Armor detection using classical methods in cv in RM

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Introduction

This code was specifically designed for the RoboMaster robot competition and serves as my personal learning record. Python was chosen as the main programming language for its fast development efficiency and learning convenience. Please note that due to limited personal energy and time, some of the code may be difficult to read and not fully optimized. Your understanding is greatly appreciated

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Directory

• 1. Main Functions
• 2. Effect Display
• 3. Environment
• 4. Frame
• 5. Scheme
• 6. Communication Protocol
• 7. Configuration and Debugging
• 8. To Conclude

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1.Main Functions

|Functions | | | ------- | ------ | |Armor Detector| Find armor of enemy robot | |Rune Detector| Still need to be updated-2023 | |Angle Transformation| get the Angle of aim point | |Camera Driver| The industrial camera driver of Hikvision | |Serial| Communicate with stm32 | |Parameter Configuration| Adjusting internal parameter

2.Effect Display

Gyro strike(slow motion)

This is a clip of great effect, but the real effect will fluctuate

<center> <video width="320" height="240" controls> <source src="DisplayVideo\sloth.mp4" type="video/mp4"> </video> </center>

Click to watch the video demo

Gyro strike(Kill infantry of 100 HP in 5 seconds)

<center> <video width="320" height="240" controls> <source src="DisplayVideo\gyro.mp4" type="video/mp4"> </video> </center>

Click to watch the video demo

Moving object strike

<center> <video width="480" height="240" controls> <source src="DisplayVideo\move.mp4" type="video/mp4"> </video> </center>

Click to watch the video demo

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3.Environment

Hardware

<center>

|Hardware|Version| |---|---| |MiniPC|iru-i5 8250u| |Industrial Camera|MV-CA013-A0UMUC| |Lens|6mm|

</center>

Software

<center>

|Software|Version| |---|---| |OS|Ubuntu18.04| |Library|pyserial3.5| |Library|opencv-python4.6.0.66|

</center>

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4.Frame

document tree

│  ArmorDetector.py (装甲板检测)
│  DataConnect.py (上下位机通讯)
│  DataParam.py (内部参数设置)
│  get_pose.py (获取里程计信息)
│  globalVar.py 
│  hik2cv.py (海康相机SDK)
│  hikcam_param.txt (相机参数)
│  launch.py (启动文件)
│  PointTransformation.py (角度解算)
│  readme.md
│  TrackKF_2D.py (卡尔曼)
│  usb2cv.py (普通相机)
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├─MvImport (海康相机库)
├─TestImage
├─DisplayVideo

Flow Chart

Waiting for update

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5.Scheme

Armor identification

1. Img preprocessing

2. Light strip detection

3. Light strip matching

4. digital recognition

5. Target Armor selection

Angle solution

Distance solution

Muzzle elevation

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6.Communication Protocol

This version was wrote in hurry, the code of communication would be improved later.

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7.Configuration and Debugging

the debugging arrangements was packed in DataParam.py, where could debug the code more convenient.

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8.To Conclude

The code was written in a hurry by me and lacked manpower and experience at the time of writing, So there are many deficiencies, which might be advanced in the future.