Slide 1
Slide 1 text
-&(0#0045Ͱ
େਓ༡΅͏ʂ
ʙϥζύΠΧϝϥ࿈ܞฤʙ
Slide 2
Slide 2 text
ࣗݾհ
ීஈΤϯλʔϓϥΠζܥͷιϑτΣΞΤϯδχΞ
ಀආ׆ಈͱͯ͠ϚΠίϯϘʔυܥ
&5ϩϘίϯւಓ۠ɹ࣮ߦҕһ
1ZUIPOࡳຈཪํ
Slide 3
Slide 3 text
˞݄ݱࡏ
Slide 4
Slide 4 text
̏छྨͷ#0045ϒϩοΫ
Ϝʔϒϋϒ
֎෦Ϟʔλʔ
Χϥʔˍڑηϯαʔ
ଂϞʔλʔY
ଂνϧτηϯαʔ
3(#-&%
Slide 5
Slide 5 text
BLE
ίϚϯυ
௨
ϓϩάϥϜ͕ಈ͘
ͷΞϓϦ্
Slide 6
Slide 6 text
https://github.com/JorgePe/BOOSTreveng
#-&ͷ௨৴༰େํղੳ͞Ε͍ͯΔ
Slide 7
Slide 7 text
https://github.com/JorgePe/pyb00st
1ZUIPOͷ"1*͋Δ QZCTU
˞ଞʹOPEFKT +BWB4DSJQU
ͷ"1*͋Δ
Slide 8
Slide 8 text
https://qiita.com/sonoisa/items/cf0bc6c0ed4d244407b4
εϚʔτϩοΫ࣮ݱͨ͠ڧऀ͍Δ
Slide 9
Slide 9 text
ΧϝϥϞδϡʔϧ
3BTQCFSSZ1J;FSP8
ʢը૾ॲཧɺߦಈఆʣ
#-&
ʢಈ࡞ࢦࣔʣ
ࠓճͬͯΈͨ͜ͱ
※εΠοναΠΤϯεͰͷՁ֨ʢ20191݄19ݱࡏʣ
ɹRaspberry Pi Zero W 1,296ԁ
ɹRaspberry Pi ΧϝϥϞδϡʔϧ V2 4,680ԁ
ɹRaspberry Pi Zero έʔε 648ԁ
͍ΘΏΔʮϚγϯϏδϣϯʯͷ·Ͷ͝ͱ
https://ja.wikipedia.org/wiki/ϚγϯϏδϣϯ
Slide 10
Slide 10 text
No content
Slide 11
Slide 11 text
No content
Slide 12
Slide 12 text
ϥζύΠΧϝϥ͔Βͷը૾࿈ଓऔΓࠐΈ
import picamera
import picamera.array
import cv2
import time
:
with picamera.PiCamera() as camera:
camera.resolution = (160, 120) # 160x120ͷղ૾
time.sleep(2)
with picamera.array.PiRGBArray(camera) as frame:
time.sleep(0.1)
for frame in camera.capture_continuous(frame, 'bgr',
use_video_port=True):
image = frame.array
# ͜͜Ͱ֤ϑϨʔϜͷΠϝʔδΛॲཧʢOpenCV 2Λར༻ʣ
Slide 13
Slide 13 text
roi = image[60:120, 0:160] # ؔ৺ྖҬͷΓग़͠
ݩͷΠϝʔδ(image)
Slide 14
Slide 14 text
mono = cv2.cvtColor(roi, cv2.COLOR_BGR2GRAY) # ϞϊΫϩԽ
blur = cv2.GaussianBlur(mono, (9, 9), 0) # ฏԽ
Slide 15
Slide 15 text
ret,thresh = cv2.threshold(blur, 60, 255,cv2.THRESH_BINARY_INV|cv2.THRESH_OTSU) # ೋԽ
erode_img = cv2.erode(thresh, None, iterations=2) # ऩॖ(Erosion)
dilate_img = cv2.dilate(erode_img, None, iterations=2) # ு(Dilation)
Slide 16
Slide 16 text
_,contours,hierarchy = cv2.findContours(dilate_img, 1,
cv2.CHAIN_APPROX_NONE)# ྠֲݕग़
c = max(contours, key=cv2.contourArea) # ໘ੵ͕࠷େͷྠֲ
M = cv2.moments(c) # Ϟʔϝϯτʢॏ৺ʣ
cx = int(M[‘m10’]/M['m00']) # ॏ৺࠲ඪ x
cy = int(M[‘m01']/M['m00']) # ॏ৺࠲ඪ y
Slide 17
Slide 17 text
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
:
if cx >= 120: # ӈટճ
(duty_a, duty_b) = (100, 10)
elif cx > 50: # ਐ
(duty_a, duty_b) = (100, 100)
elif cx > 0: # ࠨટճ
(duty_a, duty_b) = (10, 100)
else: # ఀࢭ
(duty_a, duty_b) = (0, 0)
mymovehub.run_motors_for_time(MOTOR_AB, 150, duty_a, duty_b)
Slide 18
Slide 18 text
No content
Slide 19
Slide 19 text
No content
Slide 20
Slide 20 text
·ͱΊ
-&(0#0045ͷ௨৴΄΅ղੳࡁΈͰେਓ༡Δ
#-&͕͑ΕͲΜͳػث͔ΒͰ
#-&Χϝϥ͕͑ΔػثͱͳΒϚγϯϏδϣϯͰ͖Δ
%FFQ3BDFSͷϚω͝ͱ͍ͨ͠