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2021年电赛F题智能小车_21电赛寻迹小车

作者：Monodyee | 2024-05-19 02:27:34

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21电赛寻迹小车

概要

基于STM32F4的智能巡线识别小车，巡线采用openmv，识别采用k210

整体架构流程

1.电机选用的是13线的编码电机

2.巡线采用openmv

3.识别采用k210

4.主控为STM32F407ZGT6

技术细节

（1）巡线移动。采用openmv循迹和步进电机的巡线移动方案。
（2）识别病房号数字。可采用k210视觉单片机识别。由于追求识别准确率，所以单个数字的数据集有300张。

（3）k210的训练可以在MainHub这个网站上进行yolo2的训练，亲测不错。将训练模型和main.py放进SD卡中就可以运行了.网站链接：Maixhub 模型训练 - Sipeed Wiki

（4）运行openmv的循迹时一定要插一张SD卡，不知道为啥有时代码会跑没！！！

代码部分

main.c

  1. int main(void)
  2. {
  3.  
  4. 	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
  5. 	delay_init(168); 
  6. 	
  7. 	uart2_init(115200); //K210初始化
  8. 	uart6_init(115200);	//OPemMV初始化
  9. 	uart_init(115200);  //初始化串口UART1
  10. //	uart3_init(115200); //蓝牙初始化
  11. 	LED_Init();		    //LED初始化
  12. //	infra_init(); 		//5路灰度初始化
  13. 	
  14. 	Motor_Init(); 		//电机初始化
  15. 	Encoder_TIM_Init(); //编码器初始化
  16. 	PWM_Init_TIM(83,999); //电机PWM初始化  //84M/84/1000=1000+
  17. 	Speed_Pid_init();	
  18. 	Pid_Lin_Patrol();
  19. 	OLED_Init();		//OLED初始化
  20.   OLED_Clear();
  21. 	
  22. 	
  23. 	
  24. 	
  25.    while(1)
  26. 	{ 
  27. 		//病房1
  28. 		if((xinhao==0)&&(number=='1'))
  29. 	{
  30. 		
  31. 		Speed_pid_Init(20.f,20.f);
  32. 		while(1)
  33. 		{
  34. 			find1();
  35. 		}
  36. 	}
  37. 	
  38. 	//病房2
  39. 	else if((xinhao==0)&&(number=='2'))
  40. 	{
  41. 		
  42. 		Speed_pid_Init(20.f,20.f);
  43. 		while(1)
  44. 		{
  45. 			find2();
  46. 		}
  47. 	}
  48. 	else{
  49. 		Flag_start=1;
  50. 	}
  51. 	
  52. 	//数字3
  53. 			if((xinhao==0)&&(number=='8'|number=='3'|number=='4'|number=='5'|number=='6'|number=='7'))
  54. 	{
  55. 		Speed_pid_Init(20.f,20.f);
  56.  
  57. 				if(crossroad == 0 && (L1 + L2 + M + R1 + R2) >=3)   //第一个十字路口
  58. 		{	
  59. 			slow();
  60. 			crossroad++;
  61. 			Flag_Direction='1';
  62. 		}
  63. 		
  64. 				if(crossroad == 1 && (L1 + L2 + M + R1 + R2) >=3)//经过第二个十字路口判断
  65. 				{
  66. 			
  67. 					if(Flag_Direction=='0')  //3号病房
  68. 					{
  69. 						
  70. 						while(1)
  71. 						{
  72. 							find3();
  73. 						}
  74. 					}
  75. 					
  76. 					else if(Flag_Direction=='2') //4号病房
  77. 					{
  78. 							
  79. 						while(1)
  80. 						{
  81. 							find4();
  82. 						}
  83. 					}
  84. 					
  85. 					else
  86. 					{
  87. 						
  88. 						crossroad++;
  89. //						Flag_Direction=1;
  90. 					}
  91. 					
  92. 				}
  93. 		
  94.  
  95. 		if(crossroad == 2 && (L1 + L2 + M + R1 + R2) >=3)//经过第三个十字路口判断
  96. 		{
  97. 					if(Flag_Direction=='0')  //5 8号病房
  98. 					{
  99. 						delay_ms(210);
  100. 								
  101. 							turn_90_left_3();
  102. 							crossroad++;
  103. 					}
  104. 		}
  105. 				 if(((L1 + L2 + M + R1 + R2) >=3)&& crossroad == 3 )//达到丁字路口
  106. 				 {
  107.  
  108. 					 if(Flag_Direction=='0')
  109. 					 {
  110. 						 
  111. 							while(1)
  112. 						{
  113. 							find5();
  114. 						}
  115. 					 }
  116. 					 else if(Flag_Direction=='2')
  117. 					 {
  118. 									while(1)
  119. 						{
  120. 							find8();
  121. 						}
  122. 					 }
  123. 				 }
  124. 									
  125. 			
  126. 					
  127. 					if(crossroad == 2 && (L1 + L2 + M + R1 + R2) >=3)  //6 7号病房
  128. 					{
  129. 						if(Flag_Direction=='2')
  130. 						{
  131. 						delay_ms(220);
  132. 						turn_90_right_2();
  133. 						crossroad++;
  134. 						}
  135. 					}
  136.  
  137. 							if(  (L1 + L2 + M + R1 + R2) >=3 && crossroad == 3 )//达到丁字路口
  138. 							{
  139. 								 if(Flag_Direction=='0')
  140. 								 {
  141. 												while(1)
  142. 									{
  143. 										find7();
  144. 									}
  145. 								 }
  146. 								 else if(Flag_Direction=='2')
  147. 								 {
  148. 												while(1)
  149. 									{
  150. 										find6();
  151. 									}
  152. 								 }
  153. 								
  154. 							}
  155.  
  156. 					}

 k210.c

  1. #include "k210.h"
  2. #include "usart.h"
  3. #include "Motor_Drive.h"
  4.  
  5. char k210_data;
  6. char number;
  7. extern char Flag_Direction;
  8. int flag=0;
  9. void uart2_init(u32 bound){
  10. 	
  11. 	GPIO_InitTypeDef GPIO_InitStructure;
  12. 	USART_InitTypeDef USART_InitStructure;
  13. 	NVIC_InitTypeDef NVIC_InitStructure;
  14. 	
  15. 	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE); 
  16. 	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);
  17.  
  18. 	GPIO_PinAFConfig(GPIOA,GPIO_PinSource2,GPIO_AF_USART2);
  19. 	GPIO_PinAFConfig(GPIOA,GPIO_PinSource3,GPIO_AF_USART2);
  20. 	
  21.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;
  22. 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  23. 	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	
  24. 	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; 
  25. 	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; 
  26. 	GPIO_Init(GPIOA,&GPIO_InitStructure); 
  27.  
  28. 	USART_InitStructure.USART_BaudRate = bound;
  29. 	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
  30. 	USART_InitStructure.USART_StopBits = USART_StopBits_1;
  31. 	USART_InitStructure.USART_Parity = USART_Parity_No;
  32. 	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
  33. 	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	
  34.   USART_Init(USART2, &USART_InitStructure); 
  35. 	 
  36. 	
  37. 	USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
  38. //	USART_ITConfig(USART2, USART_IT_TXE, ENABLE);
  39. 	USART_ClearFlag(USART2,USART_FLAG_TC);
  40. 	
  41. 	USART_Cmd(USART2, ENABLE); 
  42. 	
  43. 	
  44.   NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
  45. 	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;
  46. 	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		
  47. 	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;	
  48. 	NVIC_Init(&NVIC_InitStructure);	
  49. 	
  50. }
  51.  
  52. void USART2_IRQHandler(void)                	
  53. {
  54. if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET)
  55. 	{
  56. 		char b;
  57. 		USART_ClearFlag(USART2, USART_FLAG_RXNE);
  58. 		b = USART2->DR;
  59. 		if(flag==0)
  60. 		{
  61. 			number=b;
  62. 			flag++;
  63. 		}
  64. 		Flag_Direction=b;
  65. 		USART_SendData(USART2,b);
  66.  
  67. 	}
  68.  
  69. }
  70.  
  71.

openmv.c

 

  1. #include "openmv.h"
  2. #include "sys.h"
  3. //#include "bluetooth.h"
  4. #include "control.h"
  5. //#include "xinhao.h"
  6. #include "delay.h"
  7. //#include "motor.h"
  8. #include "usart.h"
  9. // 	 
  10. //如果使用ucos,则包括下面的头文件即可.
  11. #if SYSTEM_SUPPORT_OS
  12. #include "includes.h"					//ucos 使用	  
  13. #endif
  14.  
  15. int L1,L2,M,R1,R2;
  16.  
  17.  
  18. void uart6_init(u32 bound){
  19.  
  20.   GPIO_InitTypeDef GPIO_InitStructure;
  21. 	USART_InitTypeDef USART_InitStructure;
  22. 	NVIC_InitTypeDef NVIC_InitStructure;
  23. 	
  24. 	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG,ENABLE); 
  25. 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART6,ENABLE);
  26.  
  27. 	
  28. 	GPIO_PinAFConfig(GPIOG,GPIO_PinSource9,GPIO_AF_USART6); 
  29. 	GPIO_PinAFConfig(GPIOG,GPIO_PinSource14,GPIO_AF_USART6); 
  30. 	
  31.  
  32.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_14; 
  33. 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  34. 	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	
  35. 	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; 
  36. 	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; 
  37. 	GPIO_Init(GPIOG,&GPIO_InitStructure); 
  38.  
  39.   
  40. 	USART_InitStructure.USART_BaudRate = bound;
  41. 	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
  42. 	USART_InitStructure.USART_StopBits = USART_StopBits_1;
  43. 	USART_InitStructure.USART_Parity = USART_Parity_No;
  44. 	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
  45. 	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	
  46.   USART_Init(USART6, &USART_InitStructure); 
  47. 	
  48.   USART_Cmd(USART6, ENABLE);  
  49. 	
  50. 	//USART_ClearFlag(USART6, USART_FLAG_TC);
  51. 	
  52.  
  53. 	USART_ITConfig(USART6, USART_IT_RXNE, ENABLE);
  54.  
  55.   NVIC_InitStructure.NVIC_IRQChannel = USART6_IRQn;
  56. 	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0;
  57. 	NVIC_InitStructure.NVIC_IRQChannelSubPriority =0;	
  58. 	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;		
  59. 	NVIC_Init(&NVIC_InitStructure);	
  60.  
  61.  
  62. 	
  63. }
  64.  
  65.  
  66.  
  67.  
  68. void USART6_IRQHandler(void)
  69. {
  70. 	if (USART_GetITStatus(USART6, USART_IT_RXNE) != RESET)
  71. 	{
  72. 		int a;
  73. 		
  74. 		USART_ClearFlag(USART6, USART_FLAG_RXNE);
  75. 		a = USART6->DR;
  76. 		R2 = ((u8)a & 0x10) >> 4;
  77. 		R1 = ((u8)a & 0x08) >> 3;
  78. 		M  = ((u8)a & 0x04) >> 2;
  79. 		L1 = ((u8)a & 0x02) >> 1;
  80. 		L2 = (u8)a & 0x01;
  81.  
  82. 	}
  83. }
  84.  
  85.  
  86.  
  87.  
  88.  
  89.  
  90.  
  91.  
  92.

小结

其实这里偷了一个懒，药品的检测用的是一个红外对管，有时间的话各位还是试一试压力传感器吧

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