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    • @kidswong999

      import sensor, image, time, ustruct
      from pyb import UART,  LED
      
      
      RED_THRESHOLD = [(13, 65, 11, 42, -25, 27)]
      BLACK_THRESHOLD = [(12, 34, -30, -2, -6, 22) ]
      #BLACK_THRESHOLD = [(18, 34, -25, -4, -14, 13)]
      
      ROI1 = (18,29,94,62)
      ROI2 = (210,29,94,62)
      num = 0
      move = 0  #0空操作1停止2前进
      move_flag = 0 #0空操作1左转2右转
      cx = 0
      cy = 0
      ch = 0
      cw = 0
      area = 0
      num = 0
      #number1 = 0
      number2 = 0
      first_number = 0
      match_number = 0
      red = (255,0,0)
      greed = (0,255,0)
      blue =(0,0,255)
      
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QVGA)
      sensor.skip_frames(5)
      sensor.set_auto_gain(False)#关闭自动增益
      sensor.set_auto_whitebal(False) # 必须关闭白平衡
      sensor.set_hmirror(True)#水平方向翻转
      sensor.set_vflip(True)#垂直方向翻转
      clock = time.clock()
      
      uart = UART(3,9600,timeout_char = 1000000)
      
      #uart.write(bytearray([0xff,0xfe,0,1,1]))
      
      #数字识别
      def number():
          number1 = 0
          for blob in img.find_blobs(BLACK_THRESHOLD, pixels_threshold=500, area_threshold=5000, merge=True,roi=(160,0,160,240)):
              img.draw_rectangle(blob.rect())
              img.draw_cross(blob.cx(), blob.cy())
              cx = blob.cx()
              cy = blob.cy()
              ch = blob.h()
              cw = blob.w()
              img.draw_rectangle(cx-int(cw/2),cy,cw,int(ch/2),color = red)
              img.draw_cross(cx, cy+int(ch/4), size=5, color=red)
              for blob1 in img.find_blobs(BLACK_THRESHOLD, roi=(cx-int(cw/2),cy,cw,int(ch/2)),pixels_threshold=50, area_threshold=300, merge=True):
                  '''print("面积1 = ",blob1.area())
                  print("像素点1 = ",blob1.density())'''
                  area = blob1.area()*blob1.density()
                  area1 = blob1.area()*blob1.area()/blob1.density()
                  '''print("面积1.1 = ",area)
                  print("面积1.2 = ",area1)
                  print("\n")'''
                  if(400<area<1200):
                      #print("222")
                      if(0.35<blob1.density()<0.45 and 600<area<900 and area1 < 1.25e+07):
                          number1 = 3
                          print("number1 = 3")
                      elif(0.3<blob1.density()<0.4 and 280<area<500):
                          number1 = 7
                          print("number1 = 7")
                      if(number1 != 0):
                          num = number1
                          return(num or 0)
                  area = blob1.area()*blob1.density()
                  area1 = blob1.area()*blob1.area()/blob1.density()
                  area = blob1.area()*blob1.density()
                  area1 = blob1.area()*blob1.area()/blob1.density()
                  if(400<area<900):
                      print("222")
                      if(0.35<blob1.density()<0.45 and 600<area<900 and area1 < 1.15e+07):
                          number1 = 3
                          print("number1 = 3")
                      elif(0.3<blob1.density()<0.4 and 280<area<500):
                          number1 = 7
                          print("1 = 7")
                      if(2000<blob1.area()<2800):
                          if(blob1.density()>0.43 and area > 900):
                              number1 = 8
                              print("number1 = 8")
          
                      if(500<area<1100):
                         # print("333")
                          if(0.48 < blob1.density() < 0.55 and area < 1500):
                              number1 = 2
                              print(111)
                              print("number1 = 2")
                          elif(0.35<blob1.density()<0.4 and 800<area<900 and 1.45e+07 > area1 > 1.3e+07):
                              number1 = 4
                              print("number1 = 4")
          
                          elif(0.35 < blob1.density() < 0.45 and area > 900 and blob1.area() < 2450 and 1.45e+07 > area1 > 1.3e+07):
                              number1 = 6
                              print("number1 = 6")
          
                          if(0.2<blob1.density()<0.35):
                              if(700<area<900 and blob1.area() > 2300):
                                  number1 = 5
                                  print("number1 = 5")
          if(number != 0):
              num = number1
              return(num)
      
          for blob in img.find_blobs(BLACK_THRESHOLD, pixels_threshold=1500, area_threshold=5000, merge=True,roi=(0,0,160,240)):
              img.draw_rectangle(blob.rect())
              img.draw_cross(blob.cx(), blob.cy())
              cx = blob.cx()
              cy = blob.cy()
              ch = blob.h()
              cw = blob.w()
              img.draw_rectangle(cx-int(cw/2),cy,cw,int(ch/2),color = red)
              img.draw_cross(cx, cy+int(ch/4), size=5, color=red)
              for blob2 in img.find_blobs(BLACK_THRESHOLD, roi=(cx-int(cw/2),cy,cw,int(ch/2)),pixels_threshold=50, area_threshold=300, merge=True):
                  print("面积2 = ",blob2.area())
                  print("像素点2 = ",blob2.density())
                  area = blob2.area()*blob2.density()
                  area2 = blob2.area()*blob2.area()/blob2.density()
                  print("面积2.1 = ",area)
                  print("面积2.2 = ",area2)
                  '''if(blob2.area()<5000):
                      if(area==0):
                          number2 = 1;
                          print("number2 = 1")'''
                  if(400<area<900):
                      print("222")
                      if(0.35<blob2.density()<0.45 and 600<area<900 and area2 < 1.15e+07):
                          number2 = 3
                          print("number2 = 3")
                      elif(0.3<blob2.density()<0.4 and 280<area<500):
                          number2 = 7
                          print("number2 = 7")
      
                  if(2200<blob2.area()<2800):
                      if(blob2.density()>0.45 and area > 1050):
                          number2 = 8
                          print("number2 = 8")
      
                  if(500<area<1100):
                      #print("333")
                      if(0.45 < blob2.density() < 0.55 and area < 1500):
                          number1 = 2
                          print("number2 = 2")
                      elif(0.35<blob2.density()<0.45 and 930<area<1100 and area2 > 1.35e+07):
                          number2 = 4
                          print("number2 = 4")
      
                      elif(0.41 < blob2.density() < 0.45 and area > 950 and blob2.area() < 2450 and 1.36e+07 > area2 > 1.25e+07):
                          number2 = 6
                          print("number2 = 6")
      
                      if(0.2<blob2.density()<0.35):
                          if(700<area<900 and blob2.area() > 2300):
                              number2 = 5
                              print("number2 = 5")
      
      
      while(True):
          clock.tick()
          match_blob1 = 0
          match_blob2 = 0
          img = sensor.snapshot().lens_corr(strength = 1.8,zoom = 1)
      
          #LED(1).on()
      
          #画ROI区域
          img.draw_rectangle(ROI1, thickness = 2, fill = False)
          img.draw_rectangle(ROI2, thickness = 2, fill = False)
          img.draw_rectangle(160,0,160,240,color=greed)
          img.draw_rectangle(160,0,160,240,color=blue)
      
          
          #识别数字first_munber
          first_number = 2
          data = bytearray([0xff, 0xfe, move, first_number, move_flag])
          uart.write(data)
          print(data)
      
          #if first_number is not None:
           #  print("true")
      
          #识别到十字路口
          for blob in img.find_blobs(RED_THRESHOLD, roi = ROI1, area_threshold = 500, merge=True):
              if blob.code() == 1:
                  match_blob1 = 1
                  img.draw_rectangle(blob.rect())
      
          for blob in img.find_blobs(RED_THRESHOLD, roi = ROI2, area_threshold = 500, merge=True):
              if blob.code() == 1:
                  match_blob2 = 1
                  img.draw_rectangle(blob.rect())
      
          if(match_blob1 == 1 or match_blob2 == 1):
              move = 1
              data = bytearray([0xff,0xfe,move,first_number, move_flag])
              uart.write(data)
              print(data)
              if(first_number == 1 or first_number == 2):
                  if(first_number == 1):
                      #move = 1
                      move_flag = 1
                      data = bytearray([0xff,0xfe,move,first_number, move_flag])
                      uart.write(data)
                      print(data)
                  elif(first_number == 2):
                      move = 3
                      move_flag = 2
                      data = bytearray([0xff,0xfe,move,first_number, move_flag])
                      uart.write(data)
                      print(data)
              else:
                  move = 1
                  data = bytearray([0xff,0xfe,move,first_number, move_flag])
                  uart.write(data)
                  print(data)
      
                  #识别数字match_munber
                  match_number = number()
      
                  if(match_number == first_number):
                      #右转
                      if(cx>80):
                          move_flag = 2
                          data = bytearray([0xff,0xfe,move,match_number, move_flag])
                          uart.write(data)
                          print(data)
                      #左转
                      elif(cx<80):
                          move = 0
                          move_flag = 1
                          data = bytearray([0xff,0xfe,move,match_number, move_flag])
                          uart.write(data)
                          print(data)
                  elif(match_number != first_number):
                      move = 2
                      data = bytearray([0xff,0xfe,move,first_number, move_flag])
                      uart.write(data)
                      print(data)
      
      
      
              #识别黑色虚线
          '''for blob in img.find_blobs(BLACK_THRESHOLD, area_threshold = 1000, merge=True):
              if blob.code() == 1:
                  move_flag = 0
                  img.draw_rectangle(blob.rect())
                  data = bytearray([0xff,0xfe,move,first_number, move_flag])
                  uart.write(data)
                  print(data)'''
      
      


    • 我测试了好久,也没有出现错误。

      你看一下是不是摄像头模组没有插好。