fix：新增例程

2025-07-25 17:54:28 +08:00
parent 78481c265e
commit 637343d716
108 changed files with 5755 additions and 0 deletions
--- a/基础智能/e11.无人机跟随圆形案板移动实验/Config.json
+++ b/基础智能/e11.无人机跟随圆形案板移动实验/Config.json
@@ -0,0 +1,22 @@
+{
+    "VisionSensors":[
+        {
+            "SeqID":0, //视觉传感器序号0 1 2 3 ...排序。如果填0，则自动递增排序。
+            "TypeID":1, //视觉传感器类型，1:RGB，2:深度，3:灰度，4:分割，5:测距，7:深度转点云，20-23:激光雷达，40-41:热力红外（收费版）
+            "TargetCopter":1, //传感器绑定的CopterID号，注:免费版只支持绑定1号飞机
+            "TargetMountType":0, //绑定方式，0:固定飞机几何中心， 1:固定飞机底部中心，2:固定地面上，3:弱固定飞机上姿态不随动，4:绑定其他视觉传感器上
+            "JointType":1,
+            "DataWidth":640, //图像像素长度
+            "DataHeight":480,//图像像素宽度
+            "DataCheckFreq":30,//图像检查更新频率，如果发现UE渲染更新了（取决于UE刷新帧率），会立刻发出数据。UE刷新率+DataCheckFreq检查频率，共同决定图像延迟。
+            "SendProtocol":[0,0,0,0,0,0,0,0],// SendProtocol[0]，表示传输协议，0：共享内存（仅限Windows下获取图像），1：UDP网络传输模式（图片使用jpeg压缩，点云直传），2：UDP直传图片不压缩，3：UDP直传图片png压缩。注：0-1适用所有传感器，2-3选项仅限图像类传感器。
+            //SendProtocol[1-4]位对应，IP地址位，表示请求返回的IP地址。默认都填0（或127.0.0.1），会自动请求UE返回图像到本电脑；SendProtocol[5]端口位，指定传感器图像回传端口，需要为每个传感器设置不同端口。默认填0，会自动使用9999+SeqID的递增端口号。
+            "CameraFOV":90, //视觉传感器的FOV视场角，和焦距呈现一定数值关系，能间接修改焦距。
+            "EularOrQuat":0, //使用欧拉角SensorAngEular还是四元数SensorAngQuat来设置视觉传感器姿态，默认使用0欧拉角。
+            "SensorPosXYZ":[0.3,0,0], //视觉传感器的安装位置，和TargetMountType对应偏移中心，单位米
+            "SensorAngQuat":[0,0,0,0], // 视觉传感器的安装姿态，用四元数方式表示
+            "SensorAngEular":[0,0,0],// 视觉传感器的安装姿态，用欧拉角方式表示，单位角度制
+            "otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0] //其他参数
+        }
+    ]
+}
--- a/基础智能/e11.无人机跟随圆形案板移动实验/Python38Run.bat
+++ b/基础智能/e11.无人机跟随圆形案板移动实验/Python38Run.bat
@@ -0,0 +1,5 @@
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+start cmd.exe /k "echo Python3.8 environment has been set with openCV+pymavlink+numpy+pyulog etc. && echo You can use pip or pip3 command to install other libraries && echo Put Python38Run.bat into your code folder && echo Use the command: 'python XXX.py' to run the script with Python && SET PATH=%PSP_PATH%\Python38;%PSP_PATH%\Python38\Scripts;%CD%;%PATH%"
--- a/基础智能/e11.无人机跟随圆形案板移动实验/Readme.pdf
+++ b/基础智能/e11.无人机跟随圆形案板移动实验/Readme.pdf
--- a/基础智能/e11.无人机跟随圆形案板移动实验/WinWSL.bat
+++ b/基础智能/e11.无人机跟随圆形案板移动实验/WinWSL.bat
@@ -0,0 +1,12 @@
+@echo off
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+cd /d %PSP_PATH%\VcXsrv
+tasklist|find /i "vcxsrv.exe" >nul || Xlaunch.exe -run config1.xlaunch
+
+cd /d %~dp0
+wsl -d RflySim-20.04 
+
--- a/基础智能/e11.无人机跟随圆形案板移动实验/WslGUI.bat
+++ b/基础智能/e11.无人机跟随圆形案板移动实验/WslGUI.bat
@@ -0,0 +1,20 @@
+@echo off
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+
+cd /d %PSP_PATH%\VcXsrv
+Xlaunch.exe -run config.xlaunch
+
+choice /t 1 /d y /n >nul
+
+cd /d %~dp0
+wsl -d RflySim-20.04 ~/StartUI.sh
+choice /t 1 /d y /n >nul
+tasklist|find /i "vcxsrv.exe" && taskkill /f /IM "vcxsrv.exe"
--- a/基础智能/e11.无人机跟随圆形案板移动实验/circle_follow.bat
+++ b/基础智能/e11.无人机跟随圆形案板移动实验/circle_follow.bat
@@ -0,0 +1,162 @@
+@ECHO OFF
+
+REM Run script as administrator
+%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
+
+
+REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
+
+REM Start index of vehicle number (should larger than 0)
+REM This option is useful for simulation with multi-computers
+SET /a START_INDEX=1
+
+
+REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
+SET /a CLASS_3D_ID=-1
+
+REM Set use DLL model name or not, use number index or name string
+REM This option is useful for simulation with other types of vehicles instead of multicopters
+set DLLModel=0
+
+REM Set the simulation mode on CopterSim, use number index or name string
+REM e.g., SimMode=2 equals to  SimMode=PX4_SITL_RFLY
+set SimMode=2
+
+REM Set the vehicle-model (airframe) of PX4 SITL simulation, the default airframe is a quadcopter: iris
+REM Check folder Firmware\ROMFS\px4fmu_common\init.d-posix for supported airframes (Note: You can also create your airframe file here)
+REM E.g., fixed-wing aircraft: PX4SitlFrame=plane; small cars: PX4SitlFrame=rover
+set PX4SitlFrame=iris
+
+
+REM Set the map, use index or name of the map on CopterSim
+REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
+SET UE4_MAP=VisionRingBlank
+
+REM Set the origin x,y position (m) and yaw angle (degree) at the map
+SET /a ORIGIN_POS_X=0
+SET /a ORIGIN_POS_Y=0
+SET /a ORIGIN_YAW=0
+
+REM Set the interval between two vehicle, unit:m 
+SET /a VEHICLE_INTERVAL=2
+
+
+REM Set broadcast to other computer; 0: only this computer, 1: broadcast; or use IP address to increase speed
+REM e.g., IS_BROADCAST=0 equals to IS_BROADCAST=127.0.0.1, IS_BROADCAST=1 equals to IS_BROADCAST=255.255.255.255
+SET IS_BROADCAST=0
+
+REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
+REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
+SET UDPSIMMODE=2
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+:Top
+ECHO.
+ECHO ---------------------------------------
+REM Max vehicle number 50
+SET /a MAX_VEHICLE=50
+REM SET /P VehicleNum=Please input UAV swarm number:
+SET /A VehicleNum=1
+SET /A Evaluated=VehicleNum
+if %Evaluated% EQU %VehicleNum% (
+    IF %VehicleNum% GTR 0 (
+        IF %VehicleNum% GTR %MAX_VEHICLE% (
+            ECHO The vehicle number is too large, which may cause a crash
+            pause
+        )
+        GOTO StartSim
+    )
+    ECHO Not a positive integer
+    GOTO Top
+) ELSE (
+    ECHO Not a integer
+    GOTO Top
+)
+:StartSim
+
+SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
+if not defined TOTOAL_COPTER (
+    SET /A TOTOAL_COPTER=%VehicleTotalNum%
+)
+
+set /a sqrtNum=1
+set /a squareNum=1
+:loopSqrt
+set /a squareNum=%sqrtNum% * %sqrtNum%
+if %squareNum% EQU %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+if %squareNum% GTR %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+set /a sqrtNum=%sqrtNum%+1
+goto loopSqrt
+:loopSqrtEnd
+
+
+REM QGCPath
+tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
+ECHO Start QGroundControl
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\Rflysim3D\RflySim3D.exe
+choice /t 5 /d y /n >nul
+
+
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+ECHO Kill all CopterSims
+
+
+REM CptSmPath
+cd /d %PSP_PATH%\CopterSim
+
+
+set /a cntr=%START_INDEX%
+set /a endNum=%VehicleTotalNum%+1
+
+:loopBegin
+set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
+set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
+start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
+choice /t 1 /d y /n >nul
+set /a cntr=%cntr%+1
+
+if %cntr% EQU %endNum% goto loopEnd
+goto loopBegin
+:loopEnd
+
+REM Set ToolChainType 1:Win10WSL 3:Cygwin
+SET /a ToolChainType=1
+
+if "%IS_BROADCAST%" == "0" (
+    SET IS_BROADCAST=0
+) else (
+    SET IS_BROADCAST=1
+)
+
+SET WINDOWSPATH=%PATH%
+if %ToolChainType% EQU 1 (
+    wsl -d RflySim-20.04 echo Starting PX4 Build; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; export PATH=$HOME/ninja:$HOME/gcc-arm-none-eabi-7-2017-q4-major/bin:$PATH;make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1
+) else (
+    REM CYGPath
+    cd /d %PSP_PATH%\CygwinToolchain
+    CALL setPX4Env.bat
+    bash -l -i -c 'echo Starting SITL SIMULATION; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; pwd; make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1; pkill -x px4 || true;'
+)
+SET PATH=%WINDOWSPATH%
+
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
+tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
+
+ECHO Start End.
--- a/基础智能/e11.无人机跟随圆形案板移动实验/circle_follow.py
+++ b/基础智能/e11.无人机跟随圆形案板移动实验/circle_follow.py
@@ -0,0 +1,199 @@
+"""
+视觉跟随圆移动控制飞机飞行。
+圆形案板移动有前后，左右，上下移动
+
+"""
+import cv2
+import threading
+import time
+import VisionCaptureApi
+import PX4MavCtrlV4 as PX4MavCtrl
+import sys
+import numpy as np
+import keyboard
+import UE4CtrlAPI
+ue = UE4CtrlAPI.UE4CtrlAPI()
+
+
+"""
+初始化飞机，起飞,创建圆形目标
+"""
+vis = VisionCaptureApi.VisionCaptureApi()
+# ue.sendUE4Cmd(b"r.setres 720x405w", 0)
+ue.sendUE4Cmd(b"t.MaxFPS 30", 0)
+ue.sendUE4PosNew(3, vehicleType=809, PosE=[2, 0, -2])
+vis.jsonLoad()
+time.sleep(1)
+ue.sendUE4ExtAct(3, ActExt=[1, 0.8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0])
+isSuss = vis.sendReqToUE4()  # 向RflySim3D发送取图请求，并验证
+if not isSuss:  # 如果请求取图失败，则退出
+    sys.exit(0)
+vis.startImgCap()  # 开启取图，并启用共享内存图像转发，转发到填写的目录
+time.sleep(2)
+
+mav = PX4MavCtrl.PX4MavCtrler()
+mav.InitMavLoop()
+time.sleep(2)
+mav.initOffboard()
+time.sleep(2)
+mav.SendMavArm(True)
+mav.SendPosNED(0, 0, -2, 0)
+time.sleep(10)
+detect_flag = False
+
+"""
+开辟线线程,控制圆形目标移动
+"""
+
+
+Circle_pose = [2, 0, -2, 0]
+
+
+def MoveCircle(val):
+    """
+    圆板目标移动没有旋转，只有平移，且始终朝向飞机
+    """
+    global vis
+    global detect_flag
+    global CalCirle_pose
+    offset = 0.01  # 每次移动的距离
+    yaw_offset = np.deg2rad(1)
+    drone_pose = ue.getUE4Pos()
+    # if not detect_flag:
+    #     time.sleep(0.001)
+    #     continue
+    if val == "right":  # 如果按键按下，这个值为1
+        # 向右移动
+        Circle_pose[1] += offset
+    if val == "left":
+        # 向左移动
+        Circle_pose[1] -= offset
+    if val == "up":
+        # 向上移动
+        Circle_pose[2] -= offset
+    if val == "down":
+        # 向下移动
+        Circle_pose[2] += offset
+    if val == "front":
+        # 向前移动
+        Circle_pose[0] += offset
+    if val == "back":
+        # 向后移动
+        Circle_pose[0] -= offset
+    ue.sendUE4PosNew(
+        3,
+        vehicleType=809,
+        PosE=[Circle_pose[0], Circle_pose[1], Circle_pose[2]],
+        AngEuler=[0, 0, Circle_pose[3]],
+    )
+
+
+# move_circle_th = threading.Thread(target=MoveCircle)
+# move_circle_th.start()
+
+"""
+开辟线程,获取图像,并控制飞机移动
+"""
+
+
+def CalCirle(img: np.array) -> tuple():
+    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+    low_hsv = np.array([0, 43, 46])
+    high_hsv = np.array([10, 255, 255])
+    mask1 = cv2.inRange(hsv, lowerb=low_hsv, upperb=high_hsv)
+
+    lower2 = np.array([156, 43, 46])
+    upper2 = np.array([180, 255, 255])
+    mask2 = cv2.inRange(hsv, lower2, upper2)
+    mask = mask1 + mask2
+    nonzero = np.nonzero(mask)
+    if np.size(nonzero) == 0:
+        return [-1, -1], [-1, -1], [-1, -1]
+    row_min = np.min(nonzero[0])
+    row_max = np.max(nonzero[0])
+    col_min = np.min(nonzero[1])
+    col_max = np.max(nonzero[1])
+    mid_row = int((row_max + row_min) / 2)
+    mid_col = int((col_max + col_min) / 2)
+
+    cv2.line(
+        img,
+        (col_min, mid_row),
+        (col_max, mid_row),
+        (255, 255, 255),
+        1,
+    )
+    cv2.line(
+        img,
+        (mid_col, row_min),
+        (mid_col, row_max),
+        (255, 255, 255),
+        1,
+    )
+    cv2.imshow("img ", img)
+    cv2.waitKey(1)
+    # cv2.imshow("test", mask1 + mask2)
+    # cv2.waitKey(1)
+
+    return [col_min, col_max], [row_min, row_max], [mid_col, mid_row]
+
+
+def CtrlDrone():
+    global vis
+    global mav
+    global detect_flag
+    img = None
+    init_dist_x = 0
+    init_dist_y = 0
+    img_cnt_x = 320
+    img_cnt_y = 240
+    tolerance_cnt = 15
+    tolerance_y = 15
+    tolerance_x = 20
+    kx = 0.015
+    ky = 0.009
+    kz = 0.005
+    while True:
+        if vis.hasData[0]:
+            img = vis.Img[0]
+            vis.hasData[0] = False
+            # cv2.imshow("img", vis.Img[0])
+            cv2.waitKey(1)
+            [x_min, x_max], [y_min, y_max], [cnt_x, cnt_y] = CalCirle(img)
+            if x_min == -1:
+                time.sleep(0.001)
+                continue
+            if not detect_flag:
+                detect_flag = True
+            dist_x = x_max - x_min
+            dist_y = y_max - y_min
+            if init_dist_x == 0:
+                init_dist_x = dist_x
+            if init_dist_y == 0:
+                init_dist_y = dist_y
+            vx = 0
+            vy = 0
+            vz = 0
+            yaw_rate = 0
+            if abs(cnt_x - img_cnt_x) > tolerance_cnt:
+                vy = ky * (cnt_x - img_cnt_x)
+            if abs(cnt_y - img_cnt_y) > tolerance_cnt:
+                vz = kz * (cnt_y - img_cnt_y)
+            if abs(dist_y - init_dist_y) > tolerance_y:
+                vx = kx * (init_dist_y - dist_y)
+
+            mav.SendVelFRD(vx, vy, vz, 0)
+            time.sleep(0.001)
+
+
+ctrl_drone_th = threading.Thread(target=CtrlDrone)
+ctrl_drone_th.start()
+
+keyboard.add_hotkey("ctrl+up", MoveCircle, args=("front",))
+keyboard.add_hotkey("ctrl+down", MoveCircle, args=("back",))
+keyboard.add_hotkey("up", MoveCircle, args=("up",))
+keyboard.add_hotkey("down", MoveCircle, args=("down",))
+keyboard.add_hotkey("right", MoveCircle, args=("right",))
+keyboard.add_hotkey("left", MoveCircle, args=("left",))
+
+keyboard.wait()
--- a/基础智能/e11.无人机跟随圆形案板移动实验/名称-无人机跟随圆形案板移动实验.txt
+++ b/基础智能/e11.无人机跟随圆形案板移动实验/名称-无人机跟随圆形案板移动实验.txt