131 lines
3.8 KiB
Python
131 lines
3.8 KiB
Python
import cv2
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import time
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from detect_bag import detect_bag
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#这个要注意放在Feeding同一目录下是这样调用EMV的
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from EMV.EMV import RelayController
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THRESHOLD_X = 537 # 到位阈值
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THRESHOLD_maxX = 1430 # 掉出滚筒阈值
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relay_controller = RelayController()
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# ==================================================
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# 不同料包的滚筒控制逻辑
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# ==================================================
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def handle_bag_motor(cls, status_bool, status_text):
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"""
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滚筒控制总逻辑：
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- 没检测到料包 → 不发信号
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- 未到位 → 不发信号
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- 掉出滚筒 → 报警（不再操作滚筒）
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- 到位：
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bag → 立刻停止滚筒
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bag35 → 持续正转1.5s反转1.5秒 → 停止
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"""
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# 没检测到料包
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if cls is None:
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return
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# 掉出滚筒（最高优先级）
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if status_text == "料包掉出滚筒":
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print("料包掉出滚筒 → 报警 / 停机")
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relay_controller.close(conveyor2=True)
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relay_controller.close(conveyor2_reverse=True)
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return
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# 未到位 → 什么都不做
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if status_bool is not True:
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return
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# ================== 到位 + 分类 ==================
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if cls == "bag":
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print("[bag] 到位 → 立刻停止滚筒")
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relay_controller.close(conveyor2=True)
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elif cls == "bag35":
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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")
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time.sleep(1.5)
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#不确定能不能直接正转变成反转，加一个停止吧
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relay_controller.close(conveyor2=True)
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relay_controller.open(conveyor2_reverse=True)
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time.sleep(1.5)
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relay_controller.close(conveyor2_reverse=True)
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else:
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# 预留扩展
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return
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# ==================================================
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# 料袋状态判断
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# ==================================================
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def bag_judgment(img, return_conf=True, return_vis=False):
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"""
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判断图片中的料袋状态
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"""
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cls = None
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conf = None
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min_x = None
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vis_img = None
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# ================== 唯一检测调用 ==================
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if return_vis:
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cls, conf, min_x, vis_img = detect_bag(img, return_vis=True)
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else:
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cls, conf, min_x = detect_bag(img, return_vis=False)
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# ================== 状态判断 ==================
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if min_x is None:
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status_bool = None
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status_text = "没有料袋"
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elif min_x > THRESHOLD_maxX:
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status_bool = False
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status_text = "料包掉出滚筒"
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elif THRESHOLD_X <= min_x <= THRESHOLD_maxX:
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status_bool = True
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status_text = "料袋到位"
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else:
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status_bool = False
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status_text = "料袋未到位"
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# ================== 滚筒控制 ==================
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handle_bag_motor(cls, status_bool, status_text)
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# ================== 返回 ==================
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if not return_conf:
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conf = None
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if not return_vis:
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vis_img = None
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return status_bool, status_text, conf, min_x, vis_img
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# ====================== 测试 ======================
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if __name__ == "__main__":
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IMG_PATH = "./test_image/3.jpg"
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img = cv2.imread(IMG_PATH)
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if img is None:
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raise FileNotFoundError(f"图片无法读取: {IMG_PATH}")
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#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)
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status_bool, status_text, conf, min_x, vis_img = bag_judgment(
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img,
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return_conf = True,
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return_vis = False
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)
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print(
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f"判断结果: {status_bool}, "
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f"中文状态: {status_text}, "
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f"conf={conf}, min_x={min_x}"
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)
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if vis_img is not None:
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cv2.imshow("Vis", vis_img)
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cv2.waitKey(0)
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cv2.destroyAllWindows()
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