OPENCV(2)--Capture Video from Camera

    這篇介紹如何透過OPENCV 開啟電腦上的Webcam 擷取影像並做灰階化後及時同步顯示影像. 

     video可以看成是一段時間內幾十張單一影像的連續呈現,如30FPS(Frames per second) 就是每秒30張影像,因為人眼視覺暫留的作用,所以在我們看起來它就變成了動畫.所以camera擷取進的影像也是一張一張的圖片,而我們也可以直接對這一張張的影像圖片連續做處裡如灰階化.所以在OPENCV處理video的影像跟單一張圖片的影像並沒有區別.

     底下圖(1) 左邊即為webcam讀取的原始影像,右邊為灰階化後的即時影像

<圖1>

從程式碼中觀看,frame即為從webcam 讀取的單張影像,而只要連續對讀取的frame做處理即可

顯示即時處理後的影像結果.當然電腦的CPU/GPU處理的速度,會直接影響處理效率.

一般使用預設的的640x480 來做處理即可,即使未來對影像特徵值得處理也不需太高解析度的影像,甚至更小解析度32x32 就夠了.

     要在OPENCV裡使用Webcam 只要底下一行程式即可

     預設電腦的webcam 代號0

     cap = cv2.VideoCapture(0)

使用中文語音下令機器人去控制家裡的電燈

      使用中文語音下達指令給機器人,讓機器人去控制家裡的電燈.
原本的範例也可以直接利用手機平板或是電腦直接做控制家裡的電燈,這次利用
Google語音辨識的功能,讓機器人去完成該指令動作,一來是省去了必須另外打開手機電腦
的麻煩,二來是讓機器人比較像是家裡一份子的感覺. 是機器人與物聯網概念的結合,其運用也可以用在其他家電如電視,電風扇,冷氣,電子鎖等等.

<圖一>系統概念圖

<圖二>阿布拉機機器人



<圖三>辨識語音輸出文字

影片DEMO:

My Robot ,Arbu_Lucky, feet parts.(阿布拉機機器人_雙足)

This page share  feet parts of My Robot < ArbuLucky>.

You can download 3DP parts fromm below website:
http://www.thingiverse.com/thing:1665399

   The 3DP element "Pillar.stl" defaul lengh is 60mm .you need to resize by youself.
Just use the slice AP like as Cura can easy to change the lengh.

Arduino Smart Car V3.0(手機藍芽遙控多功能自走車V3.0)

  Base on Smart Car V2.0 to modify theUltraSonic portion.Add one servo(MG 90s) to check turn left or turn right when close the barrier.


See the previous Smart Car design:
http://arbu00.blogspot.tw/2015/11/arduino-btsmartcarv2-v20.html
 To connect Servo signal on D13 pin.

Download 3DP things from below website:
http://www.thingiverse.com/thing:1497224


Below source code just to reference ,it can work normally,but not yet perfect.
Download the new Arduino source code:
https://github.com/Ashing00/Smart_Car-V3.0/tree/master

Make the trible layer MAZE By 3DP(使用3D列印機製作三層陷阱迷宮)

  This maze have 3 layer ,Layer A and Layer B are the normal maze and Layer C is a trap layer
 Put a iron bell and try to find the way from  Entrance (A)  to Exit (B) .see the <Picture 6>

  Using your hand to control theiron bell and be careful that there are a lot of dead holes on the way.The squae hole are the dead holes.When the iron bell drop in.It will drop into trap layer C,then the game is over.
  You  need to get the iron bell from DEAD hole,then replay it again.The circle hole is right way to enter another maze layer B.On Layer B also have a lot of dead holes.Enjoy!

 Of cause you also can go from B to A.

Download this thing:
http://www.thingiverse.com/thing:1478081


To see below pictures to know how to made it.

<Picture 1> Just combine layer A.B.C .

Arduino 5 Axis Robotic_Arm V3.0 (Arduino 五軸機械手臂)

   It is more easy to assemble and printer.
Regarding Arduino source code and how to make it,please also see below web:

http://arbu00.blogspot.tw/2016/01/arduino-5-axis-roboticarm-v20-arduino.html

Download this thing from below website:
http://www.thingiverse.com/thing:1475440




circuit:

see the Demo:

Build the light sword with 3DP+Arduino(用3D列印+Arduino製作光劍)

    I used 3DP and arduino Nano to build the light sword.

There are 4 kind of LED blink modes.Just press buttom to change LED blink modes.
When you wave the sword, it can beep.

關於我的3D印表機以及如何進入3D列印世界

     依我個人使用3DP大概近一年經驗,其實3DP是很容易故障的,一開始噴嘴堵住是最常見的.
 後來又遇到溫度感測器故障,加熱管故障,AC 插頭太鬆,風扇壞掉,水平校準不對...等等等,幾乎我的機器除了馬達 其他地放都被我拆過了.即使機器本身沒問題,在列印時一開始也會因為對切片軟體參數設置不妥而造成列印品質不佳.
     我使用的3DP是屬於DELTA形式,也有人說三角洲,好處是X-Y平面比較不占空間,底下有幾張圖是我這一年來慢慢改機後的照片,原本控制器跟擠線器都是放在下方,現在都把它改到上方,有趣是我直接把我的3DP塞進IKEA的書櫃裡,大小還剛剛好,捲線軸直接掛在上層書櫃卻也頗為好用又省空間.





    最近有遇到一個下面的error message.狀況是突然印一印就停止,前幾天都還好好的.
 後來發現這是因為thermal sensor 讀不到溫度,一直秀零度,還好我平常都有備用料,更換thermal sensor 之後就正常了.


圖 :出現這個錯誤訊息,可以檢查一下thermal sensor 是不是脫落了或是線斷了

Using Android Mobile Phone to control House's Lamp (使用Android手機控制家用電燈)

I Put 2 Servo SG90 into this box and use android Mobile Phone to control House's Lamp
Thru Arduino+BT without any relay.You don't need to change your house original circuit
just plug in this box  original Lamp Switch.This box is for 2 Power Switch .and I used the
 generic mobile Phone USB changer as power source.

Arduino 5 Axis Robotic_Arm V2.0 (Arduino 五軸機械手臂)

  This is a 5 Axis Arduino Robotic Arm with 2 controlled method.
1. one is auto mode by programming in arduino nano chip
2 another is manual mode by using Joysticks.

    This page show you how to connect the arduino circuit,
Regarding how to download 3DP components and how to assemble it .
please see below website.

http://arbu00.blogspot.tw/2015/12/roboticarm-v20-arduino_23.html.


and below can download the Arduino source code for Robotic Arm.<roboticArm1_1.ino >

https://github.com/Ashing00/Arduino_RoboticArm/blob/master/roboticArm1_1.ino

Robotic_Arm V2.0_3DP_Components (Arduino 五軸機械手臂_3DP機構件)

 
Robotic_Arm V2.0 (Arduino 五軸機械手臂)

組裝及3DP STL檔下載

   You can download 3DP *.stl from here:
    http://www.thingiverse.com/thing:1215831


組裝步驟:

1.所有零件:

Arduino BT_SmartCar_V2(藍芽智慧小車 V2.0)

     I　re-designed my BT_Smart Car .The new architecture is more easy to assemble.

 download the  3DP components here:
http://www.thingiverse.com/thing:1147275

and just see the below pictures you will understand how to assemble it.


新的設計方便使用麵包版做實驗,並且設計成卡凖式的.電池盒,麵包版跟馬達裝進去
時都會有卡一聲.


加入阿布拉機的3D列印與機器人的FB粉絲團
https://www.facebook.com/arbu00/

Scan QRcode to join FB Fans.

1.Mechanism:

 1 All of 3DP components.

Build the BT_SmartCar with 3DP & Arduino -HW/SW section(用3D列印和arduino製作藍芽智慧小車-軟硬體部分)

     底下是主要的線路設計,最後還是用<MS小畫家>直接畫,為了方便性等等其他原因
全部都用模組化零件,這樣就算不是很懂電子電路的新手或小朋友也可以用麵包版,在不需任何焊接的情形下做好系統.


## <Below is my Bt_SmartCar H/W design & circuit ,It is conveinent to put all of modules on the Lab platform. without welding anything,I think it is good for children or education purpose.>

<Picture 1> 線路設計 <H/W Circuit> 可以另存新檔下載放大.

   
          有一個設計的重點要特別注意,我是用4顆 L9110H分別4顆驅動直流馬達(一個L9110H模組上有兩棵),一般其他設計上   L9110H 的輸入端IA/IB 有一真值表如<picture 2>,直接控制輸入high(高電位) or low(低電位).來控制正反轉,但是這樣不能控制速度,於是我把它改成用PWM的方式輸入IA/IB.PWM訊號等於0時就相當於low. 其他值100-255之間就相當於High(H)同時也可以控制速度.低於100的值有可能太低馬達扭力不足於驅動車子.

Build the BT_SmartCar with 3DP & Arduino -Mechanism section(用3D列印和arduino製作藍芽智慧小車-機構部分)

  這是我自己用3D印表機+Arduino設計的藍芽智慧小車,目前已完成了下面功能
1. 手機遙控模式:用android手機遙控藍芽智慧小車
2. 自走模式-------: 自走自動避障模式 ,防止掉落,靠近懸涯邊癌粽動後退改向
3. 循跡模式------:自動走線  (不反光黑線)  

可以從底下網址下載我設計的3D圖檔
http://www.thingiverse.com/thing:1104057


## I build a Bluetooth Smart Car with 3DP & Arduino.There below functions .
1.Mobile phone control mode -using Android control the BT_SmartCar
2.Auto mode-It cam auto avoid stuff and randomly change the move direction.
3.Line search mode ,Just Walking along the black line.

You can download my BT_SmartCar 3DP elements from below website.
http://www.thingiverse.com/thing:1104057



底下先介紹3D列印機構的組裝,
##Below are the assembly steps.

<Picture 1> 全部機構件,黃色部分的是一般常見的可買到的減速馬達組,我用了四顆所以她其實是四驅車.
<Picture 1> All elements ,for the yellow parts are the generic motor modules.I used 4 motors.

Building the Android APP to control Arduino Smart Car (製作Android APP控制Arduino 智慧車)

Below is a compeleted sample code created from MIT APP inventor2.
To Show how to connect to Andruino thru BT.
You can modify it by youself to meet which function you want.
Bassically,it is really easy to build a APP to support Arduino +BT projects  .

##這是一個用MIT APP Inventor2 所製作的Andriod APP .透過藍芽連接可以用來控制
由Arduino 所做的智慧小車.這是一個完整的範例，你也可以自己修改它來完成其他功能.
基本上由MIT APP Inventor2 來製作的Andriod APP 其實非常簡單，很容易就可以達成跟Arduino 做藍芽(BT)連線控制的動作.

Download this APP.Arduino SmartCar


<Picture 1> This is the APP layout ,At first,put the elements on the Screen1.
<Picture 1> 首先放所有元件在Screen1.

Using Android Phone to control House's Lamp ON/OFF(用Android手機遙控家裡電燈開關)

         My idea is just use one servo to switch the lamp's power button.
 Without Relay ,It just is a plug, It means we don't need to change house's original power circuits.

How to build the Robotic Arm made by 3DP(用3D印表機來製作機械手臂)

     Although I already tried to made all screw hole on this Robotic Arm.but sometimes I got the new ideas and do some modification. so It is better to prepare the  Electrical screw tool,sometimes need to make some screw  holes.and please also prepare the glue for plastic material .



  Download the Robotic_Arm 3DP Components from the website:
  http://www.thingiverse.com/thing:994180

   Well, just reference below pictures to build the Robotic arm.


<picture 1>.It is better to fixed the Robotic Arm_base on the wood platform.or you can fixed it on where you want.

Demo the Drone flight modes include Failsafe RTL Geo Fence modes.

   The flight modes are relative with security.
In my APM setting,when lose RC signal or GPS signal ,the Drone will auto Landing.
and IF the Drone fly over the GEO Fence setting,it will enter RTL mode.
and I set Channel 8 for force RTL mode,too.



1.Geo Fence test

Using Arduino and Joystick to control Robotic Arm

            I created another method to control the Robotic Arm.

    Using Arduino nano & one Joystick with X/Y dimension and click function to control
  the robotic Arm's movements.

  This robotic arm architecture was made by my 3DP.
  You can  download the components from the website:
          http://www.thingiverse.com/thing:994180

Below films demo how to controll it .

Connecting Arduino for 5 axis Robotic Arm

This show you how to connect Arduino to Robotic Arm.I used 5 MG995 servo.MG995 servo can turn the angle from 0 -180 degree.Each Servo has 3 signal .VCC/GND/SIG.
VCC :+ power 5V or 6V
GND:Power ground
SIG: controled signal.


        來介紹一下之前做的機械手臂的接線方式,底下<圖一>是Tower pro Mg995的伺服馬達,轉動範圍可以0-180度 之間轉動,扭力號稱最大有13Kg,總共有三隻接腳 ,<正極> <負極> 及一<訊號腳> ,正負極接上電源後,只需控制 訊號腳 即可決定 轉動的角度 0-180度.


You can Download the Robotic Arm Elements from below website.
Robotic Arm 3DP elements

See the Demo Film


<Picture 1> The MG995 servo


<圖2> 這是書上只接一顆馬達的線路圖範例,將伺服馬達 <訊號腳> 接到 arduino 板子的D2 數位輸出腳,藉由程式控制這根訊號輸出來 控制馬達的轉動角度.
        接多顆馬達時一樣正負極接電源訊號腳則依序接D3,D4,D5,D6.,於是共5顆馬達分別由控制 D2 (伺服馬達1)/D3 (伺服馬達2) D4 (伺服馬達3)/D5 (伺服馬達4))/D6 (伺服馬達5)輸出訊號即可決定各伺服馬達的轉動角度.