使用OPENMV实现寻迹功能_openmv循迹

一、硬件准备

1. OPENMV一个

2. STM32F1系列开发板一个

3. 小车模型

注意：这里小车模型和STM32F1系列开发板笔者不做演示

二、OPENMV的准备工作

1. 使用OPENMV线性回归，然后通过串口将线条的水平偏移量和角度偏移量进行输出。

话不多说，直接上代码

THRESHOLD = (59, 25, 127, 19, -128, 89)
import sensor, image, time,lcd
from pyb import LED
from pyb import UART
import ustruct
 
 
 
LED(1).on()
LED(2).on()
LED(3).on()
 
uart = UART(3,115200,bits=8, parity=None, stop=1, timeout_char = 1000)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
lcd.init() # Initialize the lcd screen.
sensor.set_vflip(True)
sensor.set_hmirror(True)
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds
clock = time.clock()
              # to process a frame sometimes.
def sending_data(data1,data2):
    global uart;
    data=bytearray([0xA5,data1,data2,0XA6])
    '''data1= ustruct.pack("<bbb",      #格式为俩个字符俩个短整型(2字节)
                   0xA5,                      #帧头
                   data1,
                   data2,
                   0xA6
                   )     '''   #数组大小为7，其中2，3，4，5为有效数据，0，1，6为帧头帧尾
    uart.write(data);   #必须要传入一个字节数组
    #print("head",data[0],"status",data[1],"tail",data[2])
 
while(True):
    clock.tick()
    img = sensor.snapshot().binary([THRESHOLD])
    #img.mean(0)
    line = img.get_regression([(100,100)], robust = True)
    #img.midpoint(1, bias=0.5, threshold=True, offset=5, invert=True)
    if (line):
        '''rho_err = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
        print(rho_err,theta_err)
        if line.magnitude()>8:
          sending_data((int)(rho_err),(int)(theta_err))'''
        rho_err = abs(line.rho())
        theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
 
        if line.magnitude()>8:
            sending_data((int)(rho_err),(int)(theta_err))
        rho_err_temp = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err_temp = line.theta()-180
        else:
            theta_err_temp = line.theta()
        print(rho_err_temp,theta_err_temp,line.magnitude())
 
        pass
    lcd.display(img)
    #print(clock.fps())

注意：代码中THRESHOLD的值需要根据您当前环境进行更改，THRESHOLD为颜色阈值

代码中OPENMV进行串口输出需要注意帧头帧尾，所以STM32这边也需要进行相关数据处理。

下面是演示视频：

https://www.bilibili.com/video/BV1dT411T7Sv/?spm_id_from=333.999.0.0