├── LICENSE ├── README.md ├── TestUI01.py ├── User.py ├── computecolor.py ├── fire_detection.py ├── infrad_avoid.py ├── passive_buzzer.py ├── server.py ├── testmjpg - 2.py ├── testmjpg.py └── tracking_2.py /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Raspberry-Pi-smart-car 2 | 硬件课程设计，树莓派智能小车。 3 | 4 | 因为软件代码要和硬件相配合，所以这些代码肯定不能直接使用。但是相信其中的写法会对你有帮助。 5 | 6 | computecolor.py计算图片中指定点的HSV值。用于颜色识别阈值的确定。 7 | fire_detection.py火焰检测。 8 | infrad_aviod.py自动避障，用到了红外和超声波。 9 | passive_buzzer.py测试蜂鸣器 10 | server.py服务端，在树莓派上运行，用于与自己的电脑进行socket通信。 11 | testmjpg-2.py两种颜色识别追踪 12 | testmjpg.py一种颜色识别追踪 13 | tracking_2.py自动循迹 14 | 15 | 以上除了颜色识别是在自己电脑上运行之外，其它都是在树莓派上运行。 16 | 17 | # 视频演示地址 18 | [树莓派智能小车功能展示与代码分享](https://www.bilibili.com/video/BV1tv411H7jh) 19 | 20 | # 交流 21 | 有问题可以提issue 22 | 不过提问之前最好先看看这篇文章[提问的智慧](https://github.com/ryanhanwu/How-To-Ask-Questions-The-Smart-Way/blob/main/README-zh_CN.md) 23 | -------------------------------------------------------------------------------- /TestUI01.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | 3 | # Form implementation generated from reading ui file 'TestUI01.ui' 4 | # 5 | # Created by: PyQt5 UI code generator 5.9.2 6 | # 7 | # WARNING! All changes made in this file will be lost! 8 | 9 | from PyQt5 import QtCore, QtGui, QtWidgets 10 | 11 | class Ui_MainWindow(object): 12 | def setupUi(self, MainWindow): 13 | MainWindow.setObjectName("MainWindow") 14 | MainWindow.resize(1184, 853) 15 | self.centralwidget = QtWidgets.QWidget(MainWindow) 16 | self.centralwidget.setObjectName("centralwidget") 17 | self.verticalLayoutWidget = QtWidgets.QWidget(self.centralwidget) 18 | self.verticalLayoutWidget.setGeometry(QtCore.QRect(240, 20, 967, 751)) 19 | self.verticalLayoutWidget.setObjectName("verticalLayoutWidget") 20 | self.verticalLayout = QtWidgets.QVBoxLayout(self.verticalLayoutWidget) 21 | self.verticalLayout.setContentsMargins(0, 0, 0, 0) 22 | self.verticalLayout.setObjectName("verticalLayout") 23 | self.labelView = QtWidgets.QLabel(self.verticalLayoutWidget) 24 | self.labelView.setObjectName("labelView") 25 | self.verticalLayout.addWidget(self.labelView) 26 | self.horizontalLayout = QtWidgets.QHBoxLayout() 27 | self.horizontalLayout.setObjectName("horizontalLayout") 28 | self.gridLayout_2 = QtWidgets.QGridLayout() 29 | self.gridLayout_2.setObjectName("gridLayout_2") 30 | self.pushButtonw = QtWidgets.QPushButton(self.verticalLayoutWidget) 31 | font = QtGui.QFont() 32 | font.setFamily("Agency FB") 33 | font.setPointSize(16) 34 | self.pushButtonw.setFont(font) 35 | self.pushButtonw.setObjectName("pushButtonw") 36 | self.gridLayout_2.addWidget(self.pushButtonw, 0, 1, 1, 1) 37 | self.pushButton_stop = QtWidgets.QPushButton(self.verticalLayoutWidget) 38 | font = QtGui.QFont() 39 | font.setFamily("Agency FB") 40 | font.setPointSize(16) 41 | self.pushButton_stop.setFont(font) 42 | self.pushButton_stop.setObjectName("pushButton_stop") 43 | self.gridLayout_2.addWidget(self.pushButton_stop, 1, 1, 1, 1) 44 | self.pushButtona = QtWidgets.QPushButton(self.verticalLayoutWidget) 45 | font = QtGui.QFont() 46 | font.setFamily("Agency FB") 47 | font.setPointSize(16) 48 | self.pushButtona.setFont(font) 49 | self.pushButtona.setObjectName("pushButtona") 50 | self.gridLayout_2.addWidget(self.pushButtona, 1, 0, 1, 1) 51 | self.pushButtons = QtWidgets.QPushButton(self.verticalLayoutWidget) 52 | font = QtGui.QFont() 53 | font.setFamily("Agency FB") 54 | font.setPointSize(16) 55 | self.pushButtons.setFont(font) 56 | self.pushButtons.setObjectName("pushButtons") 57 | self.gridLayout_2.addWidget(self.pushButtons, 2, 1, 1, 1) 58 | self.pushButtond = QtWidgets.QPushButton(self.verticalLayoutWidget) 59 | font = QtGui.QFont() 60 | font.setFamily("Agency FB") 61 | font.setPointSize(16) 62 | self.pushButtond.setFont(font) 63 | self.pushButtond.setObjectName("pushButtond") 64 | self.gridLayout_2.addWidget(self.pushButtond, 1, 2, 1, 1) 65 | self.horizontalLayout.addLayout(self.gridLayout_2) 66 | self.verticalLayout_3 = QtWidgets.QVBoxLayout() 67 | self.verticalLayout_3.setObjectName("verticalLayout_3") 68 | self.horizontalLayout_2 = QtWidgets.QHBoxLayout() 69 | self.horizontalLayout_2.setObjectName("horizontalLayout_2") 70 | self.label_3 = QtWidgets.QLabel(self.verticalLayoutWidget) 71 | font = QtGui.QFont() 72 | font.setFamily("楷体") 73 | font.setPointSize(20) 74 | self.label_3.setFont(font) 75 | self.label_3.setAlignment(QtCore.Qt.AlignCenter) 76 | self.label_3.setObjectName("label_3") 77 | self.horizontalLayout_2.addWidget(self.label_3) 78 | self.spinBox_speed = QtWidgets.QSpinBox(self.verticalLayoutWidget) 79 | font = QtGui.QFont() 80 | font.setFamily("Agency FB") 81 | font.setPointSize(20) 82 | self.spinBox_speed.setFont(font) 83 | self.spinBox_speed.setMinimum(10) 84 | self.spinBox_speed.setMaximum(50) 85 | self.spinBox_speed.setSingleStep(5) 86 | self.spinBox_speed.setProperty("value", 30) 87 | self.spinBox_speed.setObjectName("spinBox_speed") 88 | self.horizontalLayout_2.addWidget(self.spinBox_speed) 89 | self.verticalLayout_3.addLayout(self.horizontalLayout_2) 90 | self.pushButton_Connect = QtWidgets.QPushButton(self.verticalLayoutWidget) 91 | font = QtGui.QFont() 92 | font.setFamily("Agency FB") 93 | font.setPointSize(16) 94 | self.pushButton_Connect.setFont(font) 95 | self.pushButton_Connect.setObjectName("pushButton_Connect") 96 | self.verticalLayout_3.addWidget(self.pushButton_Connect) 97 | self.verticalLayout_3.setStretch(0, 1) 98 | self.verticalLayout_3.setStretch(1, 1) 99 | self.horizontalLayout.addLayout(self.verticalLayout_3) 100 | self.gridLayout = QtWidgets.QGridLayout() 101 | self.gridLayout.setObjectName("gridLayout") 102 | self.pushButtonDown = QtWidgets.QPushButton(self.verticalLayoutWidget) 103 | font = QtGui.QFont() 104 | font.setFamily("Agency FB") 105 | font.setPointSize(16) 106 | self.pushButtonDown.setFont(font) 107 | self.pushButtonDown.setObjectName("pushButtonDown") 108 | self.gridLayout.addWidget(self.pushButtonDown, 3, 1, 1, 1) 109 | self.pushButtonUp = QtWidgets.QPushButton(self.verticalLayoutWidget) 110 | font = QtGui.QFont() 111 | font.setFamily("Agency FB") 112 | font.setPointSize(16) 113 | self.pushButtonUp.setFont(font) 114 | self.pushButtonUp.setObjectName("pushButtonUp") 115 | self.gridLayout.addWidget(self.pushButtonUp, 1, 1, 1, 1) 116 | self.pushButtonLeft = QtWidgets.QPushButton(self.verticalLayoutWidget) 117 | font = QtGui.QFont() 118 | font.setFamily("Agency FB") 119 | font.setPointSize(16) 120 | self.pushButtonLeft.setFont(font) 121 | self.pushButtonLeft.setObjectName("pushButtonLeft") 122 | self.gridLayout.addWidget(self.pushButtonLeft, 2, 0, 1, 1) 123 | self.pushButtonRight = QtWidgets.QPushButton(self.verticalLayoutWidget) 124 | font = QtGui.QFont() 125 | font.setFamily("Agency FB") 126 | font.setPointSize(16) 127 | self.pushButtonRight.setFont(font) 128 | self.pushButtonRight.setObjectName("pushButtonRight") 129 | self.gridLayout.addWidget(self.pushButtonRight, 2, 2, 1, 1) 130 | self.pushButtonSS = QtWidgets.QPushButton(self.verticalLayoutWidget) 131 | font = QtGui.QFont() 132 | font.setFamily("Agency FB") 133 | font.setPointSize(16) 134 | self.pushButtonSS.setFont(font) 135 | self.pushButtonSS.setObjectName("pushButtonSS") 136 | self.gridLayout.addWidget(self.pushButtonSS, 2, 1, 1, 1) 137 | self.horizontalLayout.addLayout(self.gridLayout) 138 | self.verticalLayout.addLayout(self.horizontalLayout) 139 | self.verticalLayout.setStretch(0, 7) 140 | self.verticalLayout.setStretch(1, 3) 141 | self.label = QtWidgets.QLabel(self.centralwidget) 142 | self.label.setGeometry(QtCore.QRect(20, 30, 191, 211)) 143 | self.label.setObjectName("label") 144 | self.verticalLayoutWidget_2 = QtWidgets.QWidget(self.centralwidget) 145 | self.verticalLayoutWidget_2.setGeometry(QtCore.QRect(20, 330, 181, 141)) 146 | self.verticalLayoutWidget_2.setObjectName("verticalLayoutWidget_2") 147 | self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.verticalLayoutWidget_2) 148 | self.verticalLayout_2.setContentsMargins(0, 0, 0, 0) 149 | self.verticalLayout_2.setObjectName("verticalLayout_2") 150 | self.label_2 = QtWidgets.QLabel(self.verticalLayoutWidget_2) 151 | font = QtGui.QFont() 152 | font.setFamily("楷体") 153 | font.setPointSize(16) 154 | self.label_2.setFont(font) 155 | self.label_2.setAlignment(QtCore.Qt.AlignCenter) 156 | self.label_2.setObjectName("label_2") 157 | self.verticalLayout_2.addWidget(self.label_2) 158 | self.pushButton_follow = QtWidgets.QPushButton(self.verticalLayoutWidget_2) 159 | font = QtGui.QFont() 160 | font.setFamily("Agency FB") 161 | font.setPointSize(16) 162 | self.pushButton_follow.setFont(font) 163 | self.pushButton_follow.setObjectName("pushButton_follow") 164 | self.verticalLayout_2.addWidget(self.pushButton_follow) 165 | MainWindow.setCentralWidget(self.centralwidget) 166 | self.menubar = QtWidgets.QMenuBar(MainWindow) 167 | self.menubar.setGeometry(QtCore.QRect(0, 0, 1184, 30)) 168 | self.menubar.setObjectName("menubar") 169 | MainWindow.setMenuBar(self.menubar) 170 | self.statusbar = QtWidgets.QStatusBar(MainWindow) 171 | self.statusbar.setObjectName("statusbar") 172 | MainWindow.setStatusBar(self.statusbar) 173 | 174 | self.retranslateUi(MainWindow) 175 | QtCore.QMetaObject.connectSlotsByName(MainWindow) 176 | 177 | def retranslateUi(self, MainWindow): 178 | _translate = QtCore.QCoreApplication.translate 179 | MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow")) 180 | self.labelView.setText(_translate("MainWindow", "View")) 181 | self.pushButtonw.setText(_translate("MainWindow", "前进")) 182 | self.pushButton_stop.setText(_translate("MainWindow", "停止")) 183 | self.pushButtona.setText(_translate("MainWindow", "左转")) 184 | self.pushButtons.setText(_translate("MainWindow", "后退")) 185 | self.pushButtond.setText(_translate("MainWindow", "右转")) 186 | self.label_3.setText(_translate("MainWindow", "速度：")) 187 | self.pushButton_Connect.setText(_translate("MainWindow", "开始连接")) 188 | self.pushButtonDown.setText(_translate("MainWindow", "下")) 189 | self.pushButtonUp.setText(_translate("MainWindow", "上")) 190 | self.pushButtonLeft.setText(_translate("MainWindow", "左")) 191 | self.pushButtonRight.setText(_translate("MainWindow", "右")) 192 | self.pushButtonSS.setText(_translate("MainWindow", "释放云台")) 193 | self.label.setText(_translate("MainWindow", "LOGO")) 194 | self.label_2.setText(_translate("MainWindow", "功能列表")) 195 | self.pushButton_follow.setText(_translate("MainWindow", "物体跟随")) 196 | 197 | -------------------------------------------------------------------------------- /User.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | from PyQt5.QtCore import Qt, QTimer 3 | from PyQt5.QtGui import QIcon, QPixmap, QImage 4 | from PyQt5 import QtCore, QtGui, QtWidgets 5 | from PyQt5.QtWidgets import QApplication, QMainWindow, QMessageBox 6 | from TestUI01 import Ui_MainWindow 7 | import cv2 8 | import sys 9 | import socket 10 | import time 11 | 12 | 13 | class fin(QtWidgets.QMainWindow, Ui_MainWindow): 14 | def __init__(self, parent=None): 15 | super(fin, self).__init__(parent=parent) 16 | self.setupUi(self) 17 | self.setStyleSheet("#MainWindow{border-image:url(bg.jpg)}") 18 | self.setWindowTitle('威天鸣Car') 19 | self.setWindowIcon(QIcon('icon.ico')) 20 | icon = QtGui.QPixmap('logo.png').scaled(self.label.width(), self.label.height(), Qt.KeepAspectRatio, 21 | Qt.SmoothTransformation) 22 | self.label.setPixmap(icon) 23 | 24 | self.pushButtonw.clicked.connect(self.on_Forward) 25 | self.pushButtona.clicked.connect(self.on_Turn_Left) 26 | self.pushButtons.clicked.connect(self.on_Back) 27 | self.pushButtond.clicked.connect(self.on_Turn_Right) 28 | self.pushButton_stop.clicked.connect(self.on_Stop) 29 | self.spinBox_speed.valueChanged.connect(self.valueChange) 30 | # 舵机控制 31 | self.pushButtonUp.clicked.connect(self.Servo_up) 32 | self.pushButtonDown.clicked.connect(self.Servo_down) 33 | self.pushButtonLeft.clicked.connect(self.Servo_left) 34 | self.pushButtonRight.clicked.connect(self.Servo_right) 35 | self.pushButtonSS.clicked.connect(self.Servo_stop) 36 | self.pushButton_follow.clicked.connect(self.fire) 37 | self.pushButton_Connect.clicked.connect(self.connect) 38 | 39 | # # 创建 socket 对象 40 | # self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 41 | # host = '10.3.141.1' 42 | # port = 2002 # 设置端口号 43 | # self.s.connect((host, port)) # 连接服务，指定主机和端口 44 | # self.timer_camera = QTimer(self) 45 | # self.cap = cv2.VideoCapture("http://10.3.141.1:8080/?action=stream") 46 | # self.timer_camera.timeout.connect(self.show_pic) 47 | # self.timer_camera.start(10) 48 | 49 | def valueChange(self): 50 | self.s.sendall(str(self.spinBox_speed.value()).encode('utf-8')) 51 | 52 | def connect(self): 53 | # 创建 socket 对象 54 | self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 55 | host = '10.3.141.1' 56 | port = 2002 # 设置端口号 57 | # host = 'http://vtmcar.cn.utools.club' 58 | # port = 2002 59 | self.s.connect((host, port)) # 连接服务，指定主机和端口 60 | self.timer_camera = QTimer(self) 61 | self.cap = cv2.VideoCapture("http://10.3.141.1:8080/?action=stream") 62 | self.timer_camera.timeout.connect(self.show_pic) 63 | self.timer_camera.start(10) 64 | 65 | 66 | 67 | def on_Forward(self): 68 | self.s.sendall('Forward'.encode('utf-8')) # 编码方式 69 | 70 | def on_Turn_Left(self): 71 | self.s.sendall('Left'.encode('utf-8')) # 编码方式 72 | 73 | def on_Turn_Right(self): 74 | self.s.sendall('Right'.encode('utf-8')) # 编码方式 75 | 76 | def on_Back(self): 77 | self.s.sendall('Back'.encode('utf-8')) # 编码方式 78 | 79 | def on_Stop(self): 80 | self.s.sendall('Stop'.encode('utf-8')) # 编码方式""" 81 | 82 | def Servo_left(self): 83 | self.s.sendall('SL'.encode('utf-8')) # 编码方式""" 84 | 85 | def Servo_right(self): 86 | self.s.sendall('SR'.encode('utf-8')) # 编码方式""" 87 | 88 | def Servo_up(self): 89 | self.s.sendall('SU'.encode('utf-8')) # 编码方式""" 90 | 91 | def Servo_down(self): 92 | self.s.sendall('SD'.encode('utf-8')) # 编码方式""" 93 | 94 | def Servo_stop(self): 95 | self.s.sendall('SS'.encode('utf-8')) # 编码方式""" 96 | 97 | 98 | def show_pic(self): 99 | success, frame = self.cap.read() 100 | if success: 101 | show = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) 102 | showImage = QImage(show.data, show.shape[1], show.shape[0], frame.shape[1] * 3, QImage.Format_RGB888) 103 | self.labelView.setPixmap(QPixmap.fromImage(showImage)) 104 | self.labelView.setAlignment(Qt.AlignCenter) 105 | self.timer_camera.start(10) 106 | 107 | def fire(self): 108 | try: 109 | blue_lower = np.array([100, 43, 46]) 110 | blue_upper = np.array([124, 255, 255]) # 设置颜色区间 111 | cap = cv2.VideoCapture("http://10.3.141.1:8080/?action=stream") 112 | cap.set(3, 640) 113 | cap.set(4, 480) # 设置窗口的大小 114 | i = 0 115 | tag = None 116 | while 1: # 进入无线循环 117 | i += 1 118 | 119 | ret, frame = cap.read() # 将摄像头拍摄到的画面作为frame的值 120 | frame = cv2.GaussianBlur(frame, (5, 5), 0) # 高斯滤波GaussianBlur() 让图片模糊 121 | hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) # 将图片的色域转换为HSV的样式 以便检测 122 | mask = cv2.inRange(hsv, blue_lower, blue_upper) # 设置阈值，去除背景 保留所设置的颜色 123 | 124 | mask = cv2.erode(mask, None, iterations=2) # 显示腐蚀后的图像 125 | mask = cv2.GaussianBlur(mask, (3, 3), 0) # 高斯模糊 126 | res = cv2.bitwise_and(frame, frame, mask=mask) # 图像合并 127 | 128 | cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2] # 边缘检测 129 | 130 | if i > 10 and len(cnts) > 0: # 通过边缘检测来确定所识别物体的位置信息得到相对坐标 131 | i = 0 132 | cnt = max(cnts, key=cv2.contourArea) 133 | (x, y), radius = cv2.minEnclosingCircle(cnt) 134 | cv2.circle(frame, (int(x), int(y)), int(radius), (255, 0, 255), 2) # 画出一个圆 135 | print(int(x), int(y)) 136 | print(int(radius)) 137 | 138 | if x > 490: 139 | if tag != 'r': 140 | self.s.sendall('Right'.encode('utf-8')) 141 | tag = 'r' 142 | print('right') 143 | time.sleep(0.4) 144 | self.s.sendall('Stop'.encode('utf-8')) 145 | tag = 's' 146 | elif x < 150: 147 | if tag != 'l': 148 | self.s.sendall('Left'.encode('utf-8')) 149 | tag = 'l' 150 | print('left') 151 | time.sleep(0.4) 152 | self.s.sendall('Stop'.encode('utf-8')) 153 | tag = 's' 154 | elif 40 < radius < 120: 155 | if tag != 'f': 156 | print('forward') 157 | self.s.sendall('Forward'.encode('utf-8')) 158 | tag = 'f' 159 | time.sleep(1) 160 | self.s.sendall('Stop'.encode('utf-8')) 161 | tag = 's' 162 | elif radius > 200 or radius < 40: 163 | if 'tag' != 'b': 164 | print('down') 165 | self.s.sendall('Back'.encode('utf-8')) 166 | tag = 'b' 167 | time.sleep(1) 168 | self.s.sendall('Stop'.encode('utf-8')) 169 | tag = 's' 170 | elif tag != 's': 171 | print('stop') 172 | self.s.sendall('Stop'.encode('utf-8')) 173 | tag = 's' 174 | else: 175 | pass 176 | cv2.imshow('video', frame) # 将具体的测试效果显示出来 177 | # cv2.imshow('mask',mask) 178 | # cv2.imshow('res',res) 179 | if cv2.waitKey(5) & 0xFF == 27: # 如果按了ESC就退出 当然也可以自己设置 180 | self.s.sendall('Stop'.encode('utf-8')) 181 | print('已经发送停止并且结束程序') 182 | break 183 | 184 | cap.release() 185 | cv2.destroyAllWindows() # 后面两句是常规操作,每次使用摄像头都需要这样设置一波 186 | 187 | 188 | except KeyboardInterrupt: 189 | self.s.sendall('Stop'.encode('utf-8')) 190 | print('已经发送停止并且结束程序') 191 | sys.exit() 192 | 193 | 194 | if __name__ == '__main__': 195 | app = QApplication(sys.argv) 196 | splash = QtWidgets.QSplashScreen(QtGui.QPixmap("loading.png")) 197 | splash.showMessage("正在加载", QtCore.Qt.AlignHCenter, QtCore.Qt.black) 198 | splash.show() # 显示启动界面 199 | MainWindow = fin() 200 | MainWindow.show() 201 | splash.finish(MainWindow) 202 | sys.exit(app.exec_()) 203 | -------------------------------------------------------------------------------- /computecolor.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | 3 | cv2.resizeWindow("enhanced", 640, 480) 4 | image = cv2.imread('hsv4.png') 5 | HSV = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) 6 | 7 | 8 | def getpos(event, x, y, flags, param): 9 | if event == cv2.EVENT_LBUTTONDOWN: # 定义一个鼠标左键按下去的事件 10 | print(HSV[y, x]) 11 | 12 | 13 | cv2.imshow("imageHSV", HSV) 14 | cv2.imshow('image', image) 15 | cv2.setMouseCallback("imageHSV", getpos) 16 | cv2.waitKey(0) 17 | -------------------------------------------------------------------------------- /fire_detection.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # encoding:utf-8 3 | import RPi.GPIO as GPIO 4 | import time 5 | 6 | 7 | Buzzer = 11 8 | 9 | CL = [0, 131, 147, 165, 175, 196, 211, 248] # Frequency of Low C notes 10 | 11 | CM = [0, 262, 294, 330, 350, 393, 441, 495] # Frequency of Middle C notes 12 | 13 | CH = [0, 525, 589, 661, 700, 786, 882, 990] # Frequency of High C notes 14 | 15 | song_1 = [ CM[3], CM[5], CM[6], CM[3], CM[2], CM[3], CM[5], CM[6], # Notes of song1 16 | CH[1], CM[6], CM[5], CM[1], CM[3], CM[2], CM[2], CM[3], 17 | CM[5], CM[2], CM[3], CM[3], CL[6], CL[6], CL[6], CM[1], 18 | CM[2], CM[3], CM[2], CL[7], CL[6], CM[1], CL[5] ] 19 | 20 | beat_1 = [ 1, 1, 3, 1, 1, 3, 1, 1, # Beats of song 1, 1 means 1/8 beats 21 | 1, 1, 1, 1, 1, 1, 3, 1, 22 | 1, 3, 1, 1, 1, 1, 1, 1, 23 | 1, 2, 1, 1, 1, 1, 1, 1, 24 | 1, 1, 3 ] 25 | 26 | song_2 = [ CM[1], CM[1], CM[1], CL[5], CM[3], CM[3], CM[3], CM[1], # Notes of song2 27 | CM[1], CM[3], CM[5], CM[5], CM[4], CM[3], CM[2], CM[2], 28 | CM[3], CM[4], CM[4], CM[3], CM[2], CM[3], CM[1], CM[1], 29 | CM[3], CM[2], CL[5], CL[7], CM[2], CM[1] ] 30 | 31 | beat_2 = [ 1, 1, 2, 2, 1, 1, 2, 2, # Beats of song 2, 1 means 1/8 beats 32 | 1, 1, 2, 2, 1, 1, 3, 1, 33 | 1, 2, 2, 1, 1, 2, 2, 1, 34 | 1, 2, 2, 1, 1, 3 ] 35 | pin_fire=27 36 | G = 17 37 | GPIO.setmode(GPIO.BCM) 38 | GPIO.setup(pin_fire, GPIO.IN, pull_up_down=GPIO.PUD_UP) 39 | GPIO.setup(G, GPIO.OUT) 40 | GPIO.setup(Buzzer, GPIO.OUT) # Set pins' mode is output 41 | global Buzz # Assign a global variable to replace GPIO.PWM 42 | Buzz = GPIO.PWM(Buzzer, 440) # 440 is initial frequency. 43 | Buzz.start(50) 44 | try: 45 | while True: 46 | status = GPIO.input(pin_fire) 47 | if status == True: 48 | print('没有检测到火') 49 | GPIO.output(G, False) 50 | time.sleep(0.25) 51 | else: 52 | print('检测到火灾') 53 | GPIO.output(G, True) # AIN1 54 | Buzz.ChangeFrequency(song_1[i]) # Change the frequency along the song note 55 | time.sleep(beat_1[i] * 0.5) # delay a note for beat * 0.5s 56 | if i < 10: 57 | i = i+1 58 | else: 59 | i = 0 60 | except KeyboradInterrupt: 61 | GPIO.cleanup() -------------------------------------------------------------------------------- /infrad_avoid.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # coding=utf-8 3 | #本段代码实现树莓派智能小车的红外避障效果 4 | #代码使用的树莓派GPIO是用的BOARD编码方式。 5 | import RPi.GPIO as GPIO 6 | import time 7 | import sys 8 | 9 | SensorRight = 16 10 | SensorLeft = 12 11 | 12 | PWMA = 18 13 | AIN1 = 22 14 | AIN2 = 27 15 | 16 | PWMB = 23 17 | BIN1 = 25 18 | BIN2 = 24 19 | 20 | BtnPin = 19 21 | Gpin = 5 22 | Rpin = 6 23 | 24 | def t_up(speed,t_time): 25 | L_Motor.ChangeDutyCycle(speed) 26 | GPIO.output(AIN2,False)#AIN2 27 | GPIO.output(AIN1,True) #AIN1 28 | 29 | R_Motor.ChangeDutyCycle(speed) 30 | GPIO.output(BIN2,False)#BIN2 31 | GPIO.output(BIN1,True) #BIN1 32 | time.sleep(t_time) 33 | 34 | def t_stop(t_time): 35 | L_Motor.ChangeDutyCycle(0) 36 | GPIO.output(AIN2,False)#AIN2 37 | GPIO.output(AIN1,False) #AIN1 38 | 39 | R_Motor.ChangeDutyCycle(0) 40 | GPIO.output(BIN2,False)#BIN2 41 | GPIO.output(BIN1,False) #BIN1 42 | time.sleep(t_time) 43 | 44 | def t_down(speed,t_time): 45 | L_Motor.ChangeDutyCycle(speed) 46 | GPIO.output(AIN2,True)#AIN2 47 | GPIO.output(AIN1,False) #AIN1 48 | 49 | R_Motor.ChangeDutyCycle(speed) 50 | GPIO.output(BIN2,True)#BIN2 51 | GPIO.output(BIN1,False) #BIN1 52 | time.sleep(t_time) 53 | 54 | def t_left(speed,t_time): 55 | L_Motor.ChangeDutyCycle(speed) 56 | GPIO.output(AIN2,True)#AIN2 57 | GPIO.output(AIN1,False) #AIN1 58 | 59 | R_Motor.ChangeDutyCycle(speed) 60 | GPIO.output(BIN2,False)#BIN2 61 | GPIO.output(BIN1,True) #BIN1 62 | time.sleep(t_time) 63 | 64 | def t_right(speed,t_time): 65 | L_Motor.ChangeDutyCycle(speed) 66 | GPIO.output(AIN2,False)#AIN2 67 | GPIO.output(AIN1,True) #AIN1 68 | 69 | R_Motor.ChangeDutyCycle(speed) 70 | GPIO.output(BIN2,True)#BIN2 71 | GPIO.output(BIN1,False) #BIN1 72 | time.sleep(t_time) 73 | 74 | def keysacn(): 75 | val = GPIO.input(BtnPin) 76 | while GPIO.input(BtnPin) == False: 77 | val = GPIO.input(BtnPin) 78 | while GPIO.input(BtnPin) == True: 79 | time.sleep(0.01) 80 | val = GPIO.input(BtnPin) 81 | if val == True: 82 | GPIO.output(Rpin,1) 83 | while GPIO.input(BtnPin) == False: 84 | GPIO.output(Rpin,0) 85 | else: 86 | GPIO.output(Rpin,0) 87 | 88 | def setup(): 89 | GPIO.setwarnings(False) 90 | GPIO.setmode(GPIO.BCM) # Numbers GPIOs by physical location 91 | GPIO.setup(Gpin, GPIO.OUT) # Set Green Led Pin mode to output 92 | GPIO.setup(Rpin, GPIO.OUT) # Set Red Led Pin mode to output 93 | GPIO.setup(BtnPin, GPIO.IN, pull_up_down=GPIO.PUD_UP) # Set BtnPin's mode is input, and pull up to high level(3.3V) 94 | GPIO.setup(SensorRight,GPIO.IN) 95 | GPIO.setup(SensorLeft,GPIO.IN) 96 | 97 | GPIO.setup(AIN2,GPIO.OUT) 98 | GPIO.setup(AIN1,GPIO.OUT) 99 | GPIO.setup(PWMA,GPIO.OUT) 100 | 101 | GPIO.setup(BIN1,GPIO.OUT) 102 | GPIO.setup(BIN2,GPIO.OUT) 103 | GPIO.setup(PWMB,GPIO.OUT) 104 | 105 | if __name__ == '__main__': 106 | setup() 107 | #keysacn() 108 | L_Motor= GPIO.PWM(PWMA,100) 109 | L_Motor.start(0) 110 | R_Motor = GPIO.PWM(PWMB,100) 111 | R_Motor.start(0) 112 | try: 113 | while True: 114 | SR_2 = GPIO.input(SensorRight) 115 | SL_2 = GPIO.input(SensorLeft) 116 | if SL_2 == True and SR_2 == True: 117 | print("t_up") 118 | t_up(20,0) 119 | elif SL_2 == True and SR_2 ==False: 120 | print("Left") 121 | t_left(30,0) 122 | elif SL_2==False and SR_2 ==True: 123 | print("Right") 124 | t_right(30,0) 125 | else: 126 | t_stop(0.3) 127 | t_down(30,0.4) 128 | t_left(30,0.5) 129 | except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed. 130 | t_stop(0) 131 | write(0,90) 132 | GPIO.cleanup() 133 | -------------------------------------------------------------------------------- /passive_buzzer.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | #--------------------------------------------------- 3 | # 4 | # This is a program for Passive Buzzer Module 5 | # It will play simple songs. 6 | # You could try to make songs by youselves! 7 | # 8 | # Passive buzzer Pi 9 | # VCC ----------------- 3.3V 10 | # GND ------------------ GND 11 | # SIG ---------------- Pin 11 12 | # 13 | #--------------------------------------------------- 14 | 15 | import RPi.GPIO as GPIO 16 | import time 17 | 18 | Buzzer = 11 19 | 20 | CL = [0, 131, 147, 165, 175, 196, 211, 248] # Frequency of Low C notes 21 | 22 | CM = [0, 262, 294, 330, 350, 393, 441, 495] # Frequency of Middle C notes 23 | 24 | CH = [0, 525, 589, 661, 700, 786, 882, 990] # Frequency of High C notes 25 | 26 | song_1 = [ CM[3], CM[5], CM[6], CM[3], CM[2], CM[3], CM[5], CM[6], # Notes of song1 27 | CH[1], CM[6], CM[5], CM[1], CM[3], CM[2], CM[2], CM[3], 28 | CM[5], CM[2], CM[3], CM[3], CL[6], CL[6], CL[6], CM[1], 29 | CM[2], CM[3], CM[2], CL[7], CL[6], CM[1], CL[5] ] 30 | 31 | beat_1 = [ 1, 1, 3, 1, 1, 3, 1, 1, # Beats of song 1, 1 means 1/8 beats 32 | 1, 1, 1, 1, 1, 1, 3, 1, 33 | 1, 3, 1, 1, 1, 1, 1, 1, 34 | 1, 2, 1, 1, 1, 1, 1, 1, 35 | 1, 1, 3 ] 36 | 37 | song_2 = [ CM[1], CM[1], CM[1], CL[5], CM[3], CM[3], CM[3], CM[1], # Notes of song2 38 | CM[1], CM[3], CM[5], CM[5], CM[4], CM[3], CM[2], CM[2], 39 | CM[3], CM[4], CM[4], CM[3], CM[2], CM[3], CM[1], CM[1], 40 | CM[3], CM[2], CL[5], CL[7], CM[2], CM[1] ] 41 | 42 | beat_2 = [ 1, 1, 2, 2, 1, 1, 2, 2, # Beats of song 2, 1 means 1/8 beats 43 | 1, 1, 2, 2, 1, 1, 3, 1, 44 | 1, 2, 2, 1, 1, 2, 2, 1, 45 | 1, 2, 2, 1, 1, 3 ] 46 | 47 | def setup(): 48 | GPIO.setwarnings(False) 49 | GPIO.setmode(GPIO.BOARD) # Numbers GPIOs by physical location 50 | GPIO.setup(Buzzer, GPIO.OUT) # Set pins' mode is output 51 | global Buzz # Assign a global variable to replace GPIO.PWM 52 | Buzz = GPIO.PWM(Buzzer, 440) # 440 is initial frequency. 53 | Buzz.start(50) # Start Buzzer pin with 50% duty ration 54 | 55 | def loop(): 56 | while True: 57 | print('\n Playing song 1...') 58 | for i in range(1, len(song_1)): # Play song 1 59 | Buzz.ChangeFrequency(song_1[i]) # Change the frequency along the song note 60 | time.sleep(beat_1[i] * 0.5) # delay a note for beat * 0.5s 61 | time.sleep(1) # Wait a second for next song. 62 | 63 | print('\n\n Playing song 2...') 64 | for i in range(1, len(song_2)): # Play song 1 65 | Buzz.ChangeFrequency(song_2[i]) # Change the frequency along the song note 66 | time.sleep(beat_2[i] * 0.5) # delay a note for beat * 0.5s 67 | 68 | def destory(): 69 | Buzz.stop() # Stop the buzzer 70 | GPIO.output(Buzzer, 1) # Set Buzzer pin to High 71 | GPIO.cleanup() # Release resource 72 | 73 | if __name__ == '__main__': # Program start from here 74 | setup() 75 | try: 76 | loop() 77 | except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed. 78 | destory() 79 | -------------------------------------------------------------------------------- /server.py: -------------------------------------------------------------------------------- 1 | # 导入必要的包 2 | import socket,sys,os 3 | import time 4 | 5 | # import wiringpi,time,multiprocessing 6 | import RPi.GPIO as GPIO 7 | from Adafruit_PWM_Servo_Driver import PWM 8 | 9 | pwm = PWM(0x40,debug = False) 10 | 11 | servoMin = 150 # Min pulse length out of 4096 12 | servoMax = 600 # Max pulse length out of 4096 13 | 14 | def setServoPulse(channel, pulse): 15 | pulseLength = 1000000.0 # 1,000,000 us per second 16 | pulseLength /= 50.0 # 60 Hz 17 | print("%d us per period" % pulseLength) 18 | pulseLength /= 4096.0 # 12 bits of resolution 19 | print("%d us per bit" % pulseLength) 20 | pulse *= 1000.0 21 | pulse /= (pulseLength*1.0) 22 | # pwmV=int(pluse) 23 | print("pluse: %f " % (pulse)) 24 | pwm.setPWM(channel, 0, int(pulse)) 25 | 26 | 27 | #Angle to PWM 28 | def write(servonum,x): 29 | y=x/90.0+0.5 30 | y=max(y,0.5) 31 | y=min(y,2.5) 32 | setServoPulse(servonum,y) 33 | 34 | pwm.setPWMFreq(50) # Set frequency to 50 Hz 35 | 36 | PWMA = 18 37 | AIN1 = 22 38 | AIN2 = 27 39 | 40 | PWMB = 23 41 | BIN1 = 25 42 | BIN2 = 24 43 | 44 | GPIO.setwarnings(False) 45 | GPIO.setmode(GPIO.BCM) 46 | GPIO.setup(AIN2,GPIO.OUT) 47 | GPIO.setup(AIN1,GPIO.OUT) 48 | GPIO.setup(PWMA,GPIO.OUT) 49 | 50 | GPIO.setup(BIN1,GPIO.OUT) 51 | GPIO.setup(BIN2,GPIO.OUT) 52 | GPIO.setup(PWMB,GPIO.OUT) 53 | 54 | L_Motor= GPIO.PWM(PWMA,100) 55 | L_Motor.start(0) 56 | 57 | R_Motor = GPIO.PWM(PWMB,100) 58 | R_Motor.start(0) 59 | 60 | 61 | 62 | # 定义小车类及方法 63 | class Car(object): 64 | def __init__(self): 65 | self.t_stop(2) 66 | 67 | def t_up(self, speed, t_time): 68 | L_Motor.ChangeDutyCycle(speed) 69 | GPIO.output(AIN2,False)#AIN2 70 | GPIO.output(AIN1,True) #AIN1 71 | 72 | R_Motor.ChangeDutyCycle(speed) 73 | GPIO.output(BIN2,False)#BIN2 74 | GPIO.output(BIN1,True) #BIN1 75 | time.sleep(t_time) 76 | 77 | def t_stop(self,t_time): 78 | L_Motor.ChangeDutyCycle(0) 79 | GPIO.output(AIN2,False)#AIN2 80 | GPIO.output(AIN1,False) #AIN1 81 | 82 | R_Motor.ChangeDutyCycle(0) 83 | GPIO.output(BIN2,False)#BIN2 84 | GPIO.output(BIN1,False) #BIN1 85 | time.sleep(t_time) 86 | 87 | def t_down(self,speed,t_time): 88 | L_Motor.ChangeDutyCycle(speed) 89 | GPIO.output(AIN2,True)#AIN2 90 | GPIO.output(AIN1,False) #AIN1 91 | 92 | R_Motor.ChangeDutyCycle(speed) 93 | GPIO.output(BIN2,True)#BIN2 94 | GPIO.output(BIN1,False) #BIN1 95 | time.sleep(t_time) 96 | 97 | def t_left(self,speed,t_time): 98 | L_Motor.ChangeDutyCycle(speed) 99 | GPIO.output(AIN2,True)#AIN2 100 | GPIO.output(AIN1,False) #AIN1 101 | 102 | R_Motor.ChangeDutyCycle(speed) 103 | GPIO.output(BIN2,False)#BIN2 104 | GPIO.output(BIN1,True) #BIN1 105 | time.sleep(t_time) 106 | 107 | def t_right(self,speed,t_time): 108 | L_Motor.ChangeDutyCycle(speed) 109 | GPIO.output(AIN2,False)#AIN2 110 | GPIO.output(AIN1,True) #AIN1 111 | 112 | R_Motor.ChangeDutyCycle(speed) 113 | GPIO.output(BIN2,True)#BIN2 114 | GPIO.output(BIN1,False) #BIN1 115 | time.sleep(t_time) 116 | 117 | def Servo_left(self,servo_lr): 118 | if servo_lr>170: 119 | servo_lr = 175 120 | else : 121 | servo_lr += 10 122 | write(1, servo_lr) 123 | return servo_lr 124 | 125 | def Servo_right(self,servo_lr): 126 | if servo_lr<30: 127 | servo_lr = 20 128 | else : 129 | servo_lr -= 10 130 | write(1, servo_lr) 131 | 132 | return servo_lr 133 | 134 | 135 | def Servo_up(self,servo_ud): 136 | if servo_ud<5: 137 | servo_ud = 0 138 | else : 139 | servo_ud -= 5 140 | write(2, servo_ud) 141 | return servo_ud 142 | 143 | 144 | def Servo_down(self,servo_ud): 145 | if servo_ud>35: 146 | servo_ud = 40 147 | else : 148 | servo_ud += 5 149 | write(2, servo_ud) 150 | 151 | return servo_ud 152 | 153 | 154 | def Servo_stop(self): 155 | pwm.setsleep() 156 | 157 | 158 | # 使用 socket 进行连接 159 | def rec_msg(car): 160 | servo_lr = 90 161 | servo_ud = 0 162 | speed = 30 163 | serversocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 164 | host = '0.0.0.0' 165 | port = 2001 # 设置端口号 166 | print(host) 167 | serversocket.bind((host, port)) 168 | serversocket.listen() 169 | clientsocket, addr = serversocket.accept() 170 | 171 | while True: 172 | rec_msg = clientsocket.recv(1024).decode('utf-8') 173 | print(rec_msg) 174 | if rec_msg == "Forward": 175 | car.t_up(speed,0) 176 | elif rec_msg == "Back": 177 | car.t_down(speed,0) 178 | elif rec_msg == "Left": 179 | car.t_left(30,0) 180 | elif rec_msg == "Right": 181 | car.t_right(30,0) 182 | elif rec_msg == "Stop": 183 | car.t_stop(0) 184 | elif rec_msg == "SL": 185 | servo_lr = car.Servo_left(servo_lr) 186 | elif rec_msg == "SR": 187 | servo_lr = car.Servo_right(servo_lr) 188 | elif rec_msg == "SU": 189 | servo_ud = car.Servo_up(servo_ud) 190 | elif rec_msg == "SD": 191 | servo_ud =car.Servo_down(servo_ud) 192 | elif rec_msg == "SS": 193 | car.Servo_stop(0) 194 | elif rec_msg.isdigit(): 195 | speed = eval(rec_msg) 196 | 197 | 198 | # 主函数 199 | if __name__ == "__main__": 200 | car = Car() 201 | rec_msg(car) -------------------------------------------------------------------------------- /testmjpg - 2.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import numpy as np # 导入库 3 | import time 4 | import socket 5 | import sys 6 | 7 | 8 | # 创建 socket 对象 9 | s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 10 | host = '10.3.141.1' 11 | port = 2001 # 设置端口号 12 | s.connect((host, port)) # 连接服务，指定主机和端口 13 | 14 | try: 15 | black_lower = np.array([110, 64, 100]) 16 | black_upper = np.array([125, 255, 255]) # 设置颜色区间 17 | blue_lower = np.array([35, 64, 128]) 18 | blue_upper = np.array([55, 255, 255]) # 设置颜色区间 19 | cap = cv2.VideoCapture("http://10.3.141.1:8080/?action=stream") 20 | cap.set(3, 640) 21 | cap.set(4, 480) # 设置窗口的大小 22 | 23 | tag = None 24 | while 1: # 进入无线循环 25 | t_start = time.time() 26 | 27 | ret, frame = cap.read() # 将摄像头拍摄到的画面作为frame的值 28 | frame = cv2.GaussianBlur(frame, (5, 5), 0) # 高斯滤波GaussianBlur() 让图片模糊 29 | hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) # 将图片的色域转换为HSV的样式 以便检测 30 | mask = cv2.inRange(hsv, blue_lower, blue_upper) # 设置阈值，去除背景 保留所设置的颜色 31 | mask2 = cv2.inRange(hsv, black_lower, black_upper) # 设置阈值，去除背景 保留所设置的颜色 32 | 33 | mask = cv2.erode(mask, None, iterations=2) # 显示腐蚀后的图像 34 | mask = cv2.GaussianBlur(mask, (3, 3), 0) # 高斯模糊 35 | mask2 = cv2.erode(mask2, None, iterations=2) # 显示腐蚀后的图像 36 | mask2 = cv2.GaussianBlur(mask2, (3, 3), 0) # 高斯模糊 37 | res = cv2.bitwise_and(frame, frame, mask=mask) # 图像合并 38 | res2 = cv2.bitwise_and(frame, frame, mask=mask2) # 图像合并 39 | cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2] # 边缘检测 40 | cnts2 = cv2.findContours(mask2.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2] # 边缘检测 41 | if len(cnts) > 0: # 通过边缘检测来确定所识别物体的位置信息得到相对坐标 42 | cnt = max(cnts, key=cv2.contourArea) 43 | (x, y), radius = cv2.minEnclosingCircle(cnt) 44 | cv2.circle(frame, (int(x), int(y)), int(radius), (255, 0, 255), 2) # 画出一个圆 45 | print(int(x), int(y)) 46 | print(int(radius)) 47 | 48 | if x > 490: 49 | if tag != 'r': 50 | s.sendall('Right'.encode('utf-8')) 51 | tag = 'r' 52 | print('right') 53 | elif x < 150: 54 | if tag != 'l': 55 | s.sendall('Left'.encode('utf-8')) 56 | tag = 'l' 57 | print('left') 58 | elif radius < 120: 59 | if tag != 'f': 60 | print('forward') 61 | s.sendall('Forward'.encode('utf-8')) 62 | tag = 'f' 63 | elif radius > 200: 64 | if 'tag' != 'b': 65 | print('down') 66 | s.sendall('Back'.encode('utf-8')) 67 | tag = 'b' 68 | elif tag != 's': 69 | print('stop') 70 | s.sendall('Stop'.encode('utf-8')) 71 | tag = 's' 72 | elif len(cnts2) > 0: # 通过边缘检测来确定所识别物体的位置信息得到相对坐标 73 | cnt = max(cnts2, key=cv2.contourArea) 74 | (x, y), radius = cv2.minEnclosingCircle(cnt) 75 | cv2.circle(frame, (int(x), int(y)), int(radius), (255, 0, 255), 2) # 画出一个圆 76 | print(int(x), int(y)) 77 | print(int(radius)) 78 | 79 | if x > 490: 80 | if tag != 'r': 81 | s.sendall('Right'.encode('utf-8')) 82 | tag = 'r' 83 | print('right') 84 | elif x < 150: 85 | if tag != 'l': 86 | s.sendall('Left'.encode('utf-8')) 87 | tag = 'l' 88 | print('left') 89 | elif radius < 120: 90 | if tag != 'f': 91 | print('forward') 92 | s.sendall('Forward'.encode('utf-8')) 93 | tag = 'f' 94 | elif radius > 200: 95 | if 'tag' != 'b': 96 | print('down') 97 | s.sendall('Back'.encode('utf-8')) 98 | tag = 'b' 99 | elif tag != 's': 100 | print('stop') 101 | s.sendall('Stop'.encode('utf-8')) 102 | tag = 's' 103 | else: 104 | print('stop') 105 | s.sendall('Stop'.encode('utf-8')) 106 | tag = 's' 107 | cv2.imshow('video', frame) # 将具体的测试效果显示出来 108 | cv2.imshow('mask', mask) 109 | cv2.imshow('res', res) 110 | if cv2.waitKey(5) & 0xFF == 27: # 如果按了ESC就退出 当然也可以自己设置 111 | s.sendall('Stop'.encode('utf-8')) 112 | print('已经发送停止并且结束程序') 113 | break 114 | 115 | mfps = 1 / (time.time() - t_start) 116 | print('FPS', mfps) 117 | 118 | cap.release() 119 | cv2.destroyAllWindows() # 后面两句是常规操作,每次使用摄像头都需要这样设置一波 120 | 121 | 122 | except KeyboardInterrupt: 123 | s.sendall('Stop'.encode('utf-8')) 124 | print('已经发送停止并且结束程序') 125 | sys.exit() 126 | -------------------------------------------------------------------------------- /testmjpg.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import numpy as np # 导入库 3 | import time 4 | import socket 5 | import sys 6 | 7 | 8 | # 创建 socket 对象 9 | s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 10 | host = '10.3.141.1' 11 | port = 2001 # 设置端口号 12 | s.connect((host, port)) # 连接服务，指定主机和端口 13 | 14 | try: 15 | blue_lower = np.array([100, 43, 46]) 16 | blue_upper = np.array([124, 255, 255]) # 设置颜色区间 17 | cap = cv2.VideoCapture("http://10.3.141.1:8080/?action=stream") 18 | cap.set(3, 640) 19 | cap.set(4, 480) # 设置窗口的大小 20 | 21 | tag = None 22 | while 1: # 进入无线循环 23 | t_start = time.time() 24 | 25 | ret, frame = cap.read() # 将摄像头拍摄到的画面作为frame的值 26 | frame = cv2.GaussianBlur(frame, (5, 5), 0) # 高斯滤波GaussianBlur() 让图片模糊 27 | hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) # 将图片的色域转换为HSV的样式 以便检测 28 | mask = cv2.inRange(hsv, blue_lower, blue_upper) # 设置阈值，去除背景 保留所设置的颜色 29 | 30 | mask = cv2.erode(mask, None, iterations=2) # 显示腐蚀后的图像 31 | mask = cv2.GaussianBlur(mask, (3, 3), 0) # 高斯模糊 32 | res = cv2.bitwise_and(frame, frame, mask=mask) # 图像合并 33 | 34 | cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2] # 边缘检测 35 | 36 | if len(cnts) > 0: # 通过边缘检测来确定所识别物体的位置信息得到相对坐标 37 | cnt = max(cnts, key=cv2.contourArea) 38 | (x, y), radius = cv2.minEnclosingCircle(cnt) 39 | cv2.circle(frame, (int(x), int(y)), int(radius), (255, 0, 255), 2) # 画出一个圆 40 | print(int(x), int(y)) 41 | print(int(radius)) 42 | 43 | if x > 490: 44 | if tag != 'r': 45 | s.sendall('Right'.encode('utf-8')) 46 | tag = 'r' 47 | print('right') 48 | # time.sleep(0.4) 49 | # s.sendall('Stop'.encode('utf-8')) 50 | # tag = 's' 51 | elif x < 150: 52 | if tag != 'l': 53 | s.sendall('Left'.encode('utf-8')) 54 | tag = 'l' 55 | print('left') 56 | # time.sleep(0.4) 57 | # s.sendall('Stop'.encode('utf-8')) 58 | # tag = 's' 59 | elif radius < 120: 60 | if tag != 'f': 61 | print('forward') 62 | s.sendall('Forward'.encode('utf-8')) 63 | tag = 'f' 64 | # time.sleep(1) 65 | # s.sendall('Stop'.encode('utf-8')) 66 | # tag = 's' 67 | elif radius > 200: 68 | if 'tag' != 'b': 69 | print('down') 70 | s.sendall('Back'.encode('utf-8')) 71 | tag = 'b' 72 | # time.sleep(1) 73 | # s.sendall('Stop'.encode('utf-8')) 74 | # tag = 's' 75 | elif tag != 's': 76 | print('stop') 77 | s.sendall('Stop'.encode('utf-8')) 78 | tag = 's' 79 | else: 80 | print('stop') 81 | s.sendall('Stop'.encode('utf-8')) 82 | tag = 's' 83 | cv2.imshow('video', frame) # 将具体的测试效果显示出来 84 | # cv2.imshow('mask',mask) 85 | # cv2.imshow('res',res) 86 | if cv2.waitKey(5) & 0xFF == 27: # 如果按了ESC就退出 当然也可以自己设置 87 | s.sendall('Stop'.encode('utf-8')) 88 | print('已经发送停止并且结束程序') 89 | break 90 | 91 | mfps = 1 / (time.time() - t_start) 92 | print('FPS', mfps) 93 | 94 | 95 | cap.release() 96 | cv2.destroyAllWindows() # 后面两句是常规操作,每次使用摄像头都需要这样设置一波 97 | 98 | 99 | except KeyboardInterrupt: 100 | s.sendall('Stop'.encode('utf-8')) 101 | print('已经发送停止并且结束程序') 102 | sys.exit() 103 | -------------------------------------------------------------------------------- /tracking_2.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # coding=utf-8 3 | #本段代码实现树莓派智能小车的红外避障效果 4 | #代码使用的树莓派GPIO是用的BOARD编码方式。 5 | import RPi.GPIO as GPIO 6 | import time 7 | import sys 8 | 9 | T_SensorRight = 26 10 | T_SensorLeft = 13 11 | 12 | PWMA = 18 13 | AIN1 = 22 14 | AIN2 = 27 15 | 16 | PWMB = 23 17 | BIN1 = 25 18 | BIN2 = 24 19 | 20 | T_SM = 19 21 | Gpin = 5 22 | Rpin = 6 23 | 24 | def t_up(speed,t_time): 25 | L_Motor.ChangeDutyCycle(speed) 26 | GPIO.output(AIN2,False)#AIN2 27 | GPIO.output(AIN1,True) #AIN1 28 | 29 | R_Motor.ChangeDutyCycle(speed) 30 | GPIO.output(BIN2,False)#BIN2 31 | GPIO.output(BIN1,True) #BIN1 32 | time.sleep(t_time) 33 | 34 | def t_stop(t_time): 35 | L_Motor.ChangeDutyCycle(0) 36 | GPIO.output(AIN2,False)#AIN2 37 | GPIO.output(AIN1,False) #AIN1 38 | 39 | R_Motor.ChangeDutyCycle(0) 40 | GPIO.output(BIN2,False)#BIN2 41 | GPIO.output(BIN1,False) #BIN1 42 | time.sleep(t_time) 43 | 44 | def t_down(speed,t_time): 45 | L_Motor.ChangeDutyCycle(speed) 46 | GPIO.output(AIN2,True)#AIN2 47 | GPIO.output(AIN1,False) #AIN1 48 | 49 | R_Motor.ChangeDutyCycle(speed) 50 | GPIO.output(BIN2,True)#BIN2 51 | GPIO.output(BIN1,False) #BIN1 52 | time.sleep(t_time) 53 | 54 | def t_left(speed,t_time): 55 | L_Motor.ChangeDutyCycle(speed) 56 | GPIO.output(AIN2,True)#AIN2 57 | GPIO.output(AIN1,False) #AIN1 58 | 59 | R_Motor.ChangeDutyCycle(speed) 60 | GPIO.output(BIN2,False)#BIN2 61 | GPIO.output(BIN1,True) #BIN1 62 | time.sleep(t_time) 63 | 64 | def t_right(speed,t_time): 65 | L_Motor.ChangeDutyCycle(speed) 66 | GPIO.output(AIN2,False)#AIN2 67 | GPIO.output(AIN1,True) #AIN1 68 | 69 | R_Motor.ChangeDutyCycle(speed) 70 | GPIO.output(BIN2,True)#BIN2 71 | GPIO.output(BIN1,False) #BIN1 72 | time.sleep(t_time) 73 | 74 | def keysacn(): 75 | val = GPIO.input(BtnPin) 76 | while GPIO.input(BtnPin) == False: 77 | val = GPIO.input(BtnPin) 78 | while GPIO.input(BtnPin) == True: 79 | time.sleep(0.01) 80 | val = GPIO.input(BtnPin) 81 | if val == True: 82 | GPIO.output(Rpin,1) 83 | while GPIO.input(BtnPin) == False: 84 | GPIO.output(Rpin,0) 85 | else: 86 | GPIO.output(Rpin,0) 87 | 88 | def setup(): 89 | GPIO.setwarnings(False) 90 | GPIO.setmode(GPIO.BCM) # Numbers GPIOs by physical location 91 | GPIO.setup(Gpin, GPIO.OUT) # Set Green Led Pin mode to output 92 | GPIO.setup(Rpin, GPIO.OUT) # Set Red Led Pin mode to output 93 | #GPIO.setup(T_SM,GPIO.IN) 94 | #GPIO.setup(BtnPin, GPIO.IN, pull_up_down=GPIO.PUD_UP) # Set BtnPin's mode is input, and pull up to high level(3.3V) 95 | GPIO.setup(T_SensorRight,GPIO.IN) 96 | GPIO.setup(T_SensorLeft,GPIO.IN) 97 | 98 | GPIO.setup(AIN2,GPIO.OUT) 99 | GPIO.setup(AIN1,GPIO.OUT) 100 | GPIO.setup(PWMA,GPIO.OUT) 101 | 102 | GPIO.setup(BIN1,GPIO.OUT) 103 | GPIO.setup(BIN2,GPIO.OUT) 104 | GPIO.setup(PWMB,GPIO.OUT) 105 | 106 | if __name__ == '__main__': 107 | setup() 108 | # keysacn() 109 | L_Motor= GPIO.PWM(PWMA,100) 110 | L_Motor.start(0) 111 | R_Motor = GPIO.PWM(PWMB,100) 112 | R_Motor.start(0) 113 | print('111') 114 | try: 115 | while True: 116 | SR = GPIO.input(T_SensorRight) 117 | SL = GPIO.input(T_SensorLeft) 118 | 119 | 120 | if SL == False and SR == False: 121 | print("t_up") 122 | t_up(40,0) 123 | elif SL == True and SR ==False: 124 | print("Left") 125 | t_left(50,0) 126 | 127 | elif SL==False and SR ==True: 128 | print("Rhgit") 129 | t_right(50,0) 130 | else: 131 | t_stop(0) 132 | except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed. 133 | t_stop(0) 134 | GPIO.cleanup() 135 | --------------------------------------------------------------------------------