1. 调试了模型预测的输出结果

2. 成功控制机械臂移动
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GitLab 2024-03-31 22:26:29 +08:00
parent db9e060e6f
commit dae25cdf47
5 changed files with 119 additions and 38 deletions

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57
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@ -2,17 +2,20 @@ import asyncio
import os
from time import sleep
import Robot
import torch
from torch import tensor
from ultralytics import YOLO
import cv2
from orbbec_camera.OrbbecCamera import OrbbecCamera
from robot_control import FRRobot
# 全局变量
model = YOLO('yolov8n.pt')
image_width = 640
camera = OrbbecCamera('HW', True, image_width=image_width)
center_point = 320
robot = Robot.RPC('192.168.3.102')
def init():
@ -45,15 +48,56 @@ if __name__ == '__main__':
half=True,
imgsz=image_width,
verbose=False,
vid_stride=1000)
vid_stride=5)
print("中心点的深度值: ", camera.get_center_distance(), "mm")
x_pos = 0
y_pos = 0
high = 0
width = 0
for r in results:
if len(r.boxes.xyxy) > 0:
positions = r.boxes.xywh.tolist()
print("X中心点:", positions[0][0])
print("Y中心点:", positions[0][1])
print("宽度", positions[0][2])
print("高度", positions[0][3])
x_pos = positions[0][0]
y_pos = positions[0][1]
high = positions[0][2]
width = positions[0][3]
# print("X中心点:", x_pos)
# print("Y中心点:", y_pos)
# print("宽度", high)
# print("高度", width)
# 计算与中心点的距离
x_distance = x_pos - center_point
y_distance = y_pos - center_point
# print("X距离:", x_distance)
# print("Y距离:", y_distance)
# 移动方向
# dir0 - 负方向1 - 正方向;
x_dir = 0
y_dir = 0
# 移动时间
x_time = 0
y_time = 0
# 确定移动方向
if abs(x_distance) > 25:
x_time = abs(x_distance) / 21
if x_distance > 0:
x_dir = 1
else:
x_dir = 0
robot.StartJOG(ref=4, nb=1, dir=x_dir, max_dis=30, vel=20.0, acc=100.0)
sleep(0.5)
robot.ImmStopJOG()
if abs(y_distance) > 25:
y_time = abs(y_distance) / 21
if y_distance < 0:
y_dir = 1
else:
y_dir = 0
robot.StartJOG(ref=4, nb=2, dir=y_dir, max_dis=30, vel=20.0, acc=100.0)
sleep(0.5)
robot.ImmStopJOG()
key = cv2.waitKey(1)
if key == ord('q'):

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@ -30,7 +30,7 @@ class OrbbecCamera:
self.active = False # 控制捕获循环的标志
# 显示设置
self.width = image_width # 图像宽度
self.fps = 15 # 帧率
self.fps = 30 # 帧率
# 初始化相机设置
device_info = self.device.get_device_info() # 获取设备信息

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@ -7,27 +7,49 @@ class FRRobot:
def __init__(self):
self.robotCTL = Robot.RPC('192.168.3.102')
self.speed = 20 # 速度百分比,[0~100]默认20
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]
# self.t_coord = [0, 0, 170, -180, 0, -45]
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)
# 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)
#
if __name__ == '__main__':
robot = FRRobot()
# joint_pos1 = [-286, -456, 673, -179, 0, 90]
# ret = robot.robotCTL.SplineStart() # 样条运动开始
# if ret == 0:
# print("样条运动开始:", ret)
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
#
# ret = robot.robotCTL.SplinePTP(joint_pos1, robot.tool, robot.user, vel=2) # 样条运动PTP
# #
# # ref0 - 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;
# # nb1 - 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);
# # dir0 - 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()