如何将红绿灯识别结果通过串口发送给arduino小车？

[ty3p]

import sensor, image,time,lcd, pyb
from pyb import UART,Timer,LED

red_threshold_01 = (60, 88, 23, 63, 6, -25)
green_threshold_01 = (85, 98, -90, 1, 4, -63)
yellow_threshold_01 = (64, 99, -23, 18, 14, 66)

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)#320*240
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((240, 240))

#sensor.snapshot().save("/snapshot-%d.jpg" % pyb.rng()) # Save Pic.

sensor.skip_frames()
sensor.set_auto_whitebal(False) #关闭白平衡
sensor.set_auto_gain(False) #关闭自动增益
clock = time.clock()
lcd.init() #Initialize the lcd screen.
uart = UART(3,115200,8,None,1) #创建串口对象

data = []

LED_Red = LED(1)
LED_Green = LED(2)
LED_Blue = LED(3)
BLUE_LED_PIN = 3

def expand_roi(roi):
# set for QQVGA 160120
extra = 5
win_size = (640, 480)
(x, y, width, height) = roi
new_roi = [x-extra, y-extra, width+2extra, height+2*extra]

if new_roi[0] < 0:
    new_roi[0] = 0
if new_roi[1] < 0:
    new_roi[1] = 0
if new_roi[2] > win_size[0]:
    new_roi[2] = win_size[0]
if new_roi[3] > win_size[1]:
    new_roi[3] = win_size[1]

return tuple(new_roi)

sensor.skip_frames(time = 2000) # Give the user time to get ready.

tim = Timer(4,freq=1) # create a timer object using timer 4
#tim.callback(tick)
tim.deinit()

while(True):
img = sensor.snapshot()
clock.tick() # Track elapsed milliseconds between snapshots().
blobs_red = img.find_blobs([red_threshold_01], area_threshold=150)
blobs_green = img.find_blobs([green_threshold_01], area_threshold=150)
blobs_yellow = img.find_blobs([yellow_threshold_01], area_threshold=150)

if blobs_yellow:
#如果找到了目标颜色
    #print(blobs)
    print("黄灯")
    #numjtdy = numjtdy+1
    for blob in blobs_yellow:
    #迭代找到的目标颜色区域
        is_circle = False
        max_circle = None
        max_radius = -1

        new_roi = expand_roi(blob.rect())

        for c in img.find_circles(threshold = 2000, x_margin = 20, y_margin = 20, r_margin = 10, roi=new_roi):
            is_circle = True
            # img.draw_circle(c.x(), c.y(), c.r(), color = (255, 255, 255))
            if c.r() > max_radius:
                max_radius = c.r()
                max_circle = c
        if is_circle:
            # 如果有对应颜色的圆形 标记外框
            # Draw a rect around the blob.
            img.draw_rectangle(new_roi) # rect
            img.draw_rectangle(blob.rect()) # rect
            #用矩形标记出目标颜色区域
            img.draw_cross(blob[5], blob[6]) # cx, cy
            img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r(), color = (0, 255, 0))
            img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r() + 1, color = (0, 255, 0))

            #sensor.snapshot().save("example.jpg") # or "example.bmp" (or others)
            #pyb.LED(BLUE_LED_PIN).off()
            #sensor.skip_frames(time = 2000) # Give the user time to get ready.
if blobs_green:
#如果找到了目标颜色
    #print(blobs)
    print("绿灯")
    #numjtdg = numjtdg+1
    for blob in blobs_green:
    #迭代找到的目标颜色区域
        is_circle = False
        max_circle = None
        max_radius = -1

        new_roi = expand_roi(blob.rect())

        for c in img.find_circles(threshold = 2000, x_margin = 20, y_margin = 20, r_margin = 10, roi=new_roi):
            is_circle = True
            # img.draw_circle(c.x(), c.y(), c.r(), color = (255, 255, 255))
            if c.r() > max_radius:
                max_radius = c.r()
                max_circle = c
        if is_circle:
            # 如果有对应颜色的圆形 标记外框
            # Draw a rect around the blob.
            img.draw_rectangle(new_roi) # rect
            img.draw_rectangle(blob.rect()) # rect
            #用矩形标记出目标颜色区域
            img.draw_cross(blob[5], blob[6]) # cx, cy
            img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r(), color = (0, 255, 0))
            img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r() + 1, color = (0, 255, 0))

if blobs_red:
#如果找到了目标颜色
    #print(blobs)
    print("红灯")
    #numjtdr = numjtdr+1
    for blob in blobs_red:
    #迭代找到的目标颜色区域
        is_circle = False
        max_circle = None
        max_radius = -1

        new_roi = expand_roi(blob.rect())

        for c in img.find_circles(threshold = 2000, x_margin = 20, y_margin = 20, r_margin = 10, roi=new_roi):
            is_circle = True
            # img.draw_circle(c.x(), c.y(), c.r(), color = (255, 255, 255))
            if c.r() > max_radius:
                max_radius = c.r()
                max_circle = c
        if is_circle:
            # 如果有对应颜色的圆形 标记外框
            # Draw a rect around the blob.
            img.draw_rectangle(new_roi) # rect
            img.draw_rectangle(blob.rect()) # rect
            #用矩形标记出目标颜色区域
            img.draw_cross(blob[5], blob[6]) # cx, cy
            img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r(), color = (0, 255, 0))
            img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r() + 1, color = (0, 255, 0))


lcd.display(img)

[ty3p]

现在这个可以识别出结果，主要是通过串口发送

[kidswong999]

https://singtown.com/learn/50235/

[ty3p]

视频看过了但是跟小车匹配发送数据就难的多了，二维码识别后通过串口发送给小车也多了好多。

import sensor, image,time,lcd
from pyb import UART,Timer,LED

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)#320*240

sensor.skip_frames()
sensor.set_auto_whitebal(False)      #关闭白平衡
sensor.set_auto_gain(False)          #关闭自动增益
clock = time.clock()
lcd.init()                           #Initialize the lcd screen.
uart = UART(3,115200,8,None,1)       #创建串口对象

data = []

LED_Red = LED(1)
LED_Green = LED(2)
LED_Blue = LED(3)


tim = Timer(4,freq=1)              # create a timer object using timer 4
#tim.callback(tick)
tim.deinit()

FlagOK = 0
show_numTab = ["0","1","2","3","4","5","6","7","8","9"]
num = 0
returnData = [0x55,0x02,0x92,0x02,0x02,0x00,0x00,0xBB]  #识别失败
runData    = [0x55,0x02,0x92,0x03,0x02,0x00,0x00,0xBB]  #正在识别

#定时器回调函数
def tick(timer):            # we will receive the timer object when being called
    global FlagOK,num,returnData
    print("Timer callback")
    num = num-1
    if(num == 0):
        num = 9
        FlagOK = 2
        tim.deinit()

#串口发送函数
def USART_Send(src,length):
    for i in range(length):
        uart.writechar(src[i])


#   二维码识别，并返回识别结果
def Color_Check(srcbuf):
    global FlagOK,num
    if(FlagOK == 1):
        img.draw_string(100, 180,"open"+show_numTab[num],color=[255,0,0])
        for code in img.find_qrcodes():
                FlagOK = 0
                tim.deinit()
                print(code)
                qr_Tab = code.payload()
                uart.writechar(0x55)
                uart.writechar(0x02)
                uart.writechar(0x92)
                uart.writechar(0x01)
                uart.writechar(len(qr_Tab))
                for qrdata in qr_Tab:
                    uart.writechar(ord(qrdata))
                uart.writechar(0xBB)

    if(FlagOK == 2):
        for rdata in returnData:
            uart.writechar(rdata)
        FlagOK = 0


while(True):


    img = sensor.snapshot()

    if(uart.any()):
        data = uart.read(8)
        if( len(data) >= 8):
            if((data[0] == 0x55)&(data[1] == 0x02)&(data[7] == 0xBB)):
                if(data[2] == 0x91):
                    print("识别小球")
                if(data[2] == 0x92):
                    print("识别二维码")
                    if(data[3] == 0x01):    #启动识别
                        if(FlagOK == 0):
                            FlagOK = 1
                            num = 9
                            print("开始识别")
                            tim.callback(tick)
                        else:
                            print("正在识别")
                            for rdata in runData:
                                print(rdata)
                                uart.writechar(rdata)
                    if(data[3] == 0x02):
                        print("停止识别")
                        FlagOK = 2
                        tim.deinit()       #定时器停止

    Color_Check(data)

    img.draw_string(110, 40,"qr_CodeV1.0",color=[0,0,255])
    lcd.display(img)


这个是二维码通信的

[kidswong999]

我看你的代码不只是发送数据，还有读取数据。

这种好几百行逻辑复杂，测试复杂的代码，我帮不了。尤其是还有通信协议同步的问题。

[ty3p]

你好通信协议的同步问题解决了，现在是如何才能将它识别出的颜色结果，发送端应该怎么去写.

[kidswong999]

@ty3p 视频里有发送字符串的例子，你直接生成字符串就行了。