{"id":100268,"date":"2026-09-04T11:08:56","date_gmt":"2026-09-04T03:08:56","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/100268.html"},"modified":"2026-09-04T11:08:56","modified_gmt":"2026-09-04T03:08:56","slug":"c-winform-%e6%9c%ba%e5%99%a8%e8%a7%86%e8%a7%89%e5%88%86%e6%8b%a3%e9%a1%b9%e7%9b%ae%ef%bd%9c%e6%b5%b7%e5%ba%b7-gige-%e7%9b%b8%e6%9c%ba-halcon-%e4%ba%8c%e7%bb%b4%e7%a0%81%e8%af%86%e5%88%ab-jaka","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/100268.html","title":{"rendered":"C# WinForm \u673a\u5668\u89c6\u89c9\u5206\u62e3\u9879\u76ee\uff5c\u6d77\u5eb7 GigE \u76f8\u673a + Halcon \u4e8c\u7ef4\u7801\u8bc6\u522b + JAKA \u8282\u5361\u673a\u68b0\u81c2 + ModbusRTU+Access \u6570\u636e\u5e93"},"content":{"rendered":"<h3>\u6587\u7ae0\u7b80\u4ecb<\/h3>\n<p>\u672c\u6587\u5e26\u6765\u4e00\u5957\u5b8c\u6574\u5de5\u4e1a\u6d41\u6c34\u7ebf\u89c6\u89c9\u5206\u62e3 WinForm \u4e0a\u4f4d\u673a Demo\uff0c\u6574\u5957\u7cfb\u7edf\u5305\u542b\uff1aModbus\u2011RTU \u63a5\u6536 PLC \u8109\u51b2\u89e6\u53d1\u6d77\u5eb7 GigE \u76f8\u673a\u8f6f\u62cd\u7167\u3001Halcon \u5b9e\u73b0 DataMatrix \u4e8c\u7ef4\u7801\u89e3\u7801\u8bc6\u522b\u3001JAKA \u8282\u5361\u673a\u68b0\u81c2\u5b8c\u6210 OK\/NG \u81ea\u52a8\u5206\u62e3\u3001\u8bc6\u522b\u7ed3\u679c\u5b58\u5165 Access \u6570\u636e\u5e93\u4fdd\u5b58\u8bb0\u5f55\u3002<\/p>\n<p>\u4e1a\u52a1\u6d41\u7a0b\uff1aPLC \u4e0b\u53d1 Modbus \u8109\u51b2 \u2192 \u76f8\u673a\u8f6f\u89e6\u53d1\u62cd\u7167 \u2192 Halcon \u8bc6\u522b\u4e8c\u7ef4\u7801 \u2192 \u5224\u65ad OK\/NG \u2192 \u673a\u68b0\u81c2\u6267\u884c\u53d6\u6599\u5206\u62e3\uff0cOK \u653e\u5408\u683c\u5de5\u4f4d\uff0cNG \u653e\u4e0d\u5408\u683c\u5de5\u4f4d\uff1b\u8bc6\u522b\u6570\u636e\u5199\u5165 Access \u6570\u636e\u5e93\uff0c\u53ef\u5173\u95ed\u6d41\u6c34\u7ebf\u5f00\u5173\u53ea\u505a\u8bc6\u522b\u4e0d\u8fd0\u884c\u673a\u68b0\u81c2\uff0c\u9002\u5408\u5b66\u4e60\u89c6\u89c9 + \u673a\u5668\u4eba\u8054\u5408\u5de5\u63a7\u9879\u76ee\u3002<\/p>\n<h3>\u4e00\u3001\u5f00\u53d1\u73af\u5883\u4e0e NuGet \/ SDK \u4f9d\u8d56<\/h3>\n<ul>\n<li>IDE\uff1aVisual Studio2022<\/li>\n<li>\u9879\u76ee\u7c7b\u578b\uff1aWindows \u7a97\u4f53\u5e94\u7528 (.NET Framework)<\/li>\n<\/ul>\n<p>\u5f15\u7528\u5e93\u4e0e SDK\uff1a<\/p>\n<li>HalconDotNet\uff1aHalcon \u5f15\u64ce\uff0c\u7528\u4e8e\u4e8c\u7ef4\u7801 DataMatrix ECC200 \u8bc6\u522b<\/li>\n<li>MvCameraControl\uff1a\u6d77\u5eb7 GigE \u76f8\u673a SDK\uff0c\u76f8\u673a\u91c7\u96c6\u3001\u8f6f\u89e6\u53d1\u3001\u56fe\u50cf\u4fdd\u5b58<\/li>\n<li>jakaApi\u3001jkType\uff1a\u8282\u5361 JAKA \u673a\u5668\u4eba C# SDK\uff0c\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236<\/li>\n<li>NModbus\u3001NModbus.Serial\uff1aModbus\u2011RTU \u4e32\u53e3\u901a\u4fe1\uff0c\u63a5\u6536 PLC \u8109\u51b2\u4fe1\u53f7<\/li>\n<li>System.Data.OleDb\uff1aAccess \u6570\u636e\u5e93\u8bfb\u5199<\/li>\n<p>\u786c\u4ef6\u6e05\u5355\uff1a\u6d77\u5eb7 GigE \u5de5\u4e1a\u76f8\u673a\u3001JAKA \u8282\u5361\u673a\u5668\u4eba\u3001PLC\uff08Modbus\u2011RTU\uff09\u3001\u7535\u8111\uff1b \u6ce8\u610f\uff1aHalcon \u9700\u8981\u5b89\u88c5\u6388\u6743\uff1bAccess \u9700\u8981\u5b89\u88c5 AccessDatabaseEngine \u9a71\u52a8\uff1b\u8282\u5361\u673a\u5668\u4eba SDK \u7248\u672c\u9700\u8981\u548c\u63a7\u5236\u67dc\u56fa\u4ef6\u5339\u914d\u3002<\/p>\n<h3>\u4e8c\u3001WinForm \u754c\u9762\u63a7\u4ef6\u8bf4\u660e<\/h3>\n<p>\u8868\u683c<\/p>\n<table>\n<tr>\n   \u63a7\u4ef6\u540d\u79f0<br \/>\n   \u63a7\u4ef6\u7c7b\u578b<br \/>\n   \u529f\u80fd\u8bf4\u660e<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>SearchCamera_Click<\/td>\n<td>Button<\/td>\n<td>\u641c\u7d22\u5c40\u57df\u7f51\u5185 GigE \u76f8\u673a<\/td>\n<\/tr>\n<tr>\n<td>comboBox1<\/td>\n<td>ComboBox<\/td>\n<td>\u679a\u4e3e\u641c\u7d22\u5230\u7684\u76f8\u673a\uff0c\u5207\u6362\u9009\u62e9\u76f8\u673a<\/td>\n<\/tr>\n<tr>\n<td>OpenCamera_Click<\/td>\n<td>Button<\/td>\n<td>\u6253\u5f00\u76f8\u673a\uff0c\u542f\u52a8\u8109\u51b2\u76d1\u542c\u7ebf\u7a0b<\/td>\n<\/tr>\n<tr>\n<td>CloseCamera_Click<\/td>\n<td>Button<\/td>\n<td>\u5173\u95ed\u76f8\u673a\uff0c\u505c\u6b62\u91c7\u96c6<\/td>\n<\/tr>\n<tr>\n<td>GetParameters_Click<\/td>\n<td>Button<\/td>\n<td>\u8bfb\u53d6\u76f8\u673a\u66dd\u5149\u3001\u589e\u76ca\u53c2\u6570\u56de\u663e\u5230\u6587\u672c\u6846<\/td>\n<\/tr>\n<tr>\n<td>SetParameter_Click<\/td>\n<td>Button<\/td>\n<td>\u8bbe\u7f6e\u76f8\u673a\u66dd\u5149\u65f6\u95f4\u3001\u589e\u76ca<\/td>\n<\/tr>\n<tr>\n<td>Connection_Click<\/td>\n<td>Button<\/td>\n<td>\u8fde\u63a5\u8282\u5361\u673a\u68b0\u81c2\uff0c\u4e0a\u7535\u4e0a\u4f7f\u80fd\u56de\u539f\u70b9<\/td>\n<\/tr>\n<tr>\n<td>Closing_Click<\/td>\n<td>Button<\/td>\n<td>\u65ad\u5f00\u673a\u68b0\u81c2\uff0c\u4e0b\u7535\u9500\u6bc1\u53e5\u67c4<\/td>\n<\/tr>\n<tr>\n<td>Start_Click<\/td>\n<td>Button<\/td>\n<td>\u542f\u52a8\u6d41\u6c34\u7ebf\uff1a\u8bc6\u522b\u540e\u81ea\u52a8\u6267\u884c\u673a\u68b0\u81c2\u5206\u62e3<\/td>\n<\/tr>\n<tr>\n<td>Stop_Click<\/td>\n<td>Button<\/td>\n<td>\u505c\u6b62\u6d41\u6c34\u7ebf\uff1a\u53ea\u505a\u8bc6\u522b\uff0c\u673a\u68b0\u81c2\u4e0d\u52a8\u4f5c<\/td>\n<\/tr>\n<tr>\n<td>pictureBox1<\/td>\n<td>PictureBox<\/td>\n<td>\u663e\u793a\u62cd\u7167\u56fe\u7247\uff0c\u7ed8\u5236\u4e8c\u7ef4\u7801\u8bc6\u522b\u6846<\/td>\n<\/tr>\n<tr>\n<td>textBox1<\/td>\n<td>TextBox<\/td>\n<td>\u65e5\u5fd7\uff1a\u6a21\u578b\u52a0\u8f7d\u3001\u4e32\u53e3\u3001\u6570\u636e\u5e93\u64cd\u4f5c\u65e5\u5fd7<\/td>\n<\/tr>\n<tr>\n<td>textBox2<\/td>\n<td>TextBox<\/td>\n<td>\u65e5\u5fd7\uff1a\u76f8\u673a\u3001\u8109\u51b2\u3001\u62cd\u7167\u3001\u8bc6\u522b\u7ed3\u679c\u65e5\u5fd7<\/td>\n<\/tr>\n<tr>\n<td>textBox3<\/td>\n<td>TextBox<\/td>\n<td>\u586b\u5199\u76f8\u673a\u66dd\u5149\u65f6\u95f4<\/td>\n<\/tr>\n<tr>\n<td>textBox4<\/td>\n<td>TextBox<\/td>\n<td>\u586b\u5199\u76f8\u673a\u589e\u76ca<\/td>\n<\/tr>\n<tr>\n<td>textBox5<\/td>\n<td>TextBox<\/td>\n<td>\u673a\u68b0\u81c2\u72b6\u6001\u3001\u8c03\u8bd5\u65e5\u5fd7\u8f93\u51fa<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>\u4e09\u3001\u5b8c\u6574 Form1 \u4ee3\u7801<\/h3>\n<p>using HalconDotNet;<br \/>\nusing jakaApi;<br \/>\nusing jkType;<br \/>\nusing MvCameraControl;<br \/>\nusing NModbus;<br \/>\nusing NModbus.Device;<br \/>\nusing NModbus.Serial;<br \/>\nusing System;<br \/>\nusing System.Collections.Generic;<br \/>\nusing System.Data;<br \/>\nusing System.Data.OleDb;<br \/>\nusing System.Drawing.Drawing2D;<br \/>\nusing System.IO;<br \/>\nusing System.IO.Ports;<br \/>\nusing System.Threading;<br \/>\nusing System.Threading.Tasks;<br \/>\nusing System.Windows.Forms;<\/p>\n<p>namespace c_CombineJAKA_ZU<br \/>\n{<br \/>\n    public partial class Form1 : Form<br \/>\n    {<br \/>\n        private readonly string SaveFolder = Path.Combine(Application.StartupPath, \\&#8221;\u62cd\u7167\u7f13\u5b58\\&#8221;);<br \/>\n        private HTuple Data2DCode;<br \/>\n        \/\/\u4e32\u53e3\u548cModbus<br \/>\n        private SerialPort _SerialPort;<br \/>\n        private IModbusSerialMaster _ModbusMaster;<br \/>\n        \/\/\u76f8\u673a<br \/>\n        private readonly DeviceTLayerType Type = DeviceTLayerType.MvGigEDevice;<br \/>\n        private List&lt;IDeviceInfo&gt; deviceInfoList = new List&lt;IDeviceInfo&gt;();<br \/>\n        private IDeviceInfo deviceInfo;<br \/>\n        private IDevice device;<br \/>\n        \/\/\u76f8\u673a\u91c7\u96c6<br \/>\n        private bool isGrabbing = false;<br \/>\n        \/\/\u7ebf\u7a0b<br \/>\n        private System.Threading.CancellationTokenSource _stop;<br \/>\n        private System.Threading.Thread _checkThread;<br \/>\n        private readonly object _lock = new object();<br \/>\n        private readonly object _frameLock = new object();<br \/>\n        private readonly object _robotLock = new object();<br \/>\n        \/\/\u673a\u68b0\u81c2<br \/>\n        private const string RobotIP = \\&#8221;192.168.1.101\\&#8221;;<br \/>\n        private int _robotHandle = 0;<br \/>\n        private const double D2R = Math.PI \/ 180;<br \/>\n        \/\/ \u5347\u964d\u5b89\u5168\u9ad8\u5ea6\u5dee\u503c\uff08\u6a21\u62df\u6293\u53d6\u4e0b\u964d\u8ddd\u79bb\uff0c\u6309\u9700\u4fee\u6539\uff09<br \/>\n        private const double DownOffset = 180;<br \/>\n        #region \u30104\u7ec4\u57fa\u7840\u70b9\u4f4d + \u81ea\u52a8\u5347\u964d\u884d\u751f\u70b9\u4f4d\u3011<br \/>\n        \/\/ \u6d41\u6c34\u7ebf\u603b\u5f00\u5173\uff1atrue=\u542f\u52a8\u7a0b\u5e8f\uff0c\u8bc6\u522b\u540e\u81ea\u52a8\u8d70\u673a\u68b0\u5206\u62e3\uff1bfalse=\u4ec5\u8bc6\u522b\u4e0d\u52a8\u4f5c<br \/>\n        private bool _workEnable = false;<br \/>\n        \/\/ \u6d41\u6c34\u7ebf\u5f00\u5173\u540c\u6b65\u9501<br \/>\n        private readonly object _workLock = new object();<br \/>\n        private bool _robotConnected = false;<br \/>\n        \/\/ 1. \u5f85\u673a\u539f\u70b9\uff08\u9ad8\u4f4d\u5b89\u5168\u4f4d\u7f6e\uff09<br \/>\n        private JKTYPE.CartesianPose _posHome = new JKTYPE.CartesianPose()<br \/>\n        {<br \/>\n            tran = new JKTYPE.CartesianTran { x = 328.237, y = 400.956, z = 155.083 },<br \/>\n            rpy = new JKTYPE.Rpy { rx = -179.765 * D2R, ry = 0.760 * D2R, rz = 89.876 * D2R }<br \/>\n        };<br \/>\n        \/\/ 2. \u53d6\u6599\u4e0a\u65b9\u5b89\u5168\u70b9\u4f4d\uff08\u9ad8\u4f4d\u4e0d\u4e0b\u538b\uff09<br \/>\n        private JKTYPE.CartesianPose _posPickUp = new JKTYPE.CartesianPose()<br \/>\n        {<br \/>\n            tran = new JKTYPE.CartesianTran { x = 371.769, y = 215.102, z = 155.083 },<br \/>\n            rpy = new JKTYPE.Rpy { rx = -179.765 * D2R, ry = 0.760 * D2R, rz = 89.876 * D2R }<br \/>\n        };<br \/>\n        \/\/ 2\u20111 \u53d6\u6599\u4e0b\u538b\u70b9\u4f4d\uff08_posPickUp Z\u8f74 \u201180\uff0c\u6a21\u62df\u9760\u8fd1\u96f6\u4ef6\uff09<br \/>\n        private JKTYPE.CartesianPose _posPickDown;<br \/>\n        \/\/ 3 OK\u4f20\u9001\u5e26\u4e0a\u65b9\u5b89\u5168\u70b9\u4f4d<br \/>\n        private JKTYPE.CartesianPose _posOkUp = new JKTYPE.CartesianPose()<br \/>\n        {<br \/>\n            tran = new JKTYPE.CartesianTran { x = 330.253, y = 583.318, z = 155.083 },<br \/>\n            rpy = new JKTYPE.Rpy { rx = -179.765 * D2R, ry = 0.760 * D2R, rz = 89.876 * D2R }<br \/>\n        };<br \/>\n        \/\/ 3\u20111 OK\u653e\u6599\u4e0b\u538b\u70b9\u4f4d<br \/>\n        private JKTYPE.CartesianPose _posOkDown;<br \/>\n        \/\/ 4 NG\u4f20\u9001\u5e26\u4e0a\u65b9\u5b89\u5168\u70b9\u4f4d<br \/>\n        private JKTYPE.CartesianPose _posNgUp = new JKTYPE.CartesianPose()<br \/>\n        {<br \/>\n            tran = new JKTYPE.CartesianTran { x = 566.681, y = 298.829, z = 155.083 },<br \/>\n            rpy = new JKTYPE.Rpy { rx = -179.765 * D2R, ry = 0.760 * D2R, rz = 89.876 * D2R }<br \/>\n        };<br \/>\n        \/\/ 4\u20111 NG\u653e\u6599\u4e0b\u538b\u70b9\u4f4d<br \/>\n        private JKTYPE.CartesianPose _posNgDown;<br \/>\n        #endregion<br \/>\n        public Form1()<br \/>\n        {<br \/>\n            InitializeComponent();<br \/>\n            CheckFolder();<br \/>\n            LoadQrCodeModel();<br \/>\n            ConnectSerialPort();<br \/>\n            ConnectModbus();<br \/>\n            SDKSystem.Initialize();<br \/>\n            \/\/ \u53d6\u6599\u4e0b\u538b<br \/>\n            _posPickDown = _posPickUp;<br \/>\n            _posPickDown.tran.z -= DownOffset;<br \/>\n            \/\/ OK\u4e0b\u538b<br \/>\n            _posOkDown = _posOkUp;<br \/>\n            _posOkDown.tran.z -= DownOffset;<br \/>\n            \/\/ NG\u4e0b\u538b<br \/>\n            _posNgDown = _posNgUp;<br \/>\n            _posNgDown.tran.z -= DownOffset;<br \/>\n        }<br \/>\n        private void CheckFolder()<br \/>\n        {<br \/>\n            if (!Directory.Exists(SaveFolder))<br \/>\n                Directory.CreateDirectory(SaveFolder);<br \/>\n        }<br \/>\n        \/\/\u52a0\u8f7d\u89e3\u4e8c\u7ef4\u7801\u6a21\u578b<br \/>\n        private void LoadQrCodeModel()<br \/>\n        {<br \/>\n            try<br \/>\n            {<br \/>\n                HOperatorSet.CreateDataCode2dModel(\\&#8221;Data Matrix ECC 200\\&#8221;, \\&#8221;default_parameters\\&#8221;, \\&#8221;maximum_recognition\\&#8221;, out Data2DCode);<br \/>\n                textBox1.AppendText($\\&#8221;\u89e3\u4e8c\u7ef4\u7801\u6a21\u578b\u52a0\u8f7d\u6210\u529f\\\\r\\\\n\\&#8221;);<br \/>\n            }<br \/>\n            catch (Exception ex)<br \/>\n            {<br \/>\n                textBox1.AppendText($\\&#8221;\u89e3\u4e8c\u7ef4\u7801\u6a21\u578b\u52a0\u8f7d\u5931\u8d25,\u9519\u8bef\uff1a{ex.Message}\\\\r\\\\n\\&#8221;);<br \/>\n            }<br \/>\n        }<br \/>\n        \/\/\u52a0\u8f7d\u4e32\u53e3<br \/>\n        private void ConnectSerialPort()<br \/>\n        {<br \/>\n            try<br \/>\n            {<br \/>\n                _SerialPort = new SerialPort(\\&#8221;COM5\\&#8221;, 9600, Parity.None, 8, StopBits.One)<br \/>\n                {<br \/>\n                    ReadTimeout = 1000,<br \/>\n                    WriteTimeout = 1000<br \/>\n                };<br \/>\n                _SerialPort.Open();<br \/>\n                textBox1.AppendText(\\&#8221;\u4e32\u53e3\u8fde\u63a5\u6210\u529f,\\&#8221;);<br \/>\n            }<br \/>\n            catch (Exception ex)<br \/>\n            {<br \/>\n                textBox1.AppendText($\\&#8221;\u4e32\u53e3\u8fde\u63a5\u5931\u8d25\uff0c\u9519\u8bef:{ex.Message},\\&#8221;);<br \/>\n            }<br \/>\n        }<br \/>\n        \/\/\u52a0\u8f7dModbus\uff0c\u7528\u6765\u63a5\u6536\u8109\u51b2<br \/>\n        private void ConnectModbus()<br \/>\n        {<br \/>\n            try<br \/>\n            {<br \/>\n                ModbusFactory factory = new ModbusFactory();<br \/>\n                _ModbusMaster = factory.CreateRtuMaster(_SerialPort);<br \/>\n                textBox1.AppendText(\\&#8221;Modbus\u8fde\u63a5\u6210\u529f\\\\r\\\\n\\&#8221;);<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u7b80\u4ecb<br 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