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fujinliang
2026-04-07 09:51:38 +08:00
parent ecba4d726a
commit 00dcd6b6cc
36 changed files with 2857 additions and 505 deletions
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vision/charge_3cls/charge0324.rknn Normal file
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vision/charge_3cls/charge_cls_rknn.py Normal file
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@ -0,0 +1,131 @@
import os
import cv2
import numpy as np
from collections import deque
class StableClassJudge:
"""
连续三帧稳定判决器：
- class0 / class1 连续 3 帧 -> 输出
- class2 -> 清空计数，重新统计
"""
def __init__(self, stable_frames=3, ignore_class=2):
self.stable_frames = stable_frames
self.ignore_class = ignore_class
self.buffer = deque(maxlen=stable_frames)
def reset(self):
self.buffer.clear()
def update(self, class_id):
if class_id == self.ignore_class:
self.reset()
return None
self.buffer.append(class_id)
if len(self.buffer) < self.stable_frames:
return None
if len(set(self.buffer)) == 1:
stable_class = self.buffer[0]
self.reset()
return stable_class
return None
# ---------------------------
# 三分类映射
# ---------------------------
CLASS_NAMES = {
0: "插好",
1: "未插好",
2: "有遮挡"
}
# ---------------------------
# RKNN 全局实例（只加载一次）
# ---------------------------
_global_rknn = None
def init_rknn_model(model_path):
from rknnlite.api import RKNNLite
global _global_rknn
if _global_rknn is not None:
return _global_rknn
rknn = RKNNLite(verbose=False)
ret = rknn.load_rknn(model_path)
if ret != 0:
raise RuntimeError(f"Load RKNN failed: {ret}")
ret = rknn.init_runtime(core_mask=RKNNLite.NPU_CORE_0)
if ret != 0:
raise RuntimeError(f"Init runtime failed: {ret}")
_global_rknn = rknn
print(f"[INFO] RKNN 模型加载成功：{model_path}")
return rknn
# ---------------------------
# 预处理（输入 uint8，RKNN 内部转 float32）
# ---------------------------
def resize_stretch(image, size=640):
return cv2.resize(image, (size, size))
def preprocess_image_for_rknn(img, size=640):
# 输入必须是 uint8 [0,255]，即使模型是 float32
img_resized = resize_stretch(img, size=size)
img_rgb = cv2.cvtColor(img_resized, cv2.COLOR_BGR2RGB)
input_tensor = np.expand_dims(img_rgb, axis=0).astype(np.uint8) # NHWC, uint8
return np.ascontiguousarray(input_tensor)
# ---------------------------
# 单次 RKNN 推理（三分类，float32 模型）
# ---------------------------
def rknn_classify_preprocessed(input_tensor, model_path):
rknn = init_rknn_model(model_path)
outs = rknn.inference([input_tensor])
# 直接得到 logits
probs = outs[0].flatten().astype(np.float32) # shape: (3,)
class_id = int(np.argmax(probs))
return class_id, probs
# ---------------------------
# 单张图片推理
# ---------------------------
def classify_single_image(frame, model_path, size=640):
if frame is None:
raise FileNotFoundError("输入帧为空")
input_tensor = preprocess_image_for_rknn(frame, size=size)
class_id, probs = rknn_classify_preprocessed(input_tensor, model_path)
class_name = CLASS_NAMES.get(class_id, f"未知类别 ({class_id})")
return {
"class_id": class_id,
"class": class_name,
"score": round(float(probs[class_id]), 4),
"raw": probs.tolist()
}
# ---------------------------
# 示例调用
# ---------------------------
if __name__ == "__main__":
model_path = "charge0324.rknn"
image_path = "class2.jpg"
frame = cv2.imread(image_path)
if frame is None:
raise FileNotFoundError(f"无法读取图片：{image_path}")
result = classify_single_image(frame, model_path)
print("[RESULT]", result)

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vision/charge_3cls/charge_utils.py Normal file
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import os
import cv2
#from rknnlite.api import RKNNLite
import time
# classify_single_image, StableClassJudge, CLASS_NAMES 已在 muju_cls_rknn 中定义
from .charge_cls_rknn import classify_single_image, StableClassJudge, CLASS_NAMES
# 获取当前文件所在目录的绝对路径
current_dir = os.path.dirname(os.path.abspath(__file__))
def run_stable_charge_loop():
"""
image_source: cv2.VideoCapture 对象
"""
_ret=None
# 使用相对于当前文件的绝对路径
model_path = os.path.join(current_dir, "charge0324.rknn")
# roi_file = os.path.join(current_dir, "roi_coordinates", "muju_roi.txt")
RTSP_URL = "rtsp://admin:XJ123456@192.168.250.60:554/streaming/channels/101"
stable_frames=5
print(f"正在连接 RTSP 流: {RTSP_URL}")
cap =None
try:
cap = cv2.VideoCapture(RTSP_URL)
# 降低 RTSP 延迟（部分摄像头支持）
cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
if not cap.isOpened():
print("无法打开 RTSP 流，请检查网络、账号密码或 URL")
return None
print("RTSP 流连接成功，开始推理...")
judge = StableClassJudge(
stable_frames=stable_frames,
ignore_class=2 # 忽略“有遮挡”类别参与稳定判断
)
if not hasattr(cap, "read"):
raise TypeError("image_source 必须是 cv2.VideoCapture 实例")
_max_count=10
while True:
_max_count=_max_count-1
ret, frame = cap.read()
if not ret:
print("无法读取视频帧（可能是流断开或结束）")
continue
# 上下左右翻转
# frame = cv2.flip(frame, -1)
# ---------------------------
# 单帧推理
# ---------------------------
result = classify_single_image(frame, model_path)
class_id = result["class_id"]
class_name = result["class"]
score = result["score"]
print(f"[FRAME] {class_name} | conf={score:.3f}")
if score>0.8:
# ---------------------------
# 稳定判断
# ---------------------------
stable_class_id = judge.update(class_id)
if stable_class_id is not None:
_ret=CLASS_NAMES[stable_class_id]
if _ret is None:
print("-------当前振捣棒检测为空，继续等待稳定------")
continue
if _ret=="插好":
break
print(f"-------当前振捣棒检测为：{_ret}，继续等待稳定------")
else:
print("-------当前振捣棒检测为空，继续等待稳定------")
time.sleep(0.1)
finally:
if cap is not None:
cap.release()
return _ret

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vision/visual_callback_dq.py
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@ -17,7 +17,8 @@ from vision.camera_picture import save_camera_picture
from busisness.blls import ArtifactBll,PDRecordBll
from busisness.models import ArtifactInfoModel,PDRecordModel
from service.mould_service import app_web_service
from core.system_state import SystemState,FeedStatus,Upper_Door_Position
from core.system_state import SystemState,FeedStatus,Upper_Door_Position,PD_StatusEnum
from core.core_utils import CoreUtils
from dataclasses import asdict
import json
import math
@ -301,6 +302,9 @@ class VisualCallback:
def _arch_loop(self):
"""破拱线程"""
while self._is_running:
if self._is_finish:
time.sleep(2)
continue
try:
current_time = time.time()
# 检查下料斗破拱（只有在下料过程中才检查）
@ -314,8 +318,9 @@ class VisualCallback:
if (_weight_changed< 200) and \
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print('---------------------第一阶段振动5秒（小于200KG）-----------------')
self.relay_feed.control_arch_lower_open_sync(5)
print('---------------------第一阶段振动3秒（小于200KG）-----------------')
if self._current_angle>25:
self.relay_feed.control_arch_lower_open_sync(3)
self._last_arch_one_weight = _arch_weight
continue
self._last_arch_one_weight = _arch_weight
@ -345,8 +350,9 @@ class VisualCallback:
if (_weight_changed < 100) and \
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print('---------------------第三阶段振动5秒(小于100KG）-----------------')
self.relay_feed.control_arch_lower_open_sync(5)
print('---------------------第三阶段振动3秒(小于100KG）-----------------')
if self._current_angle>25:
self.relay_feed.control_arch_lower_open_sync(3)
self._last_arch_three_weight = _arch_weight
continue
self._last_arch_three_weight = _arch_weight
@ -379,7 +385,8 @@ class VisualCallback:
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print(f'---------------------第五阶段振动3秒(小于{_min_arch_weight}kg)）-----------------')
self.relay_feed.control_arch_lower_open_sync(3)
if self._current_angle>25:
self.relay_feed.control_arch_lower_open_sync(3)
self._last_arch_five_weight = _arch_weight
continue
self._last_arch_five_weight = _arch_weight
@ -475,7 +482,7 @@ class VisualCallback:
def _run_feed(self):
_is_api_request=True
while True:
while self.state.running:
# print("------------已启动----------------")
if self._is_feed_start:
@ -490,15 +497,23 @@ class VisualCallback:
_is_aligned=self._aligned_get_times(1)
if _is_aligned:
_is_api_request=True
if self.state.pd_status==PD_StatusEnum.PD_Ready:
self.state.pd_status=PD_StatusEnum.PD_TimeOut
print('------------启动程序后，进入第一块-------------')
self._is_first_module=False
self._mould_before_aligned=True
if self._cur_mould_model:
self.state._db_mould_status={
self.state.current_mould=self._cur_mould_model
self.state.current_block_number=CoreUtils.get_number_by_mould_code(self._cur_mould_model.MouldCode)
self.state._db_mould_status={
'mould_code':self._cur_mould_model.MouldCode,
'status':2,
'weight':0,
}
else:
self.state.current_mould=None
self.state.current_block_number=''
_current_weight=self.transmitter_controller.read_data(2)
if _current_weight:
@ -508,6 +523,8 @@ class VisualCallback:
return
self.state._feed_status=FeedStatus.FCheckGB
# if not self.state.current_block_number=='F':
# self.state.pd_status=PD_StatusEnum.PD_Ready
# self.is_start_visual=True
self.run_feed_all()
elif self._is_finish and self._is_finish_ratio>=0.7:
@ -519,6 +536,8 @@ class VisualCallback:
if _is_not_aligned:
#标志位
self._mould_before_aligned=False
print('------------连续盖板未对齐完成，进入派单标志-------------')
self.state.pd_status=PD_StatusEnum.PD_Ready
#print('------------连续盖板未对齐-------------')
else:
if _is_api_request:
@ -529,6 +548,19 @@ class VisualCallback:
print('------------进入连续生产-------------')
self._mould_before_aligned=True
_is_api_request=True
if self.state.pd_status==PD_StatusEnum.PD_Ready:
self.state.pd_status=PD_StatusEnum.PD_TimeOut
if self._cur_mould_model:
self.state.current_mould=self._cur_mould_model
self.state.current_block_number=CoreUtils.get_number_by_mould_code(self._cur_mould_model.MouldCode)
self.state._db_mould_status={
'mould_code':self._cur_mould_model.MouldCode,
'status':2,
'weight':0,
}
else:
self.state.current_mould=None
self.state.current_block_number=''
_current_weight=self.transmitter_controller.read_data(2)
if not _current_weight:
@ -545,6 +577,9 @@ class VisualCallback:
self.init_val()
self._init_lower_weight=_current_weight
self.state._feed_status=FeedStatus.FCheckGB
# if not self.state.current_block_number=='F':
#这里需要判断状态是否发送完成，如果没发送完成，应该报警（时间太长），
# self.state.pd_status=PD_StatusEnum.PD_Ready
self.run_feed_all()
# else:
@ -665,9 +700,9 @@ class VisualCallback:
self._mould_need_weight=0.54*2416
need_total_weight=self._mould_need_weight
if initial_lower_weight>100:
self.state._feed_status=FeedStatus.FFeed5
self.state.vf_status=2
if not self._is_finish:
self.state._feed_status=FeedStatus.FFeed5
self.state.vf_status=2
self.is_start_visual=True
self._is_feed_stage=5
while not self._is_finish:
@ -716,11 +751,13 @@ class VisualCallback:
first_finish_weight=0
self._mould_need_weight=1.91*2416
need_total_weight=self._mould_need_weight
if self._is_finish:
return
# start_time=None
self.is_start_visual=True
self.state._feed_status=FeedStatus.FFeed1
self.state.vf_status=1
if initial_lower_weight>100:
self.is_start_visual=True
#下料斗的料全部下完
self._is_feed_stage=1
while not self._is_finish:
@ -745,6 +782,8 @@ class VisualCallback:
self.close_lower_door_visual()
break
time.sleep(1)
self.is_start_visual=False
_current_lower_weight=loc_mitter.read_data(2)
if _current_lower_weight is None:
print("-------下料斗重量异常---------")
@ -759,7 +798,8 @@ class VisualCallback:
#print('------------上料斗未就位----------------')
# print('------------上料斗未就位----------------')
time.sleep(1)
if self._is_finish:
return
if self.plc_data in self.plc_valid_data:
print(f'------------上料斗就位（上料斗往下料斗阶段）-------------')
#打开上料斗出砼门，开5就，开三分之一下
@ -801,6 +841,8 @@ class VisualCallback:
else:
loc_relay.control_upper_close_sync(6+loc_time_count)
self.state._upper_door_closed=0
if self._is_finish:
return
self.is_start_visual=True
initial_lower_weight=loc_mitter.read_data(2)
if initial_lower_weight is None:
@ -828,14 +870,17 @@ class VisualCallback:
break
# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
time.sleep(0.5)
self.is_start_visual=False
_current_lower_weight=loc_mitter.read_data(2)
if _current_lower_weight is None:
print("-------下料斗重量异常(第二次下到模)---------")
return
first_finish_weight=first_finish_weight+initial_lower_weight-_current_lower_weight
print(f'------------已下料（第二次）: {first_finish_weight}kg-------------')
print(f'------------已下料（第二次）: {first_finish_weight}kg-------------')
if self._is_finish:
return
self._is_feed_stage=0
if self.plc_data in self.plc_valid_data:
self.state._upper_door_closed=2
@ -1147,7 +1192,7 @@ class VisualCallback:
if self._is_feed_stage==1 or self._is_feed_stage==3:
#根据溢料状态动态调整目标角度
if overflow_detected == "大堆料":
if not self.state.mould_vibrate_status:
if not self.state._mould_vibrate_status:
TARGET_ANGLE = 15.0 # 临时控制变频器堆料时很小
else:
TARGET_ANGLE = 35.0 # 大堆料时控制在15度左右
@ -1379,11 +1424,13 @@ class VisualCallback:
# print(f"[数据回调] 数值: 0x{data:02X} | 十进制: {data:3d} | 二进制: {binary}")
self.plc_data=data
if self.plc_data in self.plc_valid_data:
if self.state._upper_door_position!=Upper_Door_Position.ZDS:
if self.state._upper_door_position!=Upper_Door_Position.ZDS:
self.state._upper_door_position=Upper_Door_Position.ZDS
self.relay_controller.control(self.relay_controller.UPPER_TO_ZD, 'close')
elif self.plc_data in self.plc_valid_data_jbl:
if self.state._upper_door_position!=Upper_Door_Position.JBL:
self.state._upper_door_position=Upper_Door_Position.JBL
self.relay_controller.control(self.relay_controller.UPPER_TO_JBL, 'close')
else:
if self.state._upper_door_position!=Upper_Door_Position.Returning:
self.state._upper_door_position=Upper_Door_Position.Returning
@ -1415,14 +1462,20 @@ class VisualCallback:
def get_current_mould(self):
"""获取当前要浇筑的管片"""
# if self.state.pd_status==PD_StatusEnum.PD_Ready:
# self.state.pd_status=PD_StatusEnum.PD_TimeOut
_not_poured=app_web_service.get_not_pour_artifacts()
if _not_poured is not None and len(_not_poured)>=1:
_cur_poured_model=_not_poured[-1]
if _cur_poured_model.MouldCode:
self._cur_mould_model=_cur_poured_model
self.state.current_mould=_cur_poured_model
# self.state.current_mould=_cur_poured_model
# self.state.current_block_number=CoreUtils.get_number_by_mould_code(_cur_poured_model.MouldCode)
print(f'当前要浇筑的管片 {json.dumps(asdict(_cur_poured_model), ensure_ascii=False)}')
else:
self._cur_mould_model=None
# self.state.current_mould=None
# self.state.current_block_number=''
print('当前没有未浇筑的管片')
def __del__(self):

4
vision/visual_callback_dq0209.py
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@ -741,6 +741,8 @@ class VisualCallback:
self.close_lower_door_visual()
break
time.sleep(1)
self.is_start_visual=False
_current_lower_weight=loc_mitter.read_data(2)
if _current_lower_weight is None:
print("-------下料斗重量异常---------")
@ -1131,7 +1133,7 @@ class VisualCallback:
if self._is_feed_stage==1 or self._is_feed_stage==3:
#根据溢料状态动态调整目标角度
if overflow_detected == "大堆料":
if not self.state.mould_vibrate_status:
if not self.state._mould_vibrate_status:
TARGET_ANGLE = 15.0 # 临时控制变频器堆料时很小
else:
TARGET_ANGLE = 35.0 # 大堆料时控制在15度左右

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