobotWare6系统,文件后缀为.mod。对于RobotWare7系统,用户需将.mod修改为.modx

所需工程

Mech-Vision工程(输出步骤的labels端口需要存在数据)

使用前提

  1. 已完成标准接口通信配置。

  2. 已完成自动标定。

此样例程序仅是示例程序。用户需根据实际情况在此基础上进行修改,请勿直接使用该程序。

程序解读

以下为MM_S17_Vis_ParseLabel样例程序的代码及相关解释说明。

与MM_S1_Vis_Basic样例相比,本样例仅新增了解析标签的功能(加粗部分的代码)。因此,下文不再重复解释与MM_S1_Vis_Basic样例相同部分的代码(详情请参考MM_S1_Vis_Basic样例说明)。
MODULE MM_S17_Vis_ParseLabel
!----------------------------------------------------------
! FUNCTION: trigger Mech-Vision project and get vision result,
! then parse the label info
! Mech-Mind, 2023-12-25
!----------------------------------------------------------
!define local num variables
LOCAL VAR num pose_num:=0;
LOCAL VAR num status:=0;
LOCAL VAR num label:=0;
LOCAL VAR num label_1:=0;
LOCAL VAR num label_2:=0;
LOCAL VAR num toolid:=0;
!define local joint&pose variables
LOCAL CONST jointtarget home:=[[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL CONST jointtarget snap_jps:=[[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget camera_capture:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget pick_waypoint:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget pickpoint:=[[500,100,300],[0.00226227,-0.99991,-0.00439596,0.0124994],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget drop_waypoint:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget drop:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
!define local tooldata variables
LOCAL PERS tooldata gripper1:=[TRUE,[[0,0,0],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];

PROC Sample_17()
    !set the acceleration parameters
    AccSet 50, 50;
    !set the velocity parameters
    VelSet 50, 1000;
    !move to robot home position
    MoveAbsJ home\NoEOffs,v3000,fine,gripper1;
    !initialize communication parameters (initialization is required only once)
    MM_Init_Socket "127.0.0.1",50000,300;
    !move to image-capturing position
    MoveL camera_capture,v1000,fine,gripper1;
    !open socket connection
    MM_Open_Socket;
    !trigger NO.1 Mech-Vision project
    MM_Start_Vis 1,0,2,snap_jps;
    !get vision result from NO.1 Mech-Vision project
    MM_Get_VisData 1,pose_num,status;
    !check whether vision result has been got successfully
    IF status<>1100 THEN
        !add error handling logic here according to different error codes
        !e.g.: status=1003 means no point cloud in ROI
        !e.g.: status=1002 means no vision result
        Stop;
    ENDIF
    !close socket connection
    MM_Close_Socket;
    !save first vision point data to local variables
    MM_Get_Pose 1,pickpoint,label,toolid;
    !parse label info received from Mech-Vision, eg. "label=56" will decompose into 5 and 6
    label_1:=label DIV 10;  !label_1=5
    label_2:=label MOD 10;  !label_2=6
    !add handling logic according to decomposed label value
    IF label_1=5 THEN
        !add handling logic a
        Stop;
    ELSE
        !add handling logic b
        Stop;
    ENDIF
    !move to intermediate waypoint of picking
    MoveJ pick_waypoint,v1000,z50,gripper1;
    !move to approach waypoint of picking
    MoveL RelTool(pickpoint,0,0,-100),v1000,fine,gripper1;
    !move to picking waypoint
    MoveL pickpoint,v300,fine,gripper1;
    !add object grasping logic here, such as "setdo DO_1, 1;"
    Stop;
    !move to departure waypoint of picking
    MoveL RelTool(pickpoint,0,0,-100),v1000,fine,gripper1;
    !move to intermediate waypoint of placing
    MoveJ drop_waypoint,v1000,z50,gripper1;
    !move to approach waypoint of placing
    MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;
    !move to placing waypoint
    MoveL drop,v300,fine,gripper1;
    !add object releasing logic here, such as "setdo DO_1, 0;"
    Stop;
    !move to departure waypoint of placing
    MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;
    !move back to robot home position
    MoveAbsJ home\NoEOffs,v3000,fine,gripper1;
ENDPROC
ENDMODULE

上述样例程序代码对应的流程如下图所示。

sample17

下表为解析标签的逻辑解读。用户单击指令名称的超链接便可查看该指令的详细说明。

流程 代码及说明

将标签解析为label_1、label_2

!parse label info received from Mech-Vision, eg. "label=56" will decompose into 5 and 6
label_1:=label DIV 10;  !label_1=5
label_2:=label MOD 10;  !label_2=6

MM_Get_Pose指令可以将某个视觉点的工具位姿、标签和末端工具编号分别转存至pickpoint、label、toolid变量中。本样例假设label变量值为56,“label DIV 10”表示label整除10的商(即为5),“label MOD 10”表示label整除10的余数(即为6),如此便将label解析成label_1和label_2(即56解析成5和6)。

根据解析后的标签值添加处理逻辑

!add handling logic according to decomposed label value
IF label_1=5 THEN
    !add handling logic a
    Stop;
ELSE
    !add handling logic b
    Stop;
ENDIF

上述代码表示,如果label_1为5,则执行处理逻辑a;否则,执行处理逻辑b。用户可根据具体业务场景,针对不同的标签值,添加不同的处理逻辑。

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