正在停止...
`; + } else { + status.innerHTML = `正在${direction === 'forward' ? '前进' : '后退'}...
`; + } + + // 记录操作（如果正在录制） + if (window.isRecording) { + const timestamp = Date.now() - window.recordingStartTime; + window.recordedActions.push({ direction, timestamp }); + console.log('Recorded action:', { direction, timestamp }); + } else { + console.log('Not recording, action:', direction); + } + + // 发送AJAX请求到后端服务器 + fetch('/control', { + method: 'POST', + headers: { + 'Content-Type': 'application/json' + }, + body: JSON.stringify({ direction: direction }) + }) + .then(response => response.json()) + .then(data => { + if (data.status === 'success') { + status.innerHTML = `${data.message}
`; + } else { + status.innerHTML = `错误: ${data.message}
`; + } + }) + .catch(error => { + status.innerHTML = `通信错误: ${error.message}
`; + }); +} + +// 按钮按下和松开事件 + +// 前进按钮 - 支持鼠标和触摸事件 +forwardBtn.addEventListener('mousedown', () => { + // 发送前进请求 + controlMotor('forward'); +}); + +forwardBtn.addEventListener('mouseup', () => { + // 停止电机 + stopMotor(); +}); + +forwardBtn.addEventListener('mouseleave', () => { + // 鼠标离开按钮时也停止 + stopMotor(); +}); + +// 前进按钮 - 触摸事件 +forwardBtn.addEventListener('touchstart', (e) => { + e.preventDefault(); // 防止默认行为 + // 发送前进请求 + controlMotor('forward'); +}); + +forwardBtn.addEventListener('touchend', (e) => { + e.preventDefault(); // 防止默认行为 + // 停止电机 + stopMotor(); +}); + +forwardBtn.addEventListener('touchcancel', (e) => { + e.preventDefault(); // 防止默认行为 + // 触摸被取消时停止电机 + stopMotor(); +}); + +// 后退按钮 - 支持鼠标和触摸事件 +backwardBtn.addEventListener('mousedown', () => { + // 发送后退请求 + controlMotor('backward'); +}); + +backwardBtn.addEventListener('mouseup', () => { + // 停止电机 + stopMotor(); +}); + +backwardBtn.addEventListener('mouseleave', () => { + // 鼠标离开按钮时也停止 + stopMotor(); +}); + +// 后退按钮 - 触摸事件 +backwardBtn.addEventListener('touchstart', (e) => { + e.preventDefault(); // 防止默认行为 + // 发送后退请求 + controlMotor('backward'); +}); + +backwardBtn.addEventListener('touchend', (e) => { + e.preventDefault(); // 防止默认行为 + // 停止电机 + stopMotor(); +}); + +backwardBtn.addEventListener('touchcancel', (e) => { + e.preventDefault(); // 防止默认行为 + // 触摸被取消时停止电机 + stopMotor(); +}); + +// 停止电机函数 +function stopMotor() { + // 记录操作（如果正在录制） + if (window.isRecording) { + const timestamp = Date.now() - window.recordingStartTime; + window.recordedActions.push({ direction: 'stop', timestamp }); + console.log('Recorded action:', { direction: 'stop', timestamp }); + } + + // 发送停止请求到服务器 + fetch('/control', { + method: 'POST', + headers: { + 'Content-Type': 'application/json' + }, + body: JSON.stringify({ direction: 'stop' }) + }) + .then(response => response.json()) + .then(data => { + if (data.status === 'success') { + // 停止成功，不显示消息 + } else { + status.innerHTML = `错误: ${data.message}
`; + } + }) + .catch(error => { + status.innerHTML = `通信错误: ${error.message}
`; + }); +} \ No newline at end of file diff --git a/main/Javascript/record.js b/main/Javascript/record.js new file mode 100644 index 0000000..171aa7e --- /dev/null +++ b/main/Javascript/record.js @@ -0,0 +1,112 @@ +// 确保在DOM加载完成后执行 +window.addEventListener('DOMContentLoaded', function() { + console.log('DOMContentLoaded - Record.js executing'); + + // 录制相关全局变量 + window.isRecording = false; + window.recordedActions = []; + window.recordingStartTime = 0; + + // 获取录制和回放按钮 + const recordBtn = document.getElementById('recordBtn'); + const playbackBtn = document.getElementById('playbackBtn'); + const status = document.getElementById('status'); + + // 调试信息 + console.log('Record.js loaded'); + console.log('recordBtn:', recordBtn); + console.log('playbackBtn:', playbackBtn); + console.log('status:', status); + + // 录制按钮点击事件 - 支持鼠标和触摸事件 + function toggleRecording() { + console.log('toggleRecording called, current isRecording:', window.isRecording); + if (window.isRecording) { + // 停止录制 + window.isRecording = false; + recordBtn.textContent = '开始录制'; + status.innerHTML = `录制完成，共记录 ${window.recordedActions.length} 个操作
`; + console.log('Recording stopped, actions:', window.recordedActions); + } else { + // 开始录制 + window.isRecording = true; + window.recordedActions = []; + window.recordingStartTime = Date.now(); + recordBtn.textContent = '停止录制'; + status.innerHTML = `开始录制...
`; + console.log('Recording started'); + } + } + + console.log('Adding click event listener to recordBtn'); + recordBtn.addEventListener('click', toggleRecording); + + // 录制按钮 - 触摸事件 + console.log('Adding touchstart event listener to recordBtn'); + recordBtn.addEventListener('touchstart', (e) => { + console.log('Touchstart event on recordBtn'); + e.preventDefault(); // 防止默认行为 + toggleRecording(); + }); + + // 回放按钮点击事件 - 支持鼠标和触摸事件 + function startPlayback() { + console.log('startPlayback called, recordedActions:', window.recordedActions); + if (window.recordedActions.length === 0) { + status.innerHTML = `没有可回放的操作
`; + console.log('No actions to playback'); + return; + } + + // 保存当前录制状态并禁用录制 + const originalRecordingState = window.isRecording; + window.isRecording = false; + + status.innerHTML = `开始回放...
`; + console.log('Starting playback'); + + // 按时间顺序回放操作 + let lastTimestamp = 0; + const totalDuration = window.recordedActions[window.recordedActions.length - 1].timestamp; + + // 确保至少有一个操作 + if (window.recordedActions.length > 0) { + // 执行第一个操作 + console.log('Executing first action immediately:', window.recordedActions[0]); + controlMotor(window.recordedActions[0].direction); + + // 执行剩余的操作 + for (let i = 1; i < window.recordedActions.length; i++) { + const action = window.recordedActions[i]; + const delay = action.timestamp - window.recordedActions[i-1].timestamp; + console.log('Scheduling action:', action, 'at delay:', delay); + setTimeout(() => { + // 调用控制函数执行操作 + console.log('Executing action:', action); + controlMotor(action.direction); + }, delay); + } + } + + // 回放完成后，确保发送停止请求 + setTimeout(() => { + console.log('Playback completed, sending stop command'); + controlMotor('stop'); + status.innerHTML = `回放完成
`; + console.log('Playback completed'); + // 恢复原始录制状态 + window.isRecording = originalRecordingState; + }, totalDuration + 1000); + } + + console.log('Adding click event listener to playbackBtn'); + playbackBtn.addEventListener('click', startPlayback); + + // 回放按钮 - 触摸事件 + console.log('Adding touchstart event listener to playbackBtn'); + playbackBtn.addEventListener('touchstart', (e) => { + console.log('Touchstart event on playbackBtn'); + e.preventDefault(); // 防止默认行为 + startPlayback(); + }); +}); \ No newline at end of file diff --git a/main/Javascript/script.js b/main/Javascript/script.js new file mode 100644 index 0000000..502ec25 --- /dev/null +++ b/main/Javascript/script.js @@ -0,0 +1,38 @@ +// 获取按钮和状态元素 +const forwardBtn = document.getElementById('forwardBtn'); +const backwardBtn = document.getElementById('backwardBtn'); +const status = document.getElementById('status'); + +// 实际控制函数 +function controlMotor(direction) { + status.innerHTML = `正在${direction === 'forward' ? '前进' : '后退'}...
`; + + // 发送AJAX请求到后端服务器 + fetch('/control', { + method: 'POST', + headers: { + 'Content-Type': 'application/json' + }, + body: JSON.stringify({ direction: direction }) + }) + .then(response => response.json()) + .then(data => { + if (data.status === 'success') { + status.innerHTML = `${data.message}
`; + } else { + status.innerHTML = `错误: ${data.message}
`; + } + }) + .catch(error => { + status.innerHTML = `通信错误: ${error.message}
`; + }); +} + +// 按钮点击事件 +forwardBtn.addEventListener('click', () => { + controlMotor('forward'); +}); + +backwardBtn.addEventListener('click', () => { + controlMotor('backward'); +}); \ No newline at end of file diff --git a/main/__pycache__/motor.cpython-313.pyc b/main/__pycache__/motor.cpython-313.pyc new file mode 100644 index 0000000..564929a Binary files /dev/null and b/main/__pycache__/motor.cpython-313.pyc differ diff --git a/main/camera.py b/main/camera.py index 709b25c..3338e24 100644 --- a/main/camera.py +++ b/main/camera.py @@ -1,91 +1,229 @@ import cv2 import numpy as np +import motor +import time +import signal +import sys +# 信号处理函数，用于捕获Ctrl+C +def signal_handler(sig, frame): + print("\n接收到中断信号，正在停止电机...") + motor.stop() + print("电机已停止，程序退出") + sys.exit(0) + +# 注册信号处理函数 +signal.signal(signal.SIGINT, signal_handler) + +print("开始运行摄像头程序...") +print(f"OpenCV版本: {cv2.__version__}") + +# 尝试打开摄像头 cap = cv2.VideoCapture(0) +if not cap.isOpened(): + print("无法打开摄像头！") + exit() + +print("摄像头打开成功") + +# 设置摄像头参数 cap.set(3, 320) cap.set(4, 240) cap.set(cv2.CAP_PROP_BUFFERSIZE, 1) -# ===== 核心改动：用背景减法器替代帧差法 ===== -# MOG2: 能适应背景变化，适合移动摄像头场景 -# history: 保留多少帧来建立背景模型（越大适应越慢，但越稳定） -# varThreshold: 判断前景的灵敏度（越小越敏感，但噪声越多） -fgbg = cv2.createBackgroundSubtractorMOG2(history=100, varThreshold=25, detectShadows=False) +print(f"摄像头分辨率: {cap.get(3)}x{cap.get(4)}") -# 可选：用KNN背景减法器（效果类似，速度稍快） -# fgbg = cv2.createBackgroundSubtractorKNN(history=100, dist2Threshold=400, detectShadows=False) +# 初始化稳定阶段 +print("初始化摄像头...") +success_count = 0 +for i in range(10): + ret, frame = cap.read() + if not ret: + print(f"第{i+1}帧读取失败") + continue + success_count += 1 + print(f"第{i+1}帧读取成功") + time.sleep(0.1) +print(f"摄像头初始化完成，成功读取{success_count}帧") -# 形态学核（用于去噪） -kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5)) +# 读取初始帧 +ret, prev_frame = cap.read() +if not ret: + print("无法读取初始帧！") + cap.release() + exit() -# 用于平滑追踪的卡尔曼滤波器（可选，减少抖动） -kalman = cv2.KalmanFilter(4, 2) -kalman.measurementMatrix = np.array([[1,0,0,0], [0,1,0,0]], np.float32) -kalman.transitionMatrix = np.array([[1,0,1,0], [0,1,0,1], [0,0,1,0], [0,0,0,1]], np.float32) -kalman.processNoiseCov = np.eye(4, dtype=np.float32) * 0.03 -kalman.measurementNoiseCov = np.eye(2, dtype=np.float32) * 0.5 -kalman.statePost = np.zeros((4,1), np.float32) +print("初始帧读取成功") +prev_gray = cv2.cvtColor(prev_frame, cv2.COLOR_BGR2GRAY) +prev_gray = cv2.GaussianBlur(prev_gray, (5,5), 0) +print("初始帧处理完成") + +# 记录上一帧目标的位置和面积 +prev_cx = None +prev_cy = None +prev_area = None +# 目标跟踪状态 +tracking_target = None while True: ret, frame = cap.read() if not ret: break - - # 1. 背景减法：得到前景掩码（白色=运动物体） - fgmask = fgbg.apply(frame) - - # 2. 形态学处理：去噪 + 填充空洞 - fgmask = cv2.morphologyEx(fgmask, cv2.MORPH_OPEN, kernel) # 先开运算去噪点 - fgmask = cv2.morphologyEx(fgmask, cv2.MORPH_CLOSE, kernel) # 再闭运算填充空洞 - - # 3. 找轮廓 - contours, _ = cv2.findContours(fgmask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) - - # ===== 核心：选最大目标 ===== + + gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) + gray = cv2.GaussianBlur(gray, (5,5), 0) + + # 帧差 + diff = cv2.absdiff(prev_gray, gray) + diff = cv2.convertScaleAbs(diff, alpha=2.5) + + # 应用形态学操作，去除噪声 + kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5)) + diff = cv2.morphologyEx(diff, cv2.MORPH_OPEN, kernel) + diff = cv2.morphologyEx(diff, cv2.MORPH_CLOSE, kernel) + + _, thresh = cv2.threshold(diff, 30, 255, cv2.THRESH_BINARY) + + contours, _ = cv2.findContours(thresh, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) + + # ===== 核心：目标检测和跟踪 ===== target = None max_area = 0 + # 找到所有符合条件的轮廓 + valid_contours = [] for cnt in contours: area = cv2.contourArea(cnt) - - if area < 300: # 过滤噪声 + + if area < 500: # 过滤噪声，增大阈值 continue - if area > max_area: - max_area = area - target = cnt + if area > 8000: # 过滤大面积假目标（如整个画面），减小阈值 + continue + + # 计算轮廓的宽高比，过滤不符合垃圾特征的目标 + x, y, w, h = cv2.boundingRect(cnt) + aspect_ratio = float(w) / h if h > 0 else 0 + if aspect_ratio > 3 or aspect_ratio < 0.3: # 过滤过于狭长的目标 + continue + + valid_contours.append((area, cnt, x, y, w, h)) - # ===== 处理目标 ===== + # 如果有有效的轮廓 + if valid_contours: + # 如果正在跟踪目标，优先选择与上一目标位置接近的轮廓 + if tracking_target is not None and prev_cx is not None and prev_cy is not None: + best_match = None + min_distance = float('inf') + + for area, cnt, x, y, w, h in valid_contours: + cx = x + w // 2 + cy = y + h // 2 + # 计算与上一目标的距离 + distance = ((cx - prev_cx) ** 2 + (cy - prev_cy) ** 2) ** 0.5 + + # 如果距离小于阈值，认为是同一个目标 + if distance < 50: # 距离阈值 + if distance < min_distance: + min_distance = distance + best_match = (area, cnt, x, y, w, h) + + # 如果找到匹配的目标 + if best_match: + area, cnt, x, y, w, h = best_match + target = cnt + max_area = area + else: + # 如果没有找到匹配的目标，选择最大的轮廓 + valid_contours.sort(key=lambda x: x[0], reverse=True) + area, cnt, x, y, w, h = valid_contours[0] + target = cnt + max_area = area + # 开始跟踪新目标 + tracking_target = True + else: + # 如果没有正在跟踪的目标，选择最大的轮廓 + valid_contours.sort(key=lambda x: x[0], reverse=True) + area, cnt, x, y, w, h = valid_contours[0] + target = cnt + max_area = area + # 开始跟踪新目标 + tracking_target = True + + # ===== 只处理一个目标 ===== if target is not None: x, y, w, h = cv2.boundingRect(target) cx = x + w // 2 cy = y + h // 2 - - # 卡尔曼滤波预测/更新（可选，让追踪更平滑） - measurement = np.array([[np.float32(cx)], [np.float32(cy)]]) - kalman.correct(measurement) - prediction = kalman.predict() - pred_x, pred_y = int(prediction[0]), int(prediction[1]) - - # 画原始检测框 + cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2) cv2.circle(frame, (cx, cy), 5, (0, 0, 255), -1) - # 画卡尔曼平滑后的位置（黄色） - cv2.circle(frame, (pred_x, pred_y), 5, (0, 255, 255), -1) + + print("唯一目标:", cx, cy, "area:", max_area) - print(f"目标位置: ({cx}, {cy}), 面积: {max_area}") + # 检测目标是否突然跳变 + target_jumped = False + if prev_cx is not None and prev_cy is not None and prev_area is not None: + # 计算位置变化 + dx = abs(cx - prev_cx) + dy = abs(cy - prev_cy) + # 计算面积变化比例 + area_ratio = max_area / prev_area if prev_area > 0 else 0 + + # 如果位置变化过大或面积变化过大，认为目标跳变 + if dx > 100 or dy > 100 or area_ratio < 0.3 or area_ratio > 3: + target_jumped = True + print("目标突然跳变，可能已离开视野范围") + # 重置跟踪状态 + tracking_target = None + + # 控制逻辑：根据y轴坐标控制垃圾桶前后移动 + center_y = 120 # 画面中心y坐标 + threshold = 20 # 阈值范围 + speed = 3000 # 电机速度 + + if target_jumped: + # 目标跳变，停止移动 + print("目标跳变，停止移动") + motor.stop() + elif cy < center_y - threshold: + # 目标在上侧，垃圾桶向后移动 + print("目标在上侧，向后移动") + # 使用新的电机控制函数 + motor.backward(speed=0.6) + elif cy > center_y + threshold: + # 目标在下侧，垃圾桶向前移动 + print("目标在下侧，向前移动") + # 使用新的电机控制函数 + motor.forward(speed=0.6) + else: + # 目标在中心附近，停止移动 + print("目标在中心，停止移动") + motor.stop() + + # 更新上一帧的目标信息 + prev_cx = cx + prev_cy = cy + prev_area = max_area else: - # 没有检测到目标时，只预测不更新 - prediction = kalman.predict() - # 可选：根据预测位置保持追踪（即使被短暂遮挡） - - # 可选：显示前景掩码（调试用） - cv2.imshow("foreground mask", fgmask) + # 没有检测到目标，停止移动 + print("未检测到目标，停止移动") + motor.stop() + # 重置上一帧的目标信息 + prev_cx = None + prev_cy = None + prev_area = None + # 重置跟踪状态 + tracking_target = None + cv2.imshow("tracking", frame) - + + prev_gray = gray.copy() + if cv2.waitKey(1) & 0xFF == 27: break cap.release() -cv2.destroyAllWindows() \ No newline at end of file +cv2.destroyAllWindows() +motor.stop() \ No newline at end of file diff --git a/main/index.html b/main/index.html new file mode 100644 index 0000000..05b6029 --- /dev/null +++ b/main/index.html @@ -0,0 +1,42 @@ + + + + + +就绪
+