基于arduino的5路循迹小车（5）与OpenMV的串口通信进行图像识别
基于arduino的5路循迹小车（5）与OpenMV的串口通信
进行图像识别，开发板控制舵机抓取物料
接第一篇链接 https://blog.csdn.net/weixin_45984029/article/details/103437347
1.硬件选用
OpenMV
2.接线
开发板与OpenMV的TX，RX交叉相连，VCC,GND对应相连
3.代码
arduino代码
#include <LobotServoController.h>
LobotServoController myse;
String comdata = "";
String data[4];//三个物块记录
String adata = ""; //大小控制
String bdata = "";
String cdata = "";
String aa="ZJGXDS01a";//大圆1
String ba="ZJGXDS02a";//大三角2
String ca="ZJGXDS03a";//大方3
String da="ZJGXDS04a";//大六边4
String ea="ZJGXDS05a";//大N5
String fa="ZJGXDS06a";//大星6
String ab="ZJGXDS01";//小圆7
String bb="ZJGXDS02";//小三角8
String cb="ZJGXDS03";//小方9
String db="ZJGXDS04";//小六边10
String eb="ZJGXDS05";//小N11
String fb="ZJGXDS06";//小星12
/**
* @par Copyright (C): 2010-2019, Shenzhen Yahboom Tech
* @file tracking.c
* @author Danny
* @version V1.0
* @date 2017.07.26
* @brief 巡线实验
* @details
* @par History 见如下说明
*
*/
unsigned long time1; //计时
int Left_motor_go1 = 24; //左电机前进 AIN1
int Left_motor_back1 = 25; //左电机后退 AIN2
int Right_motor_go1 = 22; //右电机前进 BIN1
int Right_motor_back1 = 23; //右电机后退 BIN2
int Left_motor_pwm1 = 3; //左电机控速 PWMA
int Right_motor_pwm1= 5; //右电机控速 PWMB
int Left_motor_pwm2 = 4; //左电机控速 PWMA
int Right_motor_pwm2= 6;
int echoPin = 32; //超声波
int trigPin = 33;
unsigned int S;
int i;
int a;
int b;//物块记录
int e;
int f;
int s;
int G1 = 26;
int G2 = 27;
int G3 = 28;
int G4 = 29;
int G5 = 30;
//循迹红外引脚定义
//TrackSensorLeftPin1 TrackSensorLeftPin2 TrackSensorMid TrackSensorRightPin1 TrackSensorRightPin2
// A1 A2 A3 A4 A5
const int TrackSensorLeftPin1 = A1; //定义第一个循迹红外传感器引脚为A1
const int TrackSensorLeftPin2 = A2; //定义第二个循迹红外传感器引脚为A2
const int TrackSensorMid = A3; //定义第三个循迹红外传感器引脚为A3
const int TrackSensorRightPin1 = A4; //定义第四个循迹红外传感器引脚为A4
const int TrackSensorRightPin2 = A5; //定义第五个循迹红外传感器引脚为A5
// TrackSensorRightPin3 进行计数
// A6
const int TrackSensorRightPin3 = A6; //右主计数
//定义各个循迹红外引脚采集的数据的变量
int SLL;
int SL;
int SM;
int SR;
int SRR;
//定义计数变量
int JS2;
/**
* Function setup
* @author Danny
* @date 2017.07.25
* @brief 初始化配置
* @param[in] void
* @retval void
* @par History 无
*/
void setup()
{
Serial.begin(9600);//超声波
Serial1.begin(9600);
Serial3.begin(9600);
pinMode(13,OUTPUT);
digitalWrite(13,LOW);
while(!Serial1);
digitalWrite(13,HIGH);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
//初始化电机驱动IO口为输出方式
pinMode(Left_motor_go1, OUTPUT);
pinMode(Left_motor_back1, OUTPUT);
pinMode(Right_motor_go1, OUTPUT);
pinMode(Right_motor_back1, OUTPUT);
//初始化语音输出
pinMode(G1, OUTPUT);
pinMode(G2, OUTPUT);
pinMode(G3, OUTPUT);
pinMode(G4, OUTPUT);
pinMode(G5, OUTPUT);
digitalWrite(G1, HIGH);
digitalWrite(G2, HIGH);
digitalWrite(G3, HIGH);
digitalWrite(G4, HIGH);
digitalWrite(G5, HIGH);
//定义四路循迹红外传感器为输入接口
pinMode(TrackSensorLeftPin1, INPUT);
pinMode(TrackSensorLeftPin2, INPUT);
pinMode(TrackSensorMid,INPUT);
pinMode(TrackSensorRightPin1, INPUT);
pinMode(TrackSensorRightPin2, INPUT);
//定义计数传感器输入接口
pinMode(TrackSensorRightPin3, INPUT);
//四路循迹红外传感器初始化为高电平
digitalWrite(TrackSensorLeftPin1, HIGH);
digitalWrite(TrackSensorLeftPin2, HIGH);
digitalWrite(TrackSensorMid,HIGH);
digitalWrite(TrackSensorRightPin1, HIGH);
digitalWrite(TrackSensorRightPin2, HIGH);
digitalWrite(TrackSensorRightPin3, HIGH);
digitalWrite(G1, LOW);
delay(1500);//预热
run(50,43);//起步
delay(1000);
myse.runActionGroup(102,1);//初始化舵机
i = 0;
e = 1;
f = 1;
}
/**
* Function run
* @author Danny
* @date 2017.07.26
* @brief 小车前进
* @param[in1] left_speed:左轮速度
* @param[in2] right_speed:右轮速度
* @param[out] void
* @retval void
* @par History 无
*/
void run(int left_speed, int right_speed)
{
//左电机前进
digitalWrite(Left_motor_go1, LOW); //左电机前进使能
digitalWrite(Left_motor_back1, HIGH); //左电机后退禁止
analogWrite(Left_motor_pwm1, LOW);
analogWrite(Left_motor_pwm2, left_speed);
//右电机前进
digitalWrite(Right_motor_go1, LOW); //右电机前进使能
digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止
analogWrite(Right_motor_pwm1, LOW);
analogWrite(Right_motor_pwm2, right_speed);
}
/**
* Function brake
* @author Danny
* @date 2017.07.25
* @brief 小车刹车
* @param[in] time:延时时间
* @param[out] void
* @retval void
* @par History 无
*/
void left(int left_speed, int right_speed)
{
//左电机停止
digitalWrite(Left_motor_go1, HIGH); //左电机前进禁止
digitalWrite(Left_motor_back1,LOW); //左电机后退禁止
analogWrite(Left_motor_pwm2, left_speed);
analogWrite(Left_motor_pwm1,LOW);
//右电机前进
digitalWrite(Right_motor_go1, LOW); //右电机前进使能
digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止
analogWrite(Right_motor_pwm2, LOW);
analogWrite(Right_motor_pwm1, right_speed);
}
void right(int left_speed, int right_speed)
{
//左电机前进
digitalWrite(Left_motor_go1, LOW); //左电机前进使能
digitalWrite(Left_motor_back1, HIGH); //左电机后退禁止
analogWrite(Left_motor_pwm2, LOW);
analogWrite(Left_motor_pwm1, left_speed);
//右电机停止
digitalWrite(Right_motor_go1, HIGH ); //右电机前进禁止
digitalWrite(Right_motor_back1,LOW); //右电机后退禁止
analogWrite(Right_motor_pwm2, right_speed);
analogWrite(Right_motor_pwm1, LOW );
}
void back(int left_speed, int right_speed)
{
//左电机前进
digitalWrite(Left_motor_go1, HIGH); //左电机前进使能
digitalWrite(Left_motor_back1, LOW); //左电机后退禁止
analogWrite(Left_motor_pwm1, left_speed);
analogWrite(Left_motor_pwm2, LOW);
//右电机前进
digitalWrite(Right_motor_go1, HIGH); //右电机前进使能
digitalWrite(Right_motor_back1, LOW); //右电机后退禁止
analogWrite(Right_motor_pwm1, right_speed);
analogWrite(Right_motor_pwm2, LOW);
}
void barke(int left_speed, int right_speed)
{
//左电机停止
digitalWrite(Left_motor_go1, HIGH); //左电机前进使能
digitalWrite(Left_motor_back1, HIGH); //左电机后退禁止
analogWrite(Left_motor_pwm1, left_speed);
analogWrite(Left_motor_pwm2, left_speed);
//右电机停止
digitalWrite(Right_motor_go1, HIGH ); //右电机前进禁止
digitalWrite(Right_motor_back1,HIGH); //右电机后退禁止
analogWrite(Right_motor_pwm1, right_speed);
analogWrite(Right_motor_pwm2, right_speed);
}
void bank(int left_speed, int right_speed)
{
//左电机空
digitalWrite(Left_motor_go1, LOW); //左电机前进使能
digitalWrite(Left_motor_back1, LOW); //左电机后退禁止
analogWrite(Left_motor_pwm1, left_speed);
analogWrite(Left_motor_pwm2, left_speed);
//右电机空
digitalWrite(Right_motor_go1, LOW); //右电机前进禁止
digitalWrite(Right_motor_back1,LOW); //右电机后退禁止
analogWrite(Right_motor_pwm1, right_speed);
analogWrite(Right_motor_pwm2, right_speed);
}
void BZ()//避障程序
{
digitalWrite(G4, LOW);
delay(100);
barke(120,120);
delay(600);
bank(0,0);
delay(300);
back(45,37);
delay(300);
barke(120,120);
delay(300);
bank(0,0);
delay(300);
left(55,65);
delay(700);
run(55,55);
delay(1000);
right(55,45);
delay(400);
run(55,55);
delay(1000);
right(55,45);
delay(400);
run(55,55);
delay(1046);
left(55,55);
delay(550);
}
void range()
{
digitalWrite(trigPin,LOW); //测距
delayMicroseconds(2); //延时2微秒
digitalWrite(trigPin,HIGH);
delayMicroseconds(20);
digitalWrite(trigPin,LOW);
int distance = pulseIn(echoPin,HIGH); //读取高电平时间
distance = distance/58;
S = distance; //把值赋给S
if( S < 16 )
{
BZ();
}
}
void loop()
{
xunji();//调用循迹
if(JS2 == HIGH)
{
a++;
i++;
if(a == 1)
{
barke(120,120);//停车
delay(650);
bank(0,0);
delay(1000);
if(i == 1)
{
digitalWrite(G3, LOW);
myse.runActionGroup(100,1); //运行100号识别1组
delay(2000);
/*scan();//识别
shangp();*/
myse.runActionGroup(26,1);
delay(16000);
}
if(i == 2)
{
myse.runActionGroup(100,1); //运行100号识别1组
delay(2000);
/*scan();//识别
shangp();*/
myse.runActionGroup(27,1);
delay(16000);
}
if(i == 3)
{
myse.runActionGroup(100,1); //运行100号识别1组
delay(2000);
/*scan();//识别
shangp();*/
myse.runActionGroup(28,1);
delay(16000);
myse.runActionGroup(110,1); //运行110号动作组
delay(4000);
bank(0,0);
delay(1000);
run(42,34);
delay(300);
run(15,8);
delay(500);
}
if(i == 4)
{
myse.runActionGroup(98,1); //运行98号动作组
delay(2000);
run(50,42);
delay(400);
return;
}
if(i == 5)//下料
{
/*scan();//识别
fangp()；*/
}
if(i == 6)
{
/*scan();//识别
fangp()；*/
}
if(i == 7)
{
/*scan();//识别
fangp()；*/
}
if(i == 8)
{
digitalWrite(G5, LOW);
myse.runActionGroup(81,1); //运行101号识别2组
delay(16000);
/*myse.runActionGroup(101,1); //运行101号识别2组
delay(4000);
scan();//识别
fangp()；*/
}
if(i == 9)
{
myse.runActionGroup(82,1); //运行101号识别2组
delay(16000);
/*myse.runActionGroup(101,1); //运行101号识别2组
delay(4000);
scan();//识别
fangp()；*/
}
if(i == 10)
{
myse.runActionGroup(83,1); //运行101号识别2组
delay(16000);
/*myse.runActionGroup(101,1); //运行101号识别2组
delay(4000);
scan();//识别
fangp()；*/
}
run(100,90);
delay(200);
return;
}
}
range();
}
void xunji()//循迹
{
a = 0;
time1 = millis();
if(time1 == 8000)
{
digitalWrite(G2, LOW);
}
//检测到黑线时循迹模块相应的指示灯灭，端口电平为HIGH
//未检测到黑线时循迹模块相应的指示灯亮，端口电平为LOW
SLL = digitalRead(TrackSensorLeftPin1);
SL = digitalRead(TrackSensorLeftPin2);
SM = digitalRead(TrackSensorMid);
SR = digitalRead(TrackSensorRightPin1);
SRR = digitalRead(TrackSensorRightPin2);
//计数
JS2 = digitalRead(TrackSensorRightPin3);
//循迹
if( SM == HIGH )
{
run(45,37);
}
if( SL == HIGH && SM == LOW)
{
left(35,57);
}
if( SLL == HIGH && SM == LOW)
{
left(35,57);
}
if( SR == HIGH && SM == LOW)
{
right(50,32);
}
if( SRR == HIGH && SM == LOW)
{
right(50,32);
}
if(SR == HIGH && SRR == HIGH)
{
right(50,32);
}
if(SL == HIGH && SLL == HIGH)
{
left(30,57);
}
if(SRR == HIGH && SR == HIGH && SM == HIGH && SL == HIGH)
{
right(50,32);
}
if(SM == HIGH && (SL == HIGH && SLL == HIGH) || (SR == HIGH && SL == HIGH) || (SR == HIGH && SRR == HIGH))
{
run(45,37);
}
}
void scan()
{
comdata = "";
while(Serial3.available()>0)//读取串口
{
char inChar=Serial3.read();
comdata+=(char)inChar;
delay(10);
}
if(comdata!=NULL)
{
if(comdata == aa)//大
{
b = 1;
}
if(comdata == ba)
{
b = 2;
}
if(comdata == ca)
{
b = 3;
}
if(comdata == da)
{
b = 4;
}
if(comdata == ea)
{
b = 5;
}
if(comdata == fa)
{
b = 6;
}
if(comdata == ab)//小
{
b = 7;
}
if(comdata == bb)
{
b = 8;
}
if(comdata == cb)
{
b = 9;
}
if(comdata == db)
{
b = 10;
}
if(comdata == eb)
{
b = 11;
}
if(comdata == fb)
{
b = 12;
}
}
}
void shangp()//上料
{
if(e <= 3)
{
data[f] = comdata;
f++;
}
if(e > 3)//次数
{
exit;
}
if(b == 1)//3个为一组
{
if(e == 1)
{
myse.runActionGroup(1,1); //运行98号动作组
delay(2000);
}
if(e == 2)
{
myse.runActionGroup(2,1); //运行98号动作组
delay(2000);
}
if(e == 3)
{
myse.runActionGroup(3,1); //运行98号动作组
delay(2000);
}
}
if(b == 2)
{
if(e == 1)
{
myse.runActionGroup(4,1); //运行4号动作组
delay(2000);
}
if(e == 2)
{
myse.runActionGroup(5,1); //运行98号动作组
delay(2000);
}
if(e == 3)
{
myse.runActionGroup(6,1); //运行98号动作组
delay(2000);
}
}
if(b == 3)
{
if(e == 1)
{
myse.runActionGroup(7,1); //运行98号动作组
delay(15000);
}
if(e == 2)
{
myse.runActionGroup(8,1); //运行98号动作组
delay(15000);
}
if(e == 3)
{
myse.runActionGroup(9,1); //运行98号动作组
delay(15000);
}
}
if(b == 4)
{
if(e == 1)
{
myse.runActionGroup(10,1); //运行98号动作组
delay(15000);
}
if(e == 2)
{
myse.runActionGroup(11,1); //运行98号动作组
delay(15000);
}
if(e == 3)
{
myse.runActionGroup(12,1); //运行98号动作组
delay(15000);
}
}
if(b == 5)
{
if(e == 1)
{
myse.runActionGroup(13,1); //运行98号动作组
delay(15000);
}
if(e == 2)
{
myse.runActionGroup(14,1); //运行98号动作组
delay(15000);
}
if(e == 3)
{
myse.runActionGroup(15,1); //运行98号动作组
delay(15000);
}
}
if(b == 6)
{
if(e == 1)
{
myse.runActionGroup(26,1); //运行98号动作组
delay(2000);
}
if(e == 2)
{
myse.runActionGroup(27,1); //运行98号动作组
delay(2000);
}
if(e == 3)
{
myse.runActionGroup(28,1); //运行98号动作组
delay(16000);
}
}
if(b == 7)//小
{
if(e == 1)
{
myse.runActionGroup(26,1); //运行98号动作组
delay(16000);
}
if(e == 2)
{
myse.runActionGroup(27,1); //运行98号动作组
delay(16000);
}
if(e == 3)
{
myse.runActionGroup(28,1); //运行98号动作组
delay(16000);
}
}
if(b == 8)
{
if(e == 1)
{
myse.runActionGroup(26,1); //运行98号动作组
delay(16000);
}
if(e == 2)
{
myse.runActionGroup(27,1); //运行98号动作组
delay(16000);
}
if(e == 3)
{
myse.runActionGroup(28,1); //运行98号动作组
delay(16000);
}
}
if(b == 9)
{
if(e == 1)
{
myse.runActionGroup(26,1); //运行98号动作组
delay(16000);
}
if(e == 2)
{
myse.runActionGroup(27,1); //运行98号动作组
delay(16000);
}
if(e == 3)
{
myse.runActionGroup(28,1); //运行98号动作组
delay(16000);
}
}
if(b == 10)
{
if(e == 1)
{
myse.runActionGroup(26,1); //运行98号动作组
delay(16000);
}
if(e == 2)
{
myse.runActionGroup(27,1); //运行98号动作组
delay(16000);
}
if(e == 3)
{
myse.runActionGroup(28,1); //运行98号动作组
delay(16000);
}
}
if(b == 11)
{
if(e == 1)
{
myse.runActionGroup(26,1); //运行98号动作组
delay(16000);
}
if(e == 2)
{
myse.runActionGroup(27,1); //运行98号动作组
delay(16000);
}
if(e == 3)
{
myse.runActionGroup(28,1); //运行98号动作组
delay(16000);
}
}
if(b == 12)
{
if(e == 1)
{
myse.runActionGroup(26,1); //运行98号动作组
delay(16000);
}
if(e == 2)
{
myse.runActionGroup(27,1); //运行98号动作组
delay(16000);
}
if(e == 3)
{
myse.runActionGroup(28,1); //运行98号动作组
delay(16000);
}
}
e++;
}
OpenMV代码
# Template Matching Example - Normalized Cross Correlation (NCC)
#
# This example shows off how to use the NCC feature of your OpenMV Cam to match
# image patches to parts of an image... expect for extremely controlled enviorments
# NCC is not all to useful.
#
# WARNING: NCC supports needs to be reworked! As of right now this feature needs
# a lot of work to be made into somethin useful. This script will reamin to show
# that the functionality exists, but, in its current state is inadequate.
from pyb import UART
import time, sensor, image
from image import SEARCH_EX, SEARCH_DS
# Reset sensor
sensor.reset()
# Set sensor settings
sensor.set_contrast(1)
sensor.set_gainceiling(16)
# Max resolution for template matching with SEARCH_EX is QQVGA
sensor.set_framesize(sensor.QQVGA)
# You can set windowing to reduce the search image.
#sensor.set_windowing(((640-80)//2, (480-60)//2, 80, 60))
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.skip_frames(10)
sensor.set_auto_whitebal(False)
# Load template.
# Template should be a small (eg. 32x32 pixels) grayscale image.
fangxing1 = image.Image("/FX1.pgm")
fangxing2 = image.Image("/FX2.pgm")
fangxing3 = image.Image("/FX3.pgm")
saojiao1 = image.Image("/SJ1.pgm")
liubian1 = image.Image("/LB1.pgm")
Nzi1 = image.Image("/NZ1.pgm")
Nzi2 = image.Image("/NZ2.pgm")
Nzi3 = image.Image("/NZ3.pgm")
clock = time.clock()
uart = UART(3, 9600)
# Run template matching
while (True):
clock.tick()
img = sensor.snapshot()
# find_template(template, threshold, [roi, step, search])
# ROI: The region of interest tuple (x, y, w, h).
# Step: The loop step used (y+=step, x+=step) use a bigger step to make it faster.
# Search is either image.SEARCH_EX for exhaustive search or image.SEARCH_DS for diamond search
#
# Note1: ROI has to be smaller than the image and bigger than the template.
# Note2: In diamond search, step and ROI are both ignored.
r1 = img.find_template(saojiao1, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
if r1:
img.draw_rectangle(r1)
uart.write("ZJGXDS02")
time.sleep(1000)
r5 = img.find_template(fangxing1, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
if r5:
img.draw_rectangle(r5)
uart.write("ZJGXDS03")
time.sleep(1000)
r51 = img.find_template(fangxing2, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
if r51:
img.draw_rectangle(r51)
uart.write("ZJGXDS03")
time.sleep(1000)
r52 = img.find_template(fangxing3, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
if r52:
img.draw_rectangle(r52)
uart.write("ZJGXDS03")
time.sleep(1000)
r7 = img.find_template(liubian1, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
if r7:
img.draw_rectangle(r7)
uart.write("ZJGXDS04")
time.sleep(1000)
r9 = img.find_template(Nzi1, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
if r9:
img.draw_rectangle(r9)
uart.write("ZJGXDS05")
time.sleep(1000)
r91 = img.find_template(Nzi2, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
if r91:
img.draw_rectangle(r91)
uart.write("ZJGXDS05")
time.sleep(1000)
r92 = img.find_template(Nzi3, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
if r92:
img.draw_rectangle(r92)
uart.write("ZJGXDS05")
time.sleep(1000)
print(clock.fps())
4.测试小车
OpenMV的NCC算法模板匹配使用灰度图
因内存有限，模板匹配的模板不能太大
模板图片格式为PGM