import sensor, image, time
from pyb import UART
# 为了使色彩追踪效果真的很好，你应该在一个非常受控制的照明环境中。
BLUE_threshold   = (   0,   80,  -70,   -10,   -0,   30)
# 设置蓝色的阈值


sensor.reset() # 初始化sensor

sensor.set_pixformat(sensor.RGB565) # use RGB565.

sensor.set_framesize(sensor.QQVGA)
#设置图像像素大小

sensor.skip_frames(10) # 让新的设置生效。
sensor.set_auto_whitebal(False)
clock = time.clock()

uart = UART(3,115200)
uart.init(115200, bits=8, parity=None, stop=1)  #通信

K=5000#自取

while(True):
    clock.tick()
    img = sensor.snapshot() # 拍一张照片并返回图像。
    blobs = img.find_blobs([BLUE_threshold])
    if len(blobs) == 1:
        # Draw a rect around the blob.
        b = blobs[0]
        img.draw_rectangle(b[0:4]) # rect
        img.draw_cross(b[5], b[6]) # cx, cy
        Lm = (b[2]+b[3])/2
        length = K/Lm
        print(length)
        c=int(length)

    if blobs:
    #如果找到了目标颜色
        for b in blobs:
        #迭代找到的目标颜色区域
            # Draw a rect around the blob.
            img.draw_rectangle(b[0:4]) # rect
            #用矩形标记出目标颜色区域
            img.draw_cross(b[5], b[6]) # cx, cy
            #在目标颜色区域的中心画十字形标记
            print(b[5], b[6])
            #输出目标物体中心坐标
        print("1")
        a=1
    else:
        print("2")
        b=2
    data = bytearray([0xb3,a,b,c,0x5b])

@zn4s 大佬实现了吗

import sensor, image, time

from pyb import UART

sensor.reset()
sensor.set_pixformat(sensor.RGB565) # grayscale is faster
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()

uart = UART(3,115200)
uart.init(115200, bits=8, parity=None, stop=1)

while(True):
    clock.tick()

    img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)
    for c in img.find_circles(threshold = 2200, x_margin = 10, y_margin = 10, r_margin = 10,
            r_min = 2, r_max = 15, r_step = 2,roi=(53,33,196,203)):
        img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))#画圆  用红线框出
        x=int(c.x())
        y=int(c.y())
        data = bytearray([0xb3,x,y,0x5b])
        uart.write(data)
        print(x,y)

import sensor, image, time

from pyb import UART

sensor.reset()
sensor.set_pixformat(sensor.RGB565) # grayscale is faster
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()

uart = UART(3,115200)
uart.init(115200, bits=8, parity=None, stop=1)
area= (66, 100, -31, 85, -8, 94)




while(True):
    clock.tick()


    img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)
    for c in img.find_circles(threshold = 2000, x_margin = 10, y_margin = 10, r_margin = 10,
            r_min = 2, r_max = 15, r_step = 2):
        roi=(18,7,113,106)      #感兴趣区域
        img.draw_circle(area,c.x(), c.y(), c.r(), color = (255, 0, 0))#画圆  用红线框出
        x=int(c.x())
        y=int(c.y())
        data = bytearray([0xb3,x,y,0x5b])
        uart.write(data)
        print(x,y)