Welcome to Muto RS Robot repository

6.QR code instructions

1. Introduction

This course mainly uses the robot's camera to obtain the camera's picture, identify the QR code information, and control the robot's movement based on the QR code information.

2. Core content analysis

Initialize the hexapod robot and set the camera pan/tilt angle. The default is S1=90 and S2=30. The initial angle can be modified according to actual needs.

from MutoLib import Muto
g_bot = Muto()
g_bot.Gimbal_1_2(90, 30)

Import the QR code parsing library pybar

xxxxxxxxxx
import pyzbar.pyzbar as pyzbar
from PIL import Image

If pybar is not installed on your system, please open a terminal and run the following command to install it.

xxxxxxxxxx
pip3 install pyzbar
sudo apt install libzbar-dev

Analyze the grayscale image and extract the information and image position of the QR code in the image. If there is no QR code in the image, the information is None.

xxxxxxxxxx
def detect_qrcode(image):
    # 转为灰度图像 Convert to grayscale image
    gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
    barcodes = pyzbar.decode(gray)
    for barcode in barcodes:
        # 提取二维码的数据和边界框的位置 The data of the QR code and the position of the bounding box are extracted
        (x, y, w, h) = barcode.rect
        barcodeData = barcode.data.decode("utf-8")
        barcodeType = barcode.type
        # print("[INFO] Found {} barcode: {}".format(barcodeType, barcodeData))
        car_control(barcodeData)
        return barcodeData, (x, y, w, h)
    return None, (0, 0, 0, 0)

Control the robot movement according to the string command of info. Among them, g_time_pass is the time of command movement, which can be adjusted according to actual needs, and the unit is 100 milliseconds. By default, the robot will automatically stop after executing the command for 2 seconds.

xxxxxxxxxx
def robot_action(data):
    global g_time_pass
    if g_time_pass >= 0:
        return
    print("Data:", data)
    if data == "forward":
        g_bot.forward()
        g_time_pass = 10 * 2
    elif data == "back":
        g_bot.back()
        g_time_pass = 10 * 2
    elif data == "left":
        g_bot.left()
        g_time_pass = 10 * 2
    elif data == "right":
        g_bot.right()
        g_time_pass = 10 * 2
    elif data == "turnleft":
        g_bot.turnleft()
        g_time_pass = 10 * 2
    elif data == "turnright":
        g_bot.turnright()
        g_time_pass = 10 * 2
    elif data == "stop":
        g_time_pass = -1
        g_bot.zero_reset()

Define a task_time task to stop the robot automatically and not execute other QR code instructions during the movement of the robot. g_time_pass is in units of 100 milliseconds. When g_time_pass is greater than 0, it automatically decreases by 1 every 100 milliseconds and stops automatically when timeout occurs.

xxxxxxxxxx
 QR code recognition
Visual line following