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电赛.txt
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电赛.txt
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import sensor, image, time, os, math,machine
from pyb import UART
import json
from pyb import LED
import lcd
from machine import I2C
import time
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.set_windowing((320, 240)) # Set 240x240 window.
sensor.set_auto_whitebal(False, rgb_gain_db=(65.2256,60.2071,61.9736))
sensor.set_auto_exposure(False, 40000)#修改曝光度
sensor.set_auto_gain(False, 22)
#sensor.set_auto_whitebal(False)
#sensor.set_auto_exposure(False)
#sensor.set_auto_gain(False)
sensor.skip_frames(time=2000) # Let the camera adjust.
clock = time.clock()
#数字阈值
black_lab=(15,60,-20,10,-10,20)#黑色数字
#走线阈值
red_lab2=(0, 75, 30, 80, 10, 40)#红色交叉路口
black_lab2=(0,45,-20,10,-10,20)#黑色终点
black_lab_first=(15,45,-20,0,-10,20)#第一次数字识别
#串口通信
uart = UART(3, 115200)
uart.init(115200, bits=8, parity=None, stop=1) #8位数据位，无校验位，1位停止位
#返回最大色块（也就是返回最近的垃圾）
def find_max(blobs):
max_size=0
for blob in blobs:
if blob[2]*blob[3] > max_size:
max_blob=blob
max_size = blob[2]*blob[3]
return max_blob
#参数
area=[0,0,320,240];area_1=[0,0,320,240];area_2=[0,0,320,240]
area_3=[0,0,320,240];area_3_1=[0,0,320,240];area_4=[0,0,320,240]
#数字识别--条件判断部分
def num(wh,di_chang,ding_chang,zhong_3,zhong_3_xia,zhong_6):
if wh<0.6:return 1#1
else:#非1
if di_chang>0.9:return 2
else:#非1，2
if di_chang<0.3:#4和7
if ding_chang<0.3:return 4#4
else:return 7
else:#非1，4，7(3,5,6,8)
if zhong_3==0:return 3
else:#非1，4，7，3（5，6，8）
if zhong_3_xia==0:return 5
else:#非1，4，7，3，5（6，8）
if zhong_6==0:return 6
else:return 8
#判断数字在左边还是右边
def num_zuo_you(num_cx):
if num_cx<160:return 9#数字在左边
else:return 10#数字在右边
#识别多个数字，返回记录的数字和数字在左边还是右边
def num_main(blacks):
balck_numbers=blacks
j=0#色块数量
y=0#第几个色块
num_data=[0,0,0,0,0,0,0,0,0,0,0,0,0,0]#14
if balck_numbers:
for x in balck_numbers:j=j+1
if black_numbers:#如果有黑色色块
for i in black_numbers:#框出所有的黑色色块
img.draw_rectangle(i.rect(),color=(0,0,0),thickness=2)
if i.x()>20 and i.x()+i.w()<300 and i.y()>20 and i.area()>1000:
#print(1)
#参数重置
wh=0;di_chang=0;ding_chang=0;zhong_3=0;zhong_3_xia=0;zhong_6=0
#1的识别
wh=i.w()/i.h()
area[0]=i.x();area[1]=i.y()+int(i.h()/2);area[2]=i.w();area[3]=int(i.h()/2);
#底边参数
area_2[0]=i.x();area_2[1]=i.y()+i.h()-5;area_2[2]=i.w();area_2[3]=5;
blob_2s = img.find_blobs([black_lab],roi=area_2, pixels_threshold=20, area_threshold=20,merge=True)
if blob_2s:
blob_2=find_max(blob_2s);
img.draw_rectangle(blob_2.rect(),color=(225,0,0),thickness=2)
di_chang=blob_2.w()/i.w()
#顶边参数
area_1[0]=i.x();area_1[1]=i.y();area_1[2]=i.w();area_1[3]=5;
blob_1s = img.find_blobs([black_lab],roi=area_1, pixels_threshold=20, area_threshold=20,merge=True)
if blob_1s:
blob_1=find_max(blob_1s);
img.draw_rectangle(blob_1.rect(),color=(225,0,0),thickness=2)
ding_chang=blob_1.w()/i.w()
#3的左中间
area_3[0]=i.x();area_3[1]=i.y()+int(i.h()/3);area_3[2]=int(i.w()/3);area_3[3]=int(i.h()/3);
blob_3s = img.find_blobs([black_lab],roi=area_3, pixels_threshold=20, area_threshold=20,merge=True)
if blob_3s:
blob_3=find_max(blob_3s);
img.draw_rectangle(blob_3.rect(),color=(0,225,0),thickness=2)
zhong_3=blob_3.area()
#3中间的下面
area_3_1[0]=blob_3.x();area_3_1[1]=blob_3.y()+blob_3.h();area_3_1[2]=blob_3.w();area_3_1[3]=5;
blob_3_1s = img.find_blobs([black_lab],roi=area_3_1, pixels_threshold=20, area_threshold=20,merge=True)
if blob_3_1s:
blob_3_1=find_max(blob_3_1s);
img.draw_rectangle(blob_3_1.rect(),color=(0,0,225),thickness=2)
zhong_3_xia=blob_3_1.area()
#6的中间
area_4[0]=i.x()+int(i.w()/3);area_4[1]=i.y()+int(i.h()*2/9);area_4[2]=int(i.w()*5/7);area_4[3]=5;
blob_4s = img.find_blobs([black_lab],roi=area_4, pixels_threshold=20, area_threshold=20,merge=True)
if blob_4s:
blob_4=find_max(blob_4s);
img.draw_rectangle(blob_4.rect(),color=(255,0,0),thickness=2)
zhong_6=blob_4.area()
#保存结果--------
#识别数字
num_data[y]=num(wh,di_chang,ding_chang,zhong_3,zhong_3_xia,zhong_6)
y=y+1
#判断左9，右10
num_data[y]=num_zuo_you(i.cx())
#绘画出结果-------
img.draw_string(i.x(),i.y(),'(%d)'%(num_data[y-1]), color=(0,225,0),scale=4)#字符
#
#img.draw_rectangle(i.rect(),color=(0,0,0),thickness=2)
y=y+1
#有数字，判断上面的红色，有红色是第二个十字路口
if num_data[0]!=0:
red_cross = img.find_blobs([red_lab2],roi = (0,0,320,50), pixels_threshold=200, area_threshold=200,merge=True)
if red_cross:num_data[13]=9
#返回识别结果-----
return num_data
#识别一个数字，返回识别的数字
def num_frist(black_numbers):
for i in black_numbers:#如果有黑色色块
img.draw_rectangle(i.rect(),color=(0,0,0),thickness=2)
if i.x()>40 and i.x()<280 and abs(i.cx()-160)<90 and i.y()+i.h()<220:#放中心才可以识别
#参数重置
wh=0;di_chang=0;ding_chang=0;zhong_3=0;zhong_3_xia=0;zhong_6=0
#1的识别
wh=i.w()/i.h()
area[0]=i.x();area[1]=i.y()+int(i.h()/2);area[2]=i.w();area[3]=int(i.h()/2);
#底边参数
area_2[0]=i.x();area_2[1]=i.y()+i.h()-5;area_2[2]=i.w();area_2[3]=5;
blob_2s = img.find_blobs([black_lab],roi=area_2, pixels_threshold=20, area_threshold=20,merge=True)
if blob_2s:
blob_2=find_max(blob_2s);
img.draw_rectangle(blob_2.rect(),color=(225,0,0),thickness=2)
di_chang=blob_2.w()/i.w()
#顶边参数
area_1[0]=i.x();area_1[1]=i.y();area_1[2]=i.w();area_1[3]=5;
blob_1s = img.find_blobs([black_lab],roi=area_1, pixels_threshold=20, area_threshold=20,merge=True)
if blob_1s:
blob_1=find_max(blob_1s);
img.draw_rectangle(blob_1.rect(),color=(225,0,0),thickness=2)
ding_chang=blob_1.w()/i.w()
#3的左中间
area_3[0]=i.x();area_3[1]=i.y()+int(i.h()/3);area_3[2]=int(i.w()/3);area_3[3]=int(i.h()/3);
blob_3s = img.find_blobs([black_lab],roi=area_3, pixels_threshold=20, area_threshold=20,merge=True)
if blob_3s:
blob_3=find_max(blob_3s);
img.draw_rectangle(blob_3.rect(),color=(0,225,0),thickness=2)
zhong_3=blob_3.area()
#3中间的下面
area_3_1[0]=blob_3.x();area_3_1[1]=blob_3.y()+blob_3.h();area_3_1[2]=blob_3.w();area_3_1[3]=5;
blob_3_1s = img.find_blobs([black_lab],roi=area_3_1, pixels_threshold=20, area_threshold=20,merge=True)
if blob_3_1s:
blob_3_1=find_max(blob_3_1s);
img.draw_rectangle(blob_3_1.rect(),color=(0,0,225),thickness=2)
zhong_3_xia=blob_3_1.area()
#6的中间
area_4[0]=i.x()+int(i.w()/3);area_4[1]=i.y()+int(i.h()*2/9);area_4[2]=int(i.w()*5/7);area_4[3]=5;
blob_4s = img.find_blobs([black_lab],roi=area_4, pixels_threshold=20, area_threshold=20,merge=True)
if blob_4s:
blob_4=find_max(blob_4s);
img.draw_rectangle(blob_4.rect(),color=(255,0,0),thickness=2)
zhong_6=blob_4.area()
#识别结果
num_data1=num(wh,di_chang,ding_chang,zhong_3,zhong_3_xia,zhong_6)
#绘画出结果-------
img.draw_string(i.x(),i.y(),'(%d)'%(num_data1), color=(225,0,0),scale=4)#字符
#框出每一个数字
img.draw_rectangle(i.rect(),color=(225,0,0),thickness=2)
#print(di_chang,ding_chang)
#返回识别结果
return num_data1
#第一次识别----------
LED(1).on()
num1=0
while(num1==0 or num1 ==None):
for i in range(100):
clock.tick()
img = sensor.snapshot()
black_cx=0
black_numbers = img.find_blobs([black_lab_first], pixels_threshold=200, area_threshold=200,merge=True)
num1=num_frist(black_numbers)
print(num1)
LED(1).off()
LED(2).on()
#主循环-------------------------------------------
#参数
num_datas=[0,0,0,0,0,0,0,0,0,0,0,0,0,0]#14
while(0):
clock.tick()
img = sensor.snapshot()
#多识别
black_numbers = img.find_blobs([black_lab], pixels_threshold=200, area_threshold=200,merge=True)
num_datas=num_main(black_numbers)
print(num_datas)
data_car=b'2'
data_car2=b'0'
zhuan=0
t_5=0
while(1):
time.sleep_ms(100)
clock.tick()
img = sensor.snapshot()
car_data=uart.read(1)
if car_data==b'1' or car_data==b'2':
data_car=car_data
red_cross = img.find_blobs([red_lab2],roi = (0,60,320,120), pixels_threshold=200, area_threshold=200,merge=True)
red_cross_l = img.find_blobs([red_lab2],roi = (0,60,40,75), pixels_threshold=200, area_threshold=200,merge=True)
red_cross_r = img.find_blobs([red_lab2],roi = (280,60,40,75), pixels_threshold=200, area_threshold=200,merge=True)
red_cross_z = img.find_blobs([red_lab2],roi = (80,170,160,70), pixels_threshold=200, area_threshold=200,merge=True)
red_cross_ding = img.find_blobs([red_lab2],roi = (80,0,160,70), pixels_threshold=200, area_threshold=200,merge=True)
red_cross_d_l = img.find_blobs([red_lab2],roi = (0,175,50,65), pixels_threshold=200, area_threshold=200,merge=True)
red_cross_d_r = img.find_blobs([red_lab2],roi = (270,175,50,65), pixels_threshold=200, area_threshold=200,merge=True)
black_over = img.find_blobs([black_lab2], roi = (0,100,320,150),pixels_threshold=20, area_threshold=20)
black_l = img.find_blobs([black_lab2],roi = (0,60,70,75), pixels_threshold=200, area_threshold=200,merge=True)
black_r = img.find_blobs([black_lab2],roi = (250,60,70,75), pixels_threshold=200, area_threshold=200,merge=True)
img.draw_rectangle((0,60,320,120),color=(225,0,0),thickness=2)#识别红色中间线的限制框
img.draw_rectangle((0,60,40,75),color=(0,225,0),thickness=2)#识别红色左边的限制框
img.draw_rectangle((280,60,40,75),color=(0,225,0),thickness=2)#识别红色右边的限制框
img.draw_rectangle((80,170,160,70),color=(0,225,0),thickness=2)#识别红色右边的限制框
img.draw_rectangle((0,175,50,65),color=(0,225,0),thickness=2)#识别红色右边的限制框
img.draw_rectangle((270,175,50,65),color=(0,225,0),thickness=2)#识别红色右边的限制框
img.draw_rectangle((0,60,70,75),color=(0,225,0),thickness=2)#识别红色右边的限制框
img.draw_rectangle((250,60,70,75),color=(0,225,0),thickness=2)#识别红色右边的限制框
img.draw_rectangle((80,0,160,70),color=(0,225,0),thickness=2)#识别红色右边的限制框
#黑色用于后退判断----
black1_area=0;black2_area=0
if black_l:
black1=find_max(black_l);
black1_area=black1.area()
img.draw_rectangle(black1.rect(),color=(225,0,0),thickness=2)#识别红色右边的限制框
if black_r:
black2=find_max(black_r);
black2_area=black2.area()
img.draw_rectangle(black2.rect(),color=(225,0,0),thickness=2)#识别红色右边的限制框
black_cha=(black1_area-black2_area)/(black1_area+black2_area+1)
#print('-------------',black_cha).
#红色用于后退判断----
red_arae1=[0,0,320,240];red_arae2=[0,0,320,240]
if red_cross:
red_xian=find_max(red_cross)
red_arae1[0]=red_xian.x();red_arae1[1]=red_xian.y();red_arae1[2]=int(red_xian.w()/2);red_arae1[3]=int(red_xian.w()/2);
red_arae2[0]=red_xian.x()+int(red_xian.w()/2);red_arae2[1]=red_xian.y();red_arae2[2]=int(red_xian.w()/2);red_arae2[3]=int(red_xian.w()/2);
img.draw_rectangle(red_arae1,color=(255,0,0),thickness=2)#识别红色右边的限制框
img.draw_rectangle(red_arae2,color=(255,0,0),thickness=2)#识别红色右边的限制框
red_pix1=0;red_pix2=0
red_1=img.find_blobs([red_lab2],roi = red_arae1, pixels_threshold=20, area_threshold=20,merge=True)
red_2=img.find_blobs([red_lab2],roi = red_arae2, pixels_threshold=20, area_threshold=20,merge=True)
if red_1:
red_1m=find_max(red_1);
red_pix1=red_1m.pixels();
#print(1,red_pix1)
if red_2:
red_2m=find_max(red_2);
red_pix2=red_2m.pixels();
#print(2,red_pix2)
#第三个路口判断
if (red_cross_d_r or red_cross_d_l) and red_cross_z:
if red_cross_ding:
t_5=0
else:
t_5=1
print("T字")
red_cha=red_pix1-red_pix2#差值
if red_cross:
for blob1 in red_cross:
img.draw_rectangle(blob1.rect(),color=(0,0,225),thickness=2)#识别红色右边的限制框
if(((red_cross_l and red_cross_z )or (red_cross_r and red_cross_z) or (red_cross_r and red_cross_l)) and data_car2==b'0'):#判断是否拐弯
uart.write("%d"%(902))#小车停下
#uart.write("%d"%(500))#色块右移--小车右转
print('停下')
#time.sleep_ms(3000)
#识别
if num1!=1 and num1!=2:
i = 0;j=0;hav=0;x=0
num_datas=[0,0,0,0,0,0,0,0,0,0,0,0,0,0]#14
for x in range(2):
#多识别
clock.tick()
img = sensor.snapshot()
black_numbers = img.find_blobs([black_lab], pixels_threshold=200, area_threshold=200,merge=True)
num_datas=num_main(black_numbers)
print(num_datas)
if num_datas==None:num_datas=[0,0,0,0,0,0,0,0,0,0,0,0,0,0]#14
for x in range(1):
if num1==num_datas[0] or num1==num_datas[2] or num1==num_datas[4] and zhuan==0:#判断是不是
if num1==num_datas[0]:#是，左右转
if num_datas[1]==9:#左右转
print('左')
if num_datas[4]==0:#十字路口判断
zhuan=921
else:
zhuan=901
print('----------------')
if num_datas[1]==10:
print('右')
if num_datas[4]==0:#十字路口判断
zhuan=920;print('右')#色块右移--小车右转#左
else:zhuan=900
if num1==num_datas[2]:#是，左右转
if num_datas[3]==9:
print('左')
if num_datas[4]==0:
zhuan=921#uart.write("%d"%(501));print('左')#色块右移--小车右转#左
else:zhuan=901
if num_datas[3]==10:
print('右')
if num_datas[4]==0:
zhuan=920#uart.write("%d"%(501));print('左')#色块右移--小车右转#左
else:zhuan=900
if num1==num_datas[4]:#是，左右转
if num_datas[5]==9:zhuan=901;print('左')#色块右移--小车右转#左
if num_datas[5]==10:zhuan=900;print('右')#右
else:
if zhuan==0:
if num_datas[0]==0:zhuan=660#uart.write("%d"%(blob1.cx()+100))#直行
if num_datas[4]==0 and num_datas[0]!=0:
print('----------------',num_datas[13])
if t_5!=1:
zhuan=160#uart.write("%d"%(blob1.cx()+100))#直行
print('-----------------')
else:
zhuan=900
print('+++++++++++++++++')
if num_datas[4]!=0:
zhuan=900#u+art.write("%d"%(500))#右
print('9999999999999999999999999999999')
for x in range(5):
time.sleep_ms(10)
uart.write("%d"%(660))
print('前')
elif (red_cross_d_l and red_cross_z )or (red_cross_d_r and red_cross_z) or (red_cross_d_r and red_cross_d_l):#判断是否拐弯
print("aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa")
if num1==1:
for x in range(100):
print("十字路口---左转")#返回像素数量
uart.write("%d"%(901))#色块右移--小车左转
if num1==2:
for x in range(100):
print("十字路口---右转")#返回像素数量
uart.write("%d"%(900))#色块右移--小车右转
if num1!=1 and num1!=2 and data_car2==b'0' and zhuan!=0:
for x in range(10):
uart.write("%d"%(zhuan))
print("十字路口---------转",zhuan)#返回像素数量
zhuan=0
if data_car2==b'1':
uart.write("%d"%(900))
print("十字路口---右转")#返回像素数量
else:#微调直行
if data_car==b'2':#前进微调
img.draw_rectangle(blob1.rect(),color=(0,0,255),thickness=2)
#print("像素数量:",blob1.pixels())#返回像素数量
#print(blob1.cx())
print('微调坐标',blob1.cx()+500)
uart.write("%d"%(blob1.cx()+500))
else:#差值后退
data_car2=b'1'
img.draw_rectangle(blob1.rect(),color=(0,0,255),thickness=2)
#print("像素数量:",blob1.pixels())#返回像素数量
#print(blob1.cx())
print('微调坐标',blob1.cx()+500)
uart.write("%d"%(blob1.cx()+500))
#uart.write("%d"%(int(black_cha*100+200)))
#print('差值',(int(black_cha*100+200)))
elif black_over:#黑色终点
i=0
for blob2 in black_over:
if(blob2.area() > 100):
i = i + 1
#print("像素数量:",blob2.pixels())#返回像素数量
img.draw_rectangle(blob2.rect(),color=(0,0,255),thickness=2)
if(i >=5) and data_car2==b'0':#去的停
if num1==1 or num1==2:
time.sleep_ms(200)
print("停止11111111111111")
uart.write("%d"%(992))#小车停止
print(992)
else:
time.sleep_ms(200)
print("停止11111111111111")
uart.write("%d"%(992))#小车停止
print(992)
if(i >=5) and data_car2==b'1':#回来的停
if num1==1 or num1==2:
print("停止22222222222222")
time.sleep_ms(200)
uart.write("%d"%(992))#小车停止
print(992)
else:#长距离反转刹车
print("停止22222222222222")
uart.write("%d"%(912))#小车停止
print(912)
else:
uart.write("%d"%(500))
print(500)
##time.sleep_ms(20)
#print("停止222222222222222")
#uart.write("%d"%(902))#小车停止
#print(902)
#print(i)#黑点的个数
#else:
#i=0
#if black_over:#黑色终点
#for i in black_over:
#if i.x()>30 and i.x()<210 and i.cy()>210:
#print("停止")
#uart.write("%d"%(902))#小车停止
#print(902)
##print(i)#黑点的个数