Rasenrobo mit Induktionsschleife, Schaltbilder, Hallsensor

[Christian H]

Hallo,

seit 2007 ist meine rasenrobo nun im Einsatz. Als letztes habe ich nochmal die Aufzeichnung seiner Route mit einer wlan-Camera verbessert. Anbei 3 Screenshots von heute nachmittag. Der erste kurz nach dem Start, der zweite nach getaner Arbeit, 1h und 45 min später. Das 3. Bild ist ein Ausschnitt kurz nach dem Start. Die Erkennung des rasenrobos ist ziemlich robust, z.B. sowohl im Schatten als auch direkten Sonnenschein. Programmiert ist die Bildverarbeitung mit Visual Basic 6. Rechts ist auf dem Screenshot das Programm mit dem die Telemetrie-Daten vom rasenrobo angezeigt werden (Spannung, Motorstrom, Drehzahl vom Rasenmähermotor, die 4 Schleifensensoren, Kurs, Kurssoll, Uhrzeit und graphisch die Fahrstecke vom rasenobo nach Odometrie(leider mit Drift)). Der rasenrobo wendet an der Begrenzungsschleife im wesentlichen nach dem Zufallsprinzip. Es ist aber auch möglich ihm ein bestimmtes Kurssoll vom Computer aus vorzugeben.

Für den den´s interessiert, der Code für die Auswertung der wlan-Camera. Das wesentliche findet sich in der Sub Bildanalyse:

Private Type BITMAP
 bmType As Long
 bmWidth As Long
 bmHeight As Long
 bmWidthBytes As Long
 bmPlanes As Integer
 bmBitsPixel As Integer
 bmBits As Long
End Type

Private Declare Function GetBitmapBits Lib "gdi32" (ByVal hBitmap As Long, ByVal   dwCount As Long, lpBits As Any) As Long
Private Declare Function SetBitmapBits Lib "gdi32" (ByVal hBitmap As Long, ByVal dwCount As Long, lpBits As Any) As Long
Dim PicBits() As Byte, PicInfo As BITMAP, PicBits2() As Byte
Dim Cnt As Long, BytesPerLine As Long
Dim x As Long, Y As Long, M1 As Long
Dim rot As Integer, grün As Integer, blau As Integer, rotalt As Integer, grünalt As Integer, blaualt As Integer
Dim ErgebnisIR As Long
Dim smax As Integer, xmax As Integer, ymax As Integer, smin As Integer, xmin As Integer, ymin As Integer, xminalt As Integer, yminalt As Integer, xmaxalt As Integer, ymaxalt As Integer, mousex As Integer, mousey As Integer, xmitalt As Integer, ymitalt As Integer
Dim Pic(600, 600) As Integer, picalt(600, 600) As Integer, i As Integer, k As Integer, ii As Integer, kk As Integer
Private Declare Function GetObject Lib "gdi32" Alias "GetObjectA" (ByVal hObject As Long, ByVal nCount As Long, lpObject As Any) As Long

Private Sub Command1_Click()
 Picture2.Cls
End Sub

Private Sub Command2_Click()
 SavePicture Picture3.Image, "C:\efilm\picture" + Str(Int(Timer)) + ".bmp"
End Sub

Private Sub Command3_Click()
 On Error Resume Next
 Close #1: Open "C:\efilm\roboter2.txt" For Input As #2:
 Do
  Input #2, A$: i1 = InStr(A$, vbTab):  xmit = Left(A$, i1 - 1): ymit = Mid(A$, i1 +   1)
 If i1 > 0 And xmit > 0 And ymit > 0 Then
  If Abs(ymit - ymitalt) < 10 And Abs(xmit - xmitalt) < 10 Then
    Picture2.Circle (xmit, ymit), 1, vbGreen
    Picture2.Line (xmit, ymit)-(xmitalt, ymitalt), vbGreen
  End If:  xmitalt = xmit: ymitalt = ymit
 End If
Loop Until EOF(2): Close #2: Open "C:\efilm\roboter2.txt" For Append As #1: Print #1, "Start" & Date
End Sub

Private Sub Command4_Click()
 If MsgBox("Löschen?", vbOKCance) = vbOK Then Close: Kill ("C:\efilm\roboter2.txt")
 Open "C:\efilm\roboter2.txt" For Append As #1: Print #1, "Start" & Date
End Sub

Private Sub Form_Load()
 Set fs = CreateObject("Scripting.FileSystemObject")
 On Error Resume Next
 'WebBrowser1.Navigate2 "http:\\www.t-online.de"
 WebBrowser1.Navigate2 "http://192.168.1.20/img/main.cgi?next_file=main.htm"
 GetObject Picture1.Image, Len(PicInfo), PicInfo
 BytesPerLine = (PicInfo.bmWidth * 2 + 3) And &HFFFFFFFC
 ReDim PicBits(1 To BytesPerLine * PicInfo.bmHeight) As Byte
 ReDim PicBits2(1 To UBound(PicBits)) As Byte
 Picture2.FillColor = vbGreen: Picture2.FillStyle = vbFSSolid
 Open "C:\efilm\roboter2.txt" For Append As #1: Print #1, "Start" & Date
 If Err.Number <> 0 Then MsgBox "Error :" & Err.Description  'Display error message
 Timer1.Interval = 200: Timer1.Enabled = True
End Sub

Private Sub Form_Unload(Cancel As Integer)
Close #1
End Sub

Private Sub Picture3_MouseMove(Button As Integer, Shift As Integer, x As Single, Y As Single)
mousex = x: mousey = Y
End Sub

Private Sub Timer1_Timer()
  Bildanalyse
End Sub

Sub Bildanalyse()
 t = Timer:  DoEvents
 ErgebnisIR = FindWindow(0&, "Form2")
 Set Picture1.Picture = CaptureWindow(ErgebnisIR, False, 5, 25, 500, 330)
 GetBitmapBits Picture1.Image, UBound(PicBits), PicBits(1)
 Dim S1(600, 600) As Integer, s2(600, 600) As Integer, S3(600, 600) As Integer, S4(600, 600) As Integer, S5(600, 600) As Integer
 smax = 0: xmax = 1: ymax = 1: smin = 0: xmin = 1: ymin = 1: xmit = -1: ymit = -1
 On Error Resume Next
 
 For k = 0 To PicInfo.bmHeight - 1: For i = 0 To (PicInfo.bmWidth - 1)
       blau = PicBits((k * (PicInfo.bmWidth) + i) * 2 + 1) And 31 '    1+2+4+8+16
       rot = Int(PicBits((k * (PicInfo.bmWidth) + i) * 2 + 2) / 8)  '128+64+32+16+8
       grün = (PicBits((k * (PicInfo.bmWidth) + i) * 2 + 2) And 7) * 4 + Int(PicBits((k * (PicInfo.bmWidth) + i) * 2 + 1) / 64) '1+2+4+128+64
       rotalt = Int(picalt(i, k) / &H400): grünalt = Int(picalt(i, k) / &H20) And &H1F:  blaualt = picalt(i, k) And &H1F
       picalt(i, k) = rot * &H400 + grün * &H20 + blau
       If mousex = i And mousey = k Then Text1.Text = mousex & "  " & mousey:  Text3.Text = rot: Text4.Text = blau: Text5.Text = grün
       S5(i, k) = 3 * blau - (rot + grün) - 3 * blaualt + (rotalt + grünalt)
 Next i:  Next k
 
For k = 0 To PicInfo.bmHeight - 1: For i = 0 To (PicInfo.bmWidth - 1)
   If S5(i, k) <> 0 Then S1(i, k) = S5(i, k) + (S1(i - 1, k) + S1(i, k - 1)) / 9 * 4
      ii = PicInfo.bmWidth - i - 1: kk = PicInfo.bmHeight - k - 1:
   If S5(ii, kk) <> 0 Then s2(ii, kk) = S5(ii, kk) + (s2(ii + 1, kk) + s2(ii, kk + 1)) / 9 * 4
 Next i:  Next k
 
 For k = 0 To PicInfo.bmHeight - 1: For i = 0 To (PicInfo.bmWidth - 1)
    S1(i, k) = S1(i, k) + s2(i, k)
    If smax < S1(i, k) Then smax = S1(i, k): xmax = i: ymax = k
    If smin > S1(i, k) Then smin = S1(i, k): xmin = i: ymin = k
 Next i:  Next k
 If smax < 25 Then xmax = -100: ymax = -300
 If smin > -25 Then xmin = -200: ymin = -400

 If Abs(ymax - ymin) < 30 And Abs(xmax - xmin) < 30 Then
  ymit = (ymax + ymin) / 2: xmit = (xmax + xmin) / 2
  x = 0: Y = 0: M1 = 0
  For i = xmit - 15 To xmit + 15: For k = ymit - 15 To ymit + 15
    x = x + i * CLng(Abs(S1(i, k))): Y = Y + k * CLng(Abs(S1(i, k)))
    M1 = M1 + CLng(Abs(S1(i, k)))
  Next: Next:  xmit = CInt(x / M1): ymit = CInt(Y / M1)
xx4:
 End If
 
 Text2 = xmax & "  " & ymax & "  " & xmit & "  " & ymit & "  " & smax & "  " & smin:  Text2.Refresh
 If Abs(ymit - ymitalt) < 10 And Abs(xmit - xmitalt) < 10 Then
    Picture2.Circle (xmit, ymit), 1, vbGreen
    Picture2.Line (xmit, ymit)-(xmitalt, ymitalt), vbGreen
    If xmit > 0 And ymit > 0 Then Print #1, xmit & vbTab & ymit
 End If:  xmitalt = xmit: ymitalt = ymit
  
 GetBitmapBits Picture2.Image, UBound(PicBits2), PicBits2(1)
 For Cnt = 1 To UBound(PicBits)
     If PicBits2(Cnt) = 7 Or PicBits2(Cnt) = 224 Then PicBits(Cnt) = PicBits2(Cnt)
 Next
 SetBitmapBits Picture3.Image, UBound(PicBits), PicBits(1):  Picture3.Refresh
End Sub

So viel für heute

Beste Grüße

Christian H