更新加入料带目标检测，判断料带到位，以及控制滚筒逻辑

detect_bagor35bag/main_bag_judgment.py

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+import cv2
+import time
+from detect_bag import detect_bag
+#这个要注意放在Feeding同一目录下是这样调用EMV的
+from EMV.EMV import RelayController
+
+THRESHOLD_X = 537       # 到位阈值
+THRESHOLD_maxX = 1430  # 掉出滚筒阈值
+
+relay_controller = RelayController()
+
+# ==================================================
+# 不同料包的滚筒控制逻辑
+# ==================================================
+def handle_bag_motor(cls, status_bool, status_text):
+    """
+    滚筒控制总逻辑：
+    - 没检测到料包 → 不发信号
+    - 未到位 → 不发信号
+    - 掉出滚筒 → 报警（不再操作滚筒）
+    - 到位：
+        bag   → 立刻停止滚筒
+        bag35 → 持续正转1.5s反转1.5秒 → 停止
+    """
+
+    # 没检测到料包
+    if cls is None:
+        return
+
+    # 掉出滚筒（最高优先级）
+    if status_text == "料包掉出滚筒":
+        print("料包掉出滚筒 → 报警 / 停机")
+        relay_controller.close(conveyor2=True)
+        relay_controller.close(conveyor2_reverse=True)
+        return
+
+    # 未到位 → 什么都不做
+    if status_bool is not True:
+        return
+
+    # ================== 到位 + 分类 ==================
+    if cls == "bag":
+        print("[bag] 到位 → 立刻停止滚筒")
+        relay_controller.close(conveyor2=True)
+
+    elif cls == "bag35":
+        print("[bag35] 到位 → 持续正转滚筒1.5秒 后，反转滚筒 1.5 秒 到原位置→ 停止滚筒")
+        time.sleep(1.5)
+        relay_controller.open(conveyor2_reverse=True)
+        time.sleep(1.5)
+        relay_controller.close(conveyor2_reverse=True)
+
+    else:
+        # 预留扩展
+        return
+
+
+# ==================================================
+# 料袋状态判断
+# ==================================================
+def bag_judgment(img, return_conf=True, return_vis=False):
+    """
+    判断图片中的料袋状态
+    """
+    cls = None
+    conf = None
+    min_x = None
+    vis_img = None
+
+    # ================== 唯一检测调用 ==================
+    if return_vis:
+        cls, conf, min_x, vis_img = detect_bag(img, return_vis=True)
+    else:
+        cls, conf, min_x = detect_bag(img, return_vis=False)
+
+    # ================== 状态判断 ==================
+    if min_x is None:
+        status_bool = None
+        status_text = "没有料袋"
+
+    elif min_x > THRESHOLD_maxX:
+        status_bool = False
+        status_text = "料包掉出滚筒"
+
+    elif THRESHOLD_X <= min_x <= THRESHOLD_maxX:
+        status_bool = True
+        status_text = "料袋到位"
+
+    else:
+        status_bool = False
+        status_text = "料袋未到位"
+
+    # ================== 滚筒控制 ==================
+    handle_bag_motor(cls, status_bool, status_text)
+
+    # ================== 返回 ==================
+    if not return_conf:
+        conf = None
+    if not return_vis:
+        vis_img = None
+
+    return status_bool, status_text, conf, min_x, vis_img
+
+
+# ====================== 测试 ======================
+if __name__ == "__main__":
+    IMG_PATH = "./test_image/3.jpg"
+    img = cv2.imread(IMG_PATH)
+    if img is None:
+        raise FileNotFoundError(f"图片无法读取: {IMG_PATH}")
+    #这里面包含 handle_bag_motor滚筒控制，只要你记得后面机械臂抓完包之后要打开滚筒，Feeding里self.relay_controller.open(conveyor2=True)
+    status_bool, status_text, conf, min_x, vis_img = bag_judgment(
+        img,
+        return_conf = True,
+        return_vis = False
+    )
+
+    print(
+        f"判断结果: {status_bool}, "
+        f"中文状态: {status_text}, "
+        f"conf={conf}, min_x={min_x}"
+    )
+
+    if vis_img is not None:
+        cv2.imshow("Vis", vis_img)
+        cv2.waitKey(0)
+        cv2.destroyAllWindows()
+