工程训练大赛物流小车项目

工程训练大赛物流小车项目
参赛视频：https://www.bilibili.com/video/BV1Ny4y1J7Bg/
采用openmv与下位机通信进行二维码读取，色块位置、色环位置识别与色块顺序识别。该程序可以稳定运行，对于大佬来说可能并没有什么意义，但是对于刚刚参赛同学来说可以拿来学习和使用。

from machine import I2C
from vl53l1x import VL53L1X
import sensor, image, time,json
from pyb import UART
import json
import struct ,pyb
#1:red 2:green 3:blue```


def find_max(blobs):#return the max blob
    max_size=0
    for blob in blobs:
        if blob.pixels() > max_size:
            max_blob=blob
            max_size = blob.pixels()
    return max_blob
def send_data_packet(x, y):#串口发送函数定义
    temp = struct.pack(",                #格式为俩个字符俩个整型
                   0xAA,                       #帧头1
                   0xAE,                       #帧头2
                   int(x), # up sample by 4    #数据1
                   int(y)) # up sample by 4    #数据2
    uart.write(temp)                           #串口发送
    print(x,y)

def compareBlob(blob1,blob2):#比较色块后返回最大值
    tmp = blob1.pixels() - blob2.pixels()
    if tmp == 0:
        return 0;
    elif tmp > 0:
        return 1;
    else:
        return -1;

threshold_index = 0


#红绿蓝色环阈值

objthresholds=[(42, 76, 5, 35, -3, 88),


                (53, 66, -23, -5, 17, -5),
                
                (49, 61, -12, 18, -27, -3)]
                
graythreshold=[(100,255)]#二值化阈值

sensor.reset()

sensor.set_pixformat(sensor.RGB565)

sensor.set_framesize(sensor.QVGA)

sensor.skip_frames(time = 1000)

sensor.set_auto_gain(False) # must be turned off for color tracking

sensor.set_auto_whitebal(False) # must be turned off for color tracking

clock = time.clock()

A=7 #串口接收执行代码初始值

i= 1 #二维码发送触发代码值初始值

r=0

red_threshold_01 = (29, 47, 50, 72, 34, 57)#红色色块阈值

green_threshold_01=(18, 72, -60, -26, 16, 43)#绿色色块阈值

blue_threshold_01=(8, 58, -17, 23, -54, -16) #蓝色色块阈值

uart =UART(3,115200)

while(True):

    clock.tick()
    
    img = sensor.snapshot()
    
    if( uart.any() ):
    
        print("range: mm ")
        
        r=uart.readline()
        
        
        print(r)
        
        if r==b'1':

            A=1
            print('A=1')
        if r==b'2':
            A=2
            print('A=2')
        if r==b'3':

            A=3
            print('A=3')

        if r==b'4':
            A=4
            print('A=4')

        if r==b'5':
            A=5
            print('A=5')

        if r==b'6':
            A=6
            print('A=6')
        if r==b'7':
            A=7
            print('A=6')
        #else:
           # A=0

    if i==1:#二维码识别
         img.lens_corr(1.8) # strength of 1.8 is good for the 2.8mm lens.
         for code in img.find_qrcodes():
            print(code.payload())
            led = pyb.LED(1)
            led.on()
            output_str=code.payload()
            uart.write(output_str+'\r\n')
            #print('send:',output_str)
            led.off()
            i=1
    if(A==1):#红色色块识别

        blobs1= img.find_blobs([red_threshold_01],area_threshold=150)
        if blobs1:
        #如果找到了目标颜色
            led = pyb.LED(1)
            led.on()
            max_blob=find_max(blobs1)
            print('sum :', len(blobs1))
            img.draw_rectangle(max_blob.rect())
            img.draw_cross(max_blob.cx(), max_blob.cy())
            send_data_packet(max_blob.cx()-120,max_blob.cy()-160)

            led.off()
            #output_str=json.dumps([max_blob.cx(),max_blob.cy()]) #方式2
            print('send red blob')
            #uart.write(output_str+'\r\n')

    if(A==2):#绿色色块识别

        blobs2=img.find_blobs([green_threshold_01],area_threshold=150)
        if blobs2:
            led = pyb.LED(2)
            led.on()
            #如果找到了目标颜色
            max_blob=find_max(blobs2)
            print('sum :', len(blobs2))
            img.draw_rectangle(max_blob.rect())
            img.draw_cross(max_blob.cx(), max_blob.cy())
            send_data_packet(max_blob.cx()-120,max_blob.cy()-160)

            led.off()
            #output_str=json.dumps([max_blob.cx(),max_blob.cy()]) #方式2
            print('send green blob')




    if(A==3):#蓝色色块识别

        blobs3=img.find_blobs([blue_threshold_01],area_threshold=150)
        if blobs3:

            led = pyb.LED(3)
            led.on()
        #如果找到了目标颜色
            max_blob=find_max(blobs3)
            #print('sum :', len(blobs3))
            img.draw_rectangle(max_blob.rect())
            img.draw_cross(max_blob.cx(), max_blob.cy())
            send_data_packet(max_blob.cx()-120,max_blob.cy()-160)

            led.off()
            #output_str=json.dumps([max_blob.cx(),max_blob.cy()]) #方式2
            print('send blue blob')



    if(A==4):#红色色环识别
        img.binary([objthresholds[0]])
        img.dilate(2)

        blobs=img.find_blobs(graythreshold,pixels_threshold=2525,area_threashold=1600,merge=True)
        if blobs:
            led = pyb.LED(1)
            led.on()
            bigBlob=blobs[0]
            #print('1')
            for blob in blobs:
                if compareBlob(bigBlob,blob) == -1:
                    bigBlob=blob
                img.draw_rectangle(bigBlob.rect())
                #print(bigBlob.cx(),bigBlob.cy())
                #output_str="[%d,%d]" % (bigBlob.cx(),bigBlob.cy())
                #output_str=json.dumps([judge(bigBlob.cx()),judge(bigBlob.cy()),bigBlob.cx(),bigBlob.cy()])
                #uart.write(output_str+'\r\n')
                send_data_packet(bigBlob.cx()-120,bigBlob.cy()-160)

                led.off()
                #print('you send:',bigBlob.cx()-120)
            #uart.write(data_out)

    if(A==5):#绿色色环识别
        img.binary([objthresholds[1]])
        img.bilateral(2, color_sigma=0.1, space_sigma=1)
        img.dilate(3)

        blobs=img.find_blobs(graythreshold,pixels_threshold=2025,area_threashold=1600,merge=True)
        if len(blobs)==1:
            led = pyb.LED(2)
            led.on()
            bigBlob=blobs[0]
            for blob in blobs:
                if compareBlob(bigBlob,blob)==-1:
                    bigBlob=blob
                img.draw_rectangle(bigBlob.rect())
                #output_str=json.dumps([judge(bigBlob.cx()),judge(bigBlob.cy()),bigBlob.cx(),bigBlob.cy()])
                send_data_packet(bigBlob.cx()-120,bigBlob.cy()-160)

                led.off()
           # uart.write(data_out)
            #print(data_out)

    if(A==6):#蓝色色环识别
        img.binary([objthresholds[2]])
        img.bilateral(2, color_sigma=0.1, space_sigma=1)
        img.dilate(3)

        blobs=img.find_blobs(graythreshold,pixels_threshold=2025,area_threashold=1600,merge=True)
        if len(blobs)==1:
            led = pyb.LED(2)
            led.on()
            bigBlob=blobs[0]
            for blob in blobs:
                if compareBlob(bigBlob,blob)==-1:
                    bigBlob=blob
                img.draw_rectangle(bigBlob.rect())
                #output_str=json.dumps([judge(bigBlob.cx()),judge(bigBlob.cy()),bigBlob.cx(),bigBlob.cy()])
                send_data_packet(bigBlob.cx()-120,bigBlob.cy()-160)

                led.off()
           # uart.write(data_out)
            #print(data_out)

    if(A==7):#红绿蓝三色块顺序识别
         blobs1= img.find_blobs([red_threshold_01],area_threshold=150)
         blobs2=img.find_blobs([green_threshold_01],area_threshold=150)
         blobs3=img.find_blobs([blue_threshold_01],area_threshold=150)
         #if max_blob1.cx()< max_blob2.cx() < max_blob3.cx():
            #print('sadf')
         if blobs1 and blobs2 and blobs3:
            max_blob1=find_max(blobs1)
            img.draw_cross(max_blob1.cx(), max_blob1.cy())
            max_blob2=find_max(blobs2)
            img.draw_cross(max_blob2.cx(), max_blob2.cy())
            max_blob3=find_max(blobs3)
            img.draw_cross(max_blob3.cx(), max_blob3.cy())
            led = pyb.LED(3)
            led.on()
            if max_blob1.cx()< max_blob2.cx() < max_blob3.cx():

                output_str="[%d]" % (123) #方式1
                uart.write(output_str+'\r\n')

            if max_blob1.cx() < max_blob3.cx() < max_blob2.cx():
                output_str="[%d]" % (132) #方式1
                #uart.write('132')
                uart.write(output_str+'\r\n')

            if max_blob2.cx() < max_blob1.cx() < max_blob3.cx():
                output_str="[%d]" % (213) #方式1
                #uart.write('213')
                uart.write(output_str+'\r\n')

            if max_blob2.cx()< max_blob3.cx() < max_blob1.cx():
                #uart.write('231')
                output_str="[%d]" % (231) #方式1
                uart.write(output_str+'\r\n')

            if max_blob3.cx() < max_blob2.cx() < max_blob1.cx():
                #uart.write('321')
                output_str="[%d]" % (321) #方式1
                uart.write(output_str+'\r\n')

            if max_blob3.cx()< max_blob1.cx()  < max_blob2.cx():
                output_str="[%d]" % (312)
                #uart.write('312')
                uart.write(output_str+'\r\n')
            led.off()
           # uart.write(data_out)
    #print(clock.fps())

`