C# WinForm 机器视觉分拣项目｜海康 GigE 相机 + Halcon 二维码识别 + JAKA 节卡机械臂 + ModbusRTU+Access 数据库

文章简介

本文带来一套完整工业流水线视觉分拣 WinForm 上位机 Demo，整套系统包含：Modbus‑RTU 接收 PLC 脉冲触发海康 GigE 相机软拍照、Halcon 实现 DataMatrix 二维码解码识别、JAKA 节卡机械臂完成 OK/NG 自动分拣、识别结果存入 Access 数据库保存记录。

业务流程：PLC 下发 Modbus 脉冲 → 相机软触发拍照 → Halcon 识别二维码 → 判断 OK/NG → 机械臂执行取料分拣，OK 放合格工位，NG 放不合格工位；识别数据写入 Access 数据库，可关闭流水线开关只做识别不运行机械臂，适合学习视觉 + 机器人联合工控项目。

一、开发环境与 NuGet / SDK 依赖

• IDE：Visual Studio2022
• 项目类型：Windows 窗体应用 (.NET Framework)

引用库与 SDK：

硬件清单：海康 GigE 工业相机、JAKA 节卡机器人、PLC（Modbus‑RTU）、电脑； 注意：Halcon 需要安装授权；Access 需要安装 AccessDatabaseEngine 驱动；节卡机器人 SDK 版本需要和控制柜固件匹配。

二、WinForm 界面控件说明

表格

三、完整 Form1 代码

using HalconDotNet;
using jakaApi;
using jkType;
using MvCameraControl;
using NModbus;
using NModbus.Device;
using NModbus.Serial;
using System;
using System.Collections.Generic;
using System.Data;
using System.Data.OleDb;
using System.Drawing.Drawing2D;
using System.IO;
using System.IO.Ports;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace c_CombineJAKA_ZU
{
public partial class Form1 : Form
{
private readonly string SaveFolder = Path.Combine(Application.StartupPath, \”拍照缓存\”);
private HTuple Data2DCode;
//串口和Modbus
private SerialPort _SerialPort;
private IModbusSerialMaster _ModbusMaster;
//相机
private readonly DeviceTLayerType Type = DeviceTLayerType.MvGigEDevice;
private List<IDeviceInfo> deviceInfoList = new List<IDeviceInfo>();
private IDeviceInfo deviceInfo;
private IDevice device;
//相机采集
private bool isGrabbing = false;
//线程
private System.Threading.CancellationTokenSource _stop;
private System.Threading.Thread _checkThread;
private readonly object _lock = new object();
private readonly object _frameLock = new object();
private readonly object _robotLock = new object();
//机械臂
private const string RobotIP = \”192.168.1.101\”;
private int _robotHandle = 0;
private const double D2R = Math.PI / 180;
// 升降安全高度差值（模拟抓取下降距离，按需修改）
private const double DownOffset = 180;
#region 【4组基础点位 + 自动升降衍生点位】
// 流水线总开关：true=启动程序，识别后自动走机械分拣；false=仅识别不动作
private bool _workEnable = false;
// 流水线开关同步锁
private readonly object _workLock = new object();
private bool _robotConnected = false;
// 1. 待机原点（高位安全位置）
private JKTYPE.CartesianPose _posHome = new JKTYPE.CartesianPose()
{
tran = new JKTYPE.CartesianTran { x = 328.237, y = 400.956, z = 155.083 },
rpy = new JKTYPE.Rpy { rx = -179.765 * D2R, ry = 0.760 * D2R, rz = 89.876 * D2R }
};
// 2. 取料上方安全点位（高位不下压）
private JKTYPE.CartesianPose _posPickUp = new JKTYPE.CartesianPose()
{
tran = new JKTYPE.CartesianTran { x = 371.769, y = 215.102, z = 155.083 },
rpy = new JKTYPE.Rpy { rx = -179.765 * D2R, ry = 0.760 * D2R, rz = 89.876 * D2R }
};
// 2‑1 取料下压点位（_posPickUp Z轴 ‑80，模拟靠近零件）
private JKTYPE.CartesianPose _posPickDown;
// 3 OK传送带上方安全点位
private JKTYPE.CartesianPose _posOkUp = new JKTYPE.CartesianPose()
{
tran = new JKTYPE.CartesianTran { x = 330.253, y = 583.318, z = 155.083 },
rpy = new JKTYPE.Rpy { rx = -179.765 * D2R, ry = 0.760 * D2R, rz = 89.876 * D2R }
};
// 3‑1 OK放料下压点位
private JKTYPE.CartesianPose _posOkDown;
// 4 NG传送带上方安全点位
private JKTYPE.CartesianPose _posNgUp = new JKTYPE.CartesianPose()
{
tran = new JKTYPE.CartesianTran { x = 566.681, y = 298.829, z = 155.083 },
rpy = new JKTYPE.Rpy { rx = -179.765 * D2R, ry = 0.760 * D2R, rz = 89.876 * D2R }
};
// 4‑1 NG放料下压点位
private JKTYPE.CartesianPose _posNgDown;
#endregion
public Form1()
{
InitializeComponent();
CheckFolder();
LoadQrCodeModel();
ConnectSerialPort();
ConnectModbus();
SDKSystem.Initialize();
// 取料下压
_posPickDown = _posPickUp;
_posPickDown.tran.z -= DownOffset;
// OK下压
_posOkDown = _posOkUp;
_posOkDown.tran.z -= DownOffset;
// NG下压
_posNgDown = _posNgUp;
_posNgDown.tran.z -= DownOffset;
}
private void CheckFolder()
{
if (!Directory.Exists(SaveFolder))
Directory.CreateDirectory(SaveFolder);
}
//加载解二维码模型
private void LoadQrCodeModel()
{
try
{
HOperatorSet.CreateDataCode2dModel(\”Data Matrix ECC 200\”, \”default_parameters\”, \”maximum_recognition\”, out Data2DCode);
textBox1.AppendText($\”解二维码模型加载成功\\r\\n\”);
}
catch (Exception ex)
{
textBox1.AppendText($\”解二维码模型加载失败,错误：{ex.Message}\\r\\n\”);
}
}
//加载串口
private void ConnectSerialPort()
{
try
{
_SerialPort = new SerialPort(\”COM5\”, 9600, Parity.None, 8, StopBits.One)
{
ReadTimeout = 1000,
WriteTimeout = 1000
};
_SerialPort.Open();
textBox1.AppendText(\”串口连接成功,\”);
}
catch (Exception ex)
{
textBox1.AppendText($\”串口连接失败，错误:{ex.Message},\”);
}
}
//加载Modbus，用来接收脉冲
private void ConnectModbus()
{
try
{
ModbusFactory factory = new ModbusFactory();
_ModbusMaster = factory.CreateRtuMaster(_SerialPort);
textBox1.AppendText(\”Modbus连接成功\\r\\n\”);