# 视觉引导运控上位机调试软件

**Repository Path**: cqnetdev/VisualGuidEmotioncontrol

## Basic Information

- **Project Name**: 视觉引导运控上位机调试软件
- **Description**: 软件WinFrom+OpenCV,硬件雷赛控制器+三轴机台。开发视觉识别轨迹引导运动控制的调试与自动采集检测运动,另外还有使用GDI实现的写字机功能
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2026-06-02
- **Last Updated**: 2026-06-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# VisualGuidEmotioncontrol

Visual Guidance Motion Control System

## Project Overview

This project is a visual guidance motion control system built on Windows Forms, integrating industrial camera image acquisition, image processing, coordinate calibration, and multi-axis motion control. The system enables visual recognition of target objects and converts image coordinates into mechanical coordinates for precise motion control.

## Features

- **Industrial Camera Control**: Supports image acquisition and display from Hikvision GigE cameras
- **Image Processing**: Track detection, polygon recognition, and contour extraction using OpenCvSharp
- **Coordinate Calibration**: Conversion from image coordinates to mechanical coordinates
- **Motion Control**: Precise multi-axis motion control via Leadshine LTSMC motion control card
- **Trajectory Generation**: Supports text-to-trajectory conversion, polygon trajectory generation, and continuous motion
- **Manual Control**: Supports manual jog control for each axis and movement to safe positions

## Technology Stack

- **Framework**: .NET Framework 4.7.2 + Windows Forms
- **Camera SDK**: Hikrobot MvCameraControl.NET (Hikvision)
- **Image Processing**: OpenCvSharp 4.x
- **Motion Control**: Leadshine LTSMC.dll (Leadshine SMC IDE)
- **JSON Processing**: Newtonsoft.Json
- **Communication**: TCP/IP Ethernet communication

## Project Structure

```
VisualGuidEmotioncontrol/
├── LaisaiMotionService/          # Motion control service program
│   ├── LTSMC.cs                  # Motion control card DLL import definitions
│   └── Program.cs                # Main service program
├── WindowsFormsApp/              # Main application
│   ├── Helper/                   # Helper classes
│   │   ├── CalibrationHelper.cs      # Calibration helper class
│   │   ├── ImageProcessor.cs         # Image processing class
│   │   ├── LaisaiMotionController.cs # Motion controller wrapper class
│   │   ├── MotionClient.cs           # Motion service client
│   │   ├── PolygonProcessor.cs       # Polygon processing class
│   │   └── TextToTrajectory.cs       # Text-to-trajectory class
│   ├── MainForm.cs              # Main form
│   ├── LTSMC.cs                 # Motion control DLL definitions
│   └── App.config               # Application configuration
├── MvCameraControl.Net.dll      # Hikvision camera SDK
└── OpenCvSharp.dll              # OpenCV wrapper library
```

## Core Module Descriptions

### 1. CalibrationHelper (Coordinate Calibration)
Implements conversion from image coordinates to mechanical coordinates, supporting a two-point calibration algorithm:
- Image coordinate → Mechanical coordinate transformation
- Calibration parameters saving and loading (in JSON format)

### 2. ImageProcessor (Image Processing)
Image processing and trajectory point extraction from track images:
- Image grayscale conversion and thresholding
- Contour detection and line fitting
- Trajectory point generation

### 3. PolygonProcessor (Polygon Processing)
Polygon region detection and trajectory planning:
- Polygon contour detection
- Polygon vertex extraction
- Polygon trajectory generation

### 4. TextToTrajectory (Text-to-Trajectory)
Converts input text into motion trajectories:
- Font rendering and contour extraction
- Stroke trajectory planning
- 3D trajectory point generation (X, Y, Z)

### 5. LaisaiMotionController (Motion Control)
Wrapper for Leadshine motion control card:
- Initialization and connection closure
- Single-axis and multi-axis continuous motion
- Homing and movement to safe positions
- Velocity and position querying

## Hardware Requirements

- Leadshine motion control card (LTSMC series)
- Hikvision GigE industrial camera
- Support for Ethernet / RS232 communication

## Software Dependencies

- Windows 7/10/11 (64-bit)
- .NET Framework 4.7.2 or higher
- Visual Studio 2019 or higher

## Quick Start

### 1. Configure Camera Connection
Click the "Connect Camera" button on the main interface; the system will automatically enumerate and connect to the camera device.

### 2. Initialize Motion Control
The motion control card is initialized automatically upon startup, connecting via Ethernet to the designated IP: `192.168.1.64`

### 3. Coordinate Calibration
1. Align the camera with the calibration reference object
2. Enter the mechanical coordinates in the "Calibration" section
3. Click the calibration button to complete two-point calibration

### 4. Motion Control
- **Manual Control**: Use directional buttons to control each axis
- **Automatic Operation**: Enter target coordinates and click the "Run" button
- **Trajectory Motion**: Generate trajectory after image processing and perform continuous motion

## Configuration Details

### Motion Control Configuration (App.config)
```xml
<appSettings>
    <add key="EthIP" value="192.168.1.64"/>
    <add key="EthPort" value="5005"/>
</appSettings>
```

### Calibration Parameters (calibration.json)
The system automatically saves calibration parameters, including:
- ScaleX, ScaleY: Scaling factors
- OffsetX, OffsetY: Offset values
- FixedZ: Fixed Z-axis height

## Notes

1. Ensure the motion control card is network-connected to the PC
2. Coordinate calibration is required for first-time use
3. Confirm limit switch configurations for all axes before motion
4. In emergencies, use the emergency stop button to halt all motion

## License

This project is for learning and research purposes only. All SDKs and DLLs are copyrighted by their respective manufacturers.