开源六轴协作机器人myCobot 320结合人脸表情识别情绪！

pip install deepface
pip install opencv-python

import os
import cv2
from deepface import DeepFace
# 读取图像
image = cv2.imread(image_path)
 
# 分析图像中的面部表情
results = DeepFace.analyze(image, actions=['emotion'], enforce_detection=False)
 
print(result)
[{'emotion': {'angry': 81.24255537986755, 'disgust': 16.530486941337585, 'fear': 1.6193315386772156, 'happy': 6.932554015293135e-05, 'sad': 0.4116043448448181, 'surprise': 0.1861470052972436, 'neutral': 0.009808379400055856}, 'dominant_emotion': 'angry', 'region': {'x': 136, 'y': 65, 'w': 124, 'h': 124, 'left_eye': None, 'right_eye': None}, 'face_confidence': 0.9}]

import cv2
from deepface import DeepFace
 
# 打开摄像头
cap = cv2.VideoCapture(0)
 
if not cap.isOpened():
    print("Error: Could not open webcam.")
    exit()
 
while True:
    # 读取视频帧
    ret, frame = cap.read()
    if not ret:
        break
 
    # 分析视频帧中的面部表情
    try:
        result = DeepFace.analyze(frame, actions=['emotion'], enforce_detection=False)
        emotion_info = result[0]['emotion']  # 获取情绪信息
        dominant_emotion = result[0]['dominant_emotion']  # 获取主要表情
        emotion_probability = emotion_info[dominant_emotion]  # 获取主要表情的概率
 
        # 在视频帧上显示主要表情及其概率
        text = f'{dominant_emotion}: {emotion_probability:.2f}%'
        cv2.putText(frame, text, (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2, cv2.LINE_AA)
 
        # 显示视频帧
        cv2.imshow('Emotion Detection', frame)
    except Exception as e:
        print(f"Error analyzing frame: {e}")
 
    # 按 'q' 键退出
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break
 
# 释放摄像头并关闭窗口
cap.release()
cv2.destroyAllWindows()

pip install pymycobot

from pymycobot.mycobot import MyCobot
send_angles(degrees, speed)
功能: 发送所有角度给机械臂所有关节
参数:
degrees: (List[float])包含所有关节的角度 ,六轴机器人有六个关节所以长度为 6，四轴长度为 4，表示方法为：[20,20,20,20,20,20]
speed: 表示机械臂运动的速度，取值范围是 0-100
 
ex:
mc = MyCobot("com10",115200)
mc.send_angles([0,0,0,0,0,0],100)

from pymycobot.mycobot import MyCobot
 
send_coords(coords, speed, mode)
 
功能: 发送整体坐标和姿态,让机械臂头部从原来点移动到您指定点
参数:
coords:
六轴：[x,y,z,rx,ry,rz]的坐标值，长度为 6
四轴：[x,y,z,rx]的坐标值，长度为 4
speed: (int) 表示机械臂运动的速度，范围是 0-100
mode: (int): 取值限定 0 和 1
0 表示机械臂头部移动的路径为非线性，即随机规划路线，只要机械臂头部以保持规定的姿态移动到指定点即可。
1 表示机械臂头部移动的路径为线性的，即智能规划路线让机械臂头部以直线的方式移动到指定点.
 
ex
mc = MyCobot("com10",115200)
mc.send_coords([100,20,30,-50,60,-100],100,1)

class RobotArmController:
 
        def __init__(self,port):
        #初始化链接
        self.mc = MyCobot(port, 115200)
        self.init_pose = [0.96, 86.22, -98.26, 10.54, 86.92, -2.37]
        self.coords = [-40, -92.5, 392.7, -92.19, -1.91, -94.14]
        self.speed = 60
        self.mode = 0
        
        def SadAction(self):
            ...
            
        def HappyAction(self):
            ...