使用Python和OpenCV的树莓派与Arduino机器人入门

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"Beginning Robotics with Raspberry Pi and Arduino Using Python and OpenCV" 是一本关于初学者如何使用树莓派（Raspberry Pi）、Arduino以及Python和OpenCV进行机器人技术入门的书籍。作者是Jeff Cicolani，该书提供了详细的指导，帮助读者理解和实践机器人技术。在这本书中，读者可以学习到： 1. **树莓派与Arduino简介**：树莓派是一种小巧且功能强大的单板计算机，而Arduino则是一款易于上手的开源电子原型平台。两者在机器人领域都有广泛的应用，通过它们，初学者可以快速构建和控制各种机器人系统。 2. **Python编程**：Python是一种高级编程语言，因其简洁明了的语法而被广泛用于科学计算、数据分析和自动化任务。在机器人技术中，Python常用于编写控制程序，处理传感器数据和执行决策逻辑。 3. **OpenCV应用**：OpenCV（Open Source Computer Vision Library）是一个强大的计算机视觉库，支持图像处理和计算机视觉的多种算法。在机器人领域，OpenCV可用于目标检测、路径规划、避障等功能，极大地增强了机器人的感知能力。 4. **机器人硬件搭建**：书中会详细介绍如何利用树莓派和Arduino搭建机器人硬件，包括电机控制、传感器集成（如超声波、红外、摄像头等）以及机械结构的设计和制作。 5. **项目实践**：作者提供了一系列实践项目，帮助读者将理论知识转化为实际操作。这些项目可能包括基础的移动机器人、避障机器人，甚至可能涉及更复杂的视觉引导任务。 6. **控制理论与算法**：除了硬件知识，书籍还会涵盖基础的控制理论，如PID控制器，以及如何运用这些算法来实现对机器人的精确控制。 7. **软件开发环境与调试**：读者将学习如何设置开发环境，编写和调试代码，以及如何使用相关的工具和库进行软件开发。 8. **知识产权与法律**：书中可能提及商标、版权和知识产权的相关问题，提醒读者在使用特定名称、标志或图片时应尊重法律。 " Beginning Robotics with Raspberry Pi and Arduino Using Python and OpenCV" 是一本全面的指南，旨在帮助初学者从零开始进入机器人世界，通过实际操作和项目学习，掌握机器人设计和编程的核心技能。通过这本书，读者将能够结合开源硬件和软件资源，创造出属于自己的智能机器人。

Robotics Basics

I like to tell people who are new to robotics, or are just robotics curious, is

that a robot consists of three elements.

• The ability to gather data

• e ability to process, or do something with the

gathered data

• The ability to interact with the environment

In the following chapters, we apply this principal to build a small

mobile robot. We will use ultrasonic rangefinders and infrared sensors to

gather data about the environment. Specifically, we will identify when there

is an object to be avoided, when we are about to drive off the edge of a table,

and the contrast between the table and the line that we will follow. Once we

have this data, we will apply logic to determine the appropriate response.

We will use Python in a Linux environment to process the information

and send commands to our motors. I chose Python as the programming

language because it is easy to learn, and you don’t have to have a complex

development environment to build some pretty complex applications.

Our interaction with the environment will be simply to control the

speed and direction of motors. This will allow our robot to move about

freely on the table or floor. There really isn’t much to driving a motor.

We will look at two ways of doing it: with a motor driver made for the

Raspberry Pi and with a common motor controller.

This book is intended to be challenging. I cover some pretty complex

material and I do it quickly. There is no way that I can provide detailed

coverage on any of these topics, but I hope to get you to a functional robot

by the end of the book. In each chapter, I try to provide you with more

resources to follow up on the topics discussed. You will struggle at times; I

did and I frequently still do.

Chapter 1 IntroduCtIon torobotICs

Not everyone will be interested in all the subjects. The expectation is

that you will expand on the areas that interest you the most outside of this

book. Persistence pays off.

At the end of the book, I add a little more challenge. In Chapter 9, we

begin leveraging the real power of the Raspberry Pi. We look at computer

vision. Specifically, we look at an open source package called OpenCV (CV

stands for computer vision). It is a common and very powerful collection

of utilities that make working with images and video streams very easy.

It’s also a six-hour build on the most recent version of the Raspberry Pi. To

make things a little easier and a lot less time-consuming, I have available

for download a version of the operating system with OpenCV already

installed. I discuss this more in Chapter 2.

Linux andRobotics

Linux is a Unix-based operating system. It is very popular with

programmers and computer scientists because it’s simple and

straightforward. They seem to enjoy the text-based interface of the

terminal. Yet, for many others, including me, Linux can be very

challenging. So, why in the world would I choose this environment for an

introduction-to-robotics book? The answer to that question is threefold.

First, when you work with robotics, you eventually have to confront

Linux. That’s just a fact. You can do a lot without ever typing a single sudo

command, but you will have limited capabilities. The sudo command stands

for super user do in Linux. This tells the operating system that you are about

to perform a protected function that requires more than general user access.

You will learn more about this when we begin working with the Raspberry Pi.

Second, Linux is challenging. As I stated before, this book will challenge

you. If you have worked in Linux before, then this reason doesn’t apply to

you. However, if you are new to Linux, the Raspberry Pi, or working in a

command line, then some of the things that we do will be challenging. And

that’s good. You’re learning something new and it should be a challenge.

Chapter 1 IntroduCtIon torobotICs

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