2021年送药小车openMV巡线代码

• 用openMV进行巡线所需代码如下 

# Hello World Example
#
# Welcome to the OpenMV IDE! Click on the green run arrow button below to run the script!
 
import pyb, sensor, image, math, time
from pyb import UART
import json
uart = UART(3,115200)
 
red_threshold = [(71, 25, 98, 19, 101, -14)]
black_threshold = [(0, 42, -84, 19, -104, 32)]
#QVGA 320*240
roi_1 = [(40, 0, 240, 40),         #  北
            (40, 200, 160, 40),     # 南
            (0, 0, 40, 240),        #  西
            (280, 0, 40, 240),      #  东
            (30,80,300,80)]          #   中
 
sensor.reset() # 初始化摄像头
sensor.set_pixformat(sensor.RGB565) # 格式为 RGB565.
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(20) # 跳过10帧，使新设置生效
sensor.set_auto_whitebal(False) # turn this off.
sensor.set_auto_gain(False) # must be turned off for color tracking
clock = time.clock()
 
buf =[0 for i in range(5)]
m = -1
zhong_x = 0
zhong_y = 0
bei_x = 0
bei_y = 0
nan_x = 0
nan_y = 0
dong_x = 0
dong_y = 0
xi_x = 0
xi_y = 0
black_num = 0
threshold_pixel = 280
uart.init(115200, bits=8, parity=None, stop=1)
 
 
def pack_dot_data():
    pack_data=bytearray([0xAA,0xFF,zhong_x>>8,zhong_x,dong_y>>8,dong_y,xi_y>>8,xi_y,
        black_num,0x00,0x00])
 
    lens = len(pack_data)      #数据包大小
    #pack_data[3] = lens-6;     #有效数据个数
 
    sc = 0
    ac = 0
    i = 0
    while i<(lens-1):
        sc = sc + pack_data[i]
        ac = ac + sc
        i=i+1
    pack_data[lens-2] = sc
    pack_data[lens-1] = ac;
 
    return pack_data
 
 
 
 
 
while(True):
        clock.tick()
        m = -1
        isten = 0
        black_num = 0
        img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)
        for r in roi_1:
            m += 1
            blobs = img.find_blobs(red_threshold, roi=r[0:4],pixels_threshold=100, area_threshold=100, merge=True)
            #img.draw_rectangle(r[0:4], color=(255,0,0))
            if blobs:
                most_pixels = 0
                largest_blob = 0
                for i in range(len(blobs)):
                #目标区域找到的颜色块（线段块）可能不止一个，找到最大的一个，作为本区域内的目标直线
                    if blobs[i].pixels() > most_pixels:
                        most_pixels = blobs[i].pixels()
                        #merged_blobs[i][4]是这个颜色块的像素总数，如果此颜色块像素总数大于
                        largest_blob = i
 
                #print(blobs[largest_blob].cx(),blobs[largest_blob].cy())
                if m == 0:
                    bei_x = blobs[largest_blob].cx()
                    bei_y = blobs[largest_blob].cy()
                elif m == 1:
                    nan_x = blobs[largest_blob].cx()
                    nan_y = blobs[largest_blob].cy()
                elif m == 2:
                    dong_x = blobs[largest_blob].cx()
                    dong_y = blobs[largest_blob].cy()
                elif m == 3:
                    xi_x = blobs[largest_blob].cx()
                    xi_y = blobs[largest_blob].cy()
                elif m == 4:
                    zhong_x = blobs[largest_blob].cx()
                    zhong_y = blobs[largest_blob].cy()
 
                # Draw a rect around the blob.
                img.draw_rectangle(blobs[largest_blob].rect())
                #将此区域的像素数最大的颜色块画矩形和十字形标记出来
                img.draw_cross(blobs[largest_blob].cx(),
                               blobs[largest_blob].cy())
                buf[m] = 1
            else:
                buf[m] = 0
                if m == 0:
                    bei_x = 0
                    bei_y = 0
                elif m == 1:
                    nan_x = 0
                    nan_y = 0
                elif m == 2:
                    dong_x = 0
                    dong_y = 0
                elif m == 3:
                    xi_x = 0
                    xi_y = 0
                elif m == 4:
                    zhong_x = 0
                    zhong_y = 0
 
        blobs = img.find_blobs(black_threshold, roi=r[0:4],pixels_threshold=100, area_threshold=100, merge=False)
        for b  in blobs:
            #记录大于threshold_pixel值的黑色色块的数量
            if b.pixels() > threshold_pixel:
                img.draw_rectangle(b.rect())
                print(b.pixels())
                black_num = black_num + 1;
        print(zhong_x,zhong_y)
        uart.write(pack_dot_data())
        print(black_num)
        print(clock.fps())