From 9d8d7444b47491ad413f87c6f86e0280000a58a4 Mon Sep 17 00:00:00 2001
From: Cx330 <1487537121@qq.com>
Date: Sun, 12 Apr 2026 14:44:05 +0800
Subject: [PATCH] =?UTF-8?q?=E5=88=9D=E7=89=88=E6=B5=8B=E8=AF=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
main/CSS/control.css | 134 ++++++++++++++
main/CSS/record.css | 10 +
main/CSS/style.css | 79 ++++++++
main/Javascript/control.js | 145 +++++++++++++++
main/Javascript/record.js | 112 ++++++++++++
main/Javascript/script.js | 38 ++++
main/__pycache__/motor.cpython-313.pyc | Bin 0 -> 4033 bytes
main/camera.py | 244 +++++++++++++++++++------
main/index.html | 42 +++++
main/motor.py | 239 ++++++++++++++----------
main/server.py | 51 ++++++
11 files changed, 941 insertions(+), 153 deletions(-)
create mode 100644 main/CSS/control.css
create mode 100644 main/CSS/record.css
create mode 100644 main/CSS/style.css
create mode 100644 main/Javascript/control.js
create mode 100644 main/Javascript/record.js
create mode 100644 main/Javascript/script.js
create mode 100644 main/__pycache__/motor.cpython-313.pyc
create mode 100644 main/index.html
create mode 100644 main/server.py
diff --git a/main/CSS/control.css b/main/CSS/control.css
new file mode 100644
index 0000000..936b41d
--- /dev/null
+++ b/main/CSS/control.css
@@ -0,0 +1,134 @@
+/* 移动控制相关样式 */
+.container {
+ display: flex;
+ flex-direction: column;
+ align-items: center;
+ justify-content: center;
+ min-height: 80vh;
+ padding: 20px;
+}
+
+.title {
+ font-size: 24px;
+ font-weight: bold;
+ color: #333;
+ margin-bottom: 40px;
+ text-align: center;
+}
+
+/* 手柄风格布局 */
+.controller {
+ display: flex;
+ flex-direction: column;
+ align-items: center;
+ gap: 30px;
+ width: 100%;
+ max-width: 350px;
+}
+
+/* 移动控制按钮区域 */
+.movement-controls {
+ display: flex;
+ flex-direction: column;
+ align-items: center;
+ gap: 15px;
+ width: 100%;
+}
+
+.movement-row {
+ display: flex;
+ gap: 15px;
+ justify-content: center;
+}
+
+/* 录制回放按钮区域 */
+.record-controls {
+ display: flex;
+ gap: 15px;
+ justify-content: center;
+ width: 100%;
+ margin-top: 20px;
+}
+
+/* 按钮样式 */
+.btn {
+ width: 120px;
+ height: 50px;
+ border: none;
+ border-radius: 25px;
+ font-size: 16px;
+ font-weight: bold;
+ cursor: pointer;
+ transition: all 0.3s ease;
+ position: relative;
+ overflow: hidden;
+ box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);
+}
+
+.btn::before {
+ content: '';
+ position: absolute;
+ top: 0;
+ left: 0;
+ width: 100%;
+ height: 100%;
+ background: linear-gradient(135deg, rgba(255,255,255,0.2), rgba(255,255,255,0));
+ z-index: 1;
+}
+
+.btn span {
+ position: relative;
+ z-index: 2;
+}
+
+.btn-forward {
+ background-color: #4CAF50;
+ color: white;
+}
+
+.btn-backward {
+ background-color: #f44336;
+ color: white;
+}
+
+.btn:hover {
+ transform: translateY(-3px);
+ box-shadow: 0 6px 12px rgba(0, 0, 0, 0.15);
+}
+
+.btn:active {
+ transform: translateY(0);
+ box-shadow: 0 2px 4px rgba(0, 0, 0, 0.2);
+}
+
+/* 状态显示 */
+.status {
+ margin-top: 30px;
+ padding: 15px;
+ background-color: #f5f5f5;
+ border-radius: 10px;
+ min-height: 50px;
+ width: 100%;
+ max-width: 350px;
+ text-align: center;
+ box-shadow: inset 0 2px 4px rgba(0, 0, 0, 0.1);
+}
+
+.status p {
+ color: #666;
+ margin: 0;
+ font-size: 16px;
+}
+
+/* 响应式设计 */
+@media (max-width: 400px) {
+ .btn {
+ width: 100px;
+ height: 45px;
+ font-size: 14px;
+ }
+
+ .title {
+ font-size: 20px;
+ }
+}
\ No newline at end of file
diff --git a/main/CSS/record.css b/main/CSS/record.css
new file mode 100644
index 0000000..2b8e710
--- /dev/null
+++ b/main/CSS/record.css
@@ -0,0 +1,10 @@
+/* 录制回放相关样式 */
+.btn-record {
+ background-color: #ff9800;
+ color: white;
+}
+
+.btn-playback {
+ background-color: #2196f3;
+ color: white;
+}
\ No newline at end of file
diff --git a/main/CSS/style.css b/main/CSS/style.css
new file mode 100644
index 0000000..1e43f28
--- /dev/null
+++ b/main/CSS/style.css
@@ -0,0 +1,79 @@
+* {
+ margin: 0;
+ padding: 0;
+ box-sizing: border-box;
+}
+
+body {
+ font-family: Arial, sans-serif;
+ background-color: #f0f0f0;
+ display: flex;
+ flex-direction: column;
+ align-items: center;
+ justify-content: center;
+ min-height: 100vh;
+}
+
+.container {
+ background-color: white;
+ border-radius: 10px;
+ padding: 30px;
+ box-shadow: 0 2px 10px rgba(0, 0, 0, 0.1);
+ text-align: center;
+ width: 90%;
+ max-width: 400px;
+}
+
+h1 {
+ color: #333;
+ margin-bottom: 30px;
+}
+
+.controls {
+ display: flex;
+ justify-content: space-around;
+ margin-bottom: 30px;
+}
+
+.btn {
+ width: 120px;
+ height: 50px;
+ border: none;
+ border-radius: 5px;
+ font-size: 16px;
+ font-weight: bold;
+ cursor: pointer;
+ transition: all 0.3s ease;
+}
+
+.btn-forward {
+ background-color: #4CAF50;
+ color: white;
+}
+
+.btn-backward {
+ background-color: #f44336;
+ color: white;
+}
+
+.btn:hover {
+ transform: translateY(-2px);
+ box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
+}
+
+.btn:active {
+ transform: translateY(0);
+ box-shadow: 0 2px 4px rgba(0, 0, 0, 0.2);
+}
+
+.status {
+ margin-top: 20px;
+ padding: 10px;
+ background-color: #f5f5f5;
+ border-radius: 5px;
+ min-height: 40px;
+}
+
+.status p {
+ color: #666;
+}
\ No newline at end of file
diff --git a/main/Javascript/control.js b/main/Javascript/control.js
new file mode 100644
index 0000000..f307d4c
--- /dev/null
+++ b/main/Javascript/control.js
@@ -0,0 +1,145 @@
+// 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) {
+ // 根据方向设置状态消息
+ if (direction === 'stop') {
+ status.innerHTML = `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 0000000000000000000000000000000000000000..564929a45ff85d2932dd9182d35b9dabcf73fb2e
GIT binary patch
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z 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
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+ 垃圾桶控制界面
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+
垃圾桶控制界面
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