1.大体实现机械臂跟随物体移动
2.使用线程队列将机器人控制与视觉识别解耦,大大提高了系统的流畅性
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@ -1,5 +1,6 @@
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import asyncio
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import os
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import threading
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from time import sleep
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import Robot
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@ -8,14 +9,19 @@ from torch import tensor
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from ultralytics import YOLO
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import cv2
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from orbbec_camera.OrbbecCamera import OrbbecCamera
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from robot_control import FRRobot
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from robot_control.FRRobot import FRRobot
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# 全局变量
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model = YOLO('yolov8n.pt')
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image_width = 640
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# 矫正系数,用于映射像素尺寸和实际尺寸
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# 开发时系数为25/32 = 0.78125
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correction_factor = 1
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# 创建摄像头实例
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camera = OrbbecCamera('HW', True, image_width=image_width)
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center_point = 320
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robot = Robot.RPC('192.168.3.102')
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# 创建FRRobot实例
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robot_controller = FRRobot()
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def init():
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@ -47,15 +53,14 @@ if __name__ == '__main__':
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conf=0.5,
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half=True,
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imgsz=image_width,
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verbose=False,
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vid_stride=5)
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print("中心点的深度值: ", camera.get_center_distance(), "mm")
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verbose=False, )
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# print("中心点的深度值: ", camera.get_center_distance(), "mm")
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x_pos = 0
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y_pos = 0
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high = 0
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width = 0
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for r in results:
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if len(r.boxes.xyxy) > 0:
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if len(r.boxes.xywh) > 0:
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positions = r.boxes.xywh.tolist()
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x_pos = positions[0][0]
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y_pos = positions[0][1]
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@ -66,41 +71,29 @@ if __name__ == '__main__':
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# print("宽度", high)
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# print("高度", width)
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# 计算与中心点的距离
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x_distance = x_pos - center_point
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y_distance = y_pos - center_point
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# print("X距离:", x_distance)
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# print("Y距离:", y_distance)
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# 移动方向
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# dir:0 - 负方向,1 - 正方向;
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x_dir = 0
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y_dir = 0
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# 移动时间
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x_time = 0
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y_time = 0
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# 确定移动方向
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if abs(x_distance) > 25:
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x_time = abs(x_distance) / 21
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if x_distance > 0:
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x_dir = 1
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else:
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x_dir = 0
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robot.StartJOG(ref=4, nb=1, dir=x_dir, max_dis=30, vel=20.0, acc=100.0)
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sleep(0.5)
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robot.ImmStopJOG()
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# 计算与中心点的距离
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x_distance = (x_pos - center_point) * correction_factor
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y_distance = (y_pos - center_point) * correction_factor
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print("X距离:", x_distance)
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print("Y距离:", y_distance)
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move_commands = []
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if abs(x_distance) > 15:
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x_time = abs(x_distance) / 21
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x_dir = 1 if x_distance > 0 else 0
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move_commands.append(("x", x_distance))
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if abs(y_distance) > 25:
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y_time = abs(y_distance) / 21
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if y_distance < 0:
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y_dir = 1
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else:
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y_dir = 0
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robot.StartJOG(ref=4, nb=2, dir=y_dir, max_dis=30, vel=20.0, acc=100.0)
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sleep(0.5)
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robot.ImmStopJOG()
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if abs(y_distance) > 15:
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y_time = abs(y_distance) / 21
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y_dir = 1 if y_distance < 0 else 0
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move_commands.append(("y", y_distance))
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if len(move_commands) > 0:
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if not robot_controller.is_action:
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# 添加移动指令
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robot_controller.add_move_command(move_commands)
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key = cv2.waitKey(1)
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if key == ord('q'):
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camera.stop()
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# cw.stop()
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robot_controller.add_move_command("stop")
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break
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12
main.py
12
main.py
@ -1,12 +0,0 @@
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import cv2
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import torch
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def process_image(image):
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# todo:使用OpenCV和Torch处理图像,识别物体
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pass
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def get_object_coordinates(image):
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# todo:返回识别物体的坐标
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pass
|
@ -25,6 +25,7 @@ class OrbbecCamera:
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self.color_image = None # 颜色图像
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self.depth_image = None # 深度图像
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self.combined_image = None # 叠加图像
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self.depth_intrinsics = 0 # 深度图像的内参
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# 线程控制
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self.thread = None # 线程对象,用于并行执行捕获循环
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self.active = False # 控制捕获循环的标志
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@ -111,11 +112,12 @@ class OrbbecCamera:
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if depth_frame is None:
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continue
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# 处理深度数据
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depth_image = self.process_depth_data(depth_frame)
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self.depth_image = depth_image
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# 合成深度图像
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combined_image = cv2.addWeighted(color_image, 0.5, depth_image, 0.5, 0) # 叠加图像
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self.combined_image = combined_image
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self.process_depth_data(depth_frame)
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# depth_image = self.process_depth_data(depth_frame)
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# self.depth_image = depth_image
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# # 合成深度图像
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# combined_image = cv2.addWeighted(color_image, 0.5, depth_image, 0.5, 0) # 叠加图像
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# self.combined_image = combined_image
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except KeyboardInterrupt:
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break # 捕捉到中断信号则退出
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@ -153,17 +155,16 @@ class OrbbecCamera:
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# v: 像素坐标y
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# depth: 深度值
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# K[0]为相机参数
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# fx = self.depth_intrinsics.K[0]
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# fy = self.depth_intrinsics.K[4]
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# cx = self.depth_intrinsics.K[2]
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# cy = self.depth_intrinsics.K[5]
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fx = self.depth_intrinsics.K[0]
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fy = self.depth_intrinsics.K[4]
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cx = self.depth_intrinsics.K[2]
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cy = self.depth_intrinsics.K[5]
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# 单位是毫米
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# camera_x = (u - cx) * depth / fx
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# camera_y = (v - cy) * depth / fy
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# return camera_x, camera_y, depth
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camera_x = (u - cx) * depth / fx
|
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camera_y = (v - cy) * depth / fy
|
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return camera_x, camera_y, depth
|
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# 返回值: 相机坐标(x, y, z)
|
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return None
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
@ -1,3 +1,6 @@
|
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import queue
|
||||
import threading
|
||||
|
||||
import Robot
|
||||
import time
|
||||
|
||||
@ -6,50 +9,63 @@ class FRRobot:
|
||||
|
||||
def __init__(self):
|
||||
self.robotCTL = Robot.RPC('192.168.3.102')
|
||||
|
||||
self.is_action = False # 是否正在执行动作
|
||||
self.speed = 100 # 速度百分比,[0~100]默认20
|
||||
self.home = [] # 回零点
|
||||
self.tool = 1 # 工具坐标系编号
|
||||
self.user = 1 # 工件坐标系编号
|
||||
|
||||
# 工具坐标系参数
|
||||
# self.t_coord = [0, 0, 170, -180, 0, -45]
|
||||
# 100% 60mm/s; 50% 30mm/s; 20% 12mm/s
|
||||
self.velocity = 60 # 速度(mm/s)
|
||||
# 线程相关
|
||||
self.command_queue = queue.Queue()
|
||||
self.listener_thread = threading.Thread(target=self.process_commands)
|
||||
self.listener_thread.daemon = True # 设置为守护线程,确保主程序退出时线程也会退出
|
||||
self.listener_thread.start()
|
||||
|
||||
speed_error_code = self.robotCTL.SetSpeed(self.speed)
|
||||
if speed_error_code != 0:
|
||||
print("初始化全局速度错误:", speed_error_code)
|
||||
# tool_error_code = self.robotCTL.SetToolCoord(1, self.t_coord, 0, 0)
|
||||
# if tool_error_code != 0:
|
||||
# print("初始化工具坐标系错误:", tool_error_code)
|
||||
|
||||
# 将移动命令添加到队列中
|
||||
def add_move_command(self, command):
|
||||
self.command_queue.put(command)
|
||||
|
||||
#
|
||||
if __name__ == '__main__':
|
||||
robot = FRRobot()
|
||||
robot.robotCTL.ImmStopJOG()
|
||||
# # 与机器人控制器建立连接,连接成功返回一个机器人对象
|
||||
#
|
||||
# #
|
||||
# # ref:0 - 关节点动, 2 - 基坐标系点动, 4 - 工具坐标系点动, 8 - 工件坐标系点动;
|
||||
# # nb:1 - 1
|
||||
# # 关节(x轴),2 - 2
|
||||
# # 关节(y轴),
|
||||
# # 3 - 3 关节(z轴),
|
||||
# # 4 - 4 关节(rx),
|
||||
# # 5 - 5 关节(ry),
|
||||
# # 6 - 6 关节(rz);
|
||||
# # dir:0 - 负方向,1 - 正方向;
|
||||
# # max_dis:单次点动最大角度 / 距离,单位 ° 或mm;
|
||||
# # 默认参数
|
||||
# # vel:速度百分比,[0~100]默认20;
|
||||
# # acc:加速度百分比,[0~100]默认100;
|
||||
# # n = 0
|
||||
# # while n < 5:
|
||||
# # X轴负方向移动
|
||||
# robot.robotCTL.StartJOG(ref=4, nb=1, dir=1, max_dis=300, vel=20.0, acc=100.0)
|
||||
# time.sleep(5)
|
||||
# # Y轴负方向移动
|
||||
# # robot.robotCTL.StartJOG(4, 2, 0, 30, vel=20.0, acc=100.0)
|
||||
# # time.sleep(0.5)
|
||||
# # n += 1
|
||||
# robot.robotCTL.ImmStopJOG()
|
||||
def process_commands(self):
|
||||
while True:
|
||||
move_commands = self.command_queue.get()
|
||||
if move_commands == "stop":
|
||||
self.robotCTL.ImmStopJOG()
|
||||
break # 通过发送一个特定的"stop"命令来停止线程
|
||||
# axis, distance, direction = move_commands
|
||||
print("接收到指令: ", move_commands)
|
||||
for command in move_commands:
|
||||
self.is_action = True
|
||||
axis, distance = command
|
||||
if axis == "x":
|
||||
print("x移动距离: ", distance)
|
||||
move_time = abs(distance) / self.velocity
|
||||
direction = 1 if distance > 0 else 0
|
||||
self.move_x(distance, direction)
|
||||
print("x移动时间: ", move_time)
|
||||
time.sleep(move_time)
|
||||
self.robotCTL.ImmStopJOG()
|
||||
elif axis == "y":
|
||||
print("y移动距离: ", distance)
|
||||
move_time = abs(distance) / self.velocity
|
||||
direction = 1 if distance < 0 else 0
|
||||
self.move_y(distance, direction)
|
||||
print("y移动时间: ", move_time)
|
||||
time.sleep(move_time)
|
||||
self.robotCTL.ImmStopJOG()
|
||||
|
||||
self.is_action = False
|
||||
self.command_queue.task_done()
|
||||
|
||||
def move_x(self, distance=30, direction=1):
|
||||
# direction为0代表负方向,为1代表正方向
|
||||
dis = int(distance)
|
||||
self.robotCTL.StartJOG(ref=4, nb=1, dir=direction, max_dis=100, vel=20.0, acc=100.0)
|
||||
|
||||
def move_y(self, distance=30, direction=1):
|
||||
dis = int(distance)
|
||||
self.robotCTL.StartJOG(ref=4, nb=2, dir=direction, max_dis=100, vel=20.0, acc=100.0)
|
||||
|
@ -1,3 +1,17 @@
|
||||
import FRRobot
|
||||
import queue
|
||||
import threading
|
||||
|
||||
robot = FRRobot.FRRobot()
|
||||
import Robot
|
||||
import time
|
||||
|
||||
robotCTL = Robot.RPC('192.168.3.102')
|
||||
|
||||
tool = 1 # 工具坐标系编号
|
||||
user = 1 # 工件坐标系编号
|
||||
|
||||
speed_error_code = robotCTL.SetSpeed(40)
|
||||
if speed_error_code != 0:
|
||||
print("初始化全局速度错误:", speed_error_code)
|
||||
robotCTL.StartJOG(ref=4, nb=1, dir=1, max_dis=100, vel=20.0, acc=100.0)
|
||||
time.sleep(1)
|
||||
robotCTL.ImmStopJOG()
|
||||
|
Loading…
Reference in New Issue
Block a user