2023年电赛e控制题视觉处理部分

2023年电赛e控制题视觉处理部分

题目

视觉处理模块

openmv

处理思路

大致的思路是我这边识别黑色胶带矩形四个点位置，计算斜率，然后将一边的长度均分均分，每次x坐标设为1，有ab斜率y = k*b 计算y大致值，就得到一个大致的坐标，发送给电控。

基础全部代码

import sensor, image, time, math, ustruct,lcd,math
from pyb import UART
#thresholds =(0, 52, -128, 127, -128, 127)
#thresholds =(0, 43, -128, 127, -128, 127)
#thresholds =(0, 23, -128, 127, -128, 127)
thresholds =(0, 34, -128, 127, -128, 127)
roi = (85,30,165,170)# 开始roi的面积
flage = 100
corners = ([0,0],
           [0,0],
           [0,0],
           [0,0])
Rect = (0,0,0,0)
k = 0.0
b = 0
m = 0
n = 0
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
lcd.init()
clock = time.clock()
uart = UART(1,115200)
def outuart(x,y,flage):
    global uart;
    data = ustruct.pack("<bbhhhb",
                   0x2C,
                   0x12,
                   int(x*100),
                   int(y*100),
                   int(flage),
                   0x5B)
    uart.write(data);
    time.sleep_ms(20)
while(True):
    if flage == 100:
       print("等待电控给我值")
       flage = int(uart.readchar())
       print(flage)
       if flage == 150:
          flage = 0
       else:
          flage = 100
    if flage is not 100:
        clock.tick()
        img = sensor.snapshot()
        img.draw_rectangle((roi),color = (255,0,0), thickness=1,fill=False)
        #img.draw_circle(160+22, 120+2, 3, color = (0, 0, 0), thickness = 1, fill = True)
        img.draw_cross(160+22,120+2,color = (255,0,0),thickness=1)#画红色十字位置与激光在一个位置上

        for blob in img.find_blobs([thresholds],roi=roi,x_stride = 1, y_stride=1,pixels_threshold=300, area_threshold=300, merge=True):
            print("返回色块面积")
            print(blob.area())
            if blob.area()>8000 and blob.area()<30000:
                corners = blob.corners()
                A = corners[0]
                B = corners[1]
                C = corners[2]
                D = corners[3]
                #将ABCD四点的坐标转为十字为原点的坐标系下
                Ax = (A[0])-160-22
                Ay = (A[1])-120-2
                Bx = (B[0])-160-22
                By = (B[1])-120-2
                Cx = (C[0])-160-22
                Cy = (C[1])-120-2
                Dx = (D[0])-160-22
                Dy = (D[1])-120-2
                print("******A******")
                print(A)
                print("******B******")
                print(B)
                print("******C******")
                print(C)
                print("******D******")
                print(D)
                Rect  = blob.rect()
                rectx = int(Rect[0])
                recty = int(Rect[1])
                rectw = int(Rect[2])
                recth = int(Rect[3])
                '''rectx = rectx-20
                recty = recty-30
                rectw = rectw+40
                recth = recth+45'''
                rectx = rectx-40
                recty = recty-40
                rectw = rectw+70
                recth = recth+90

                roi = (rectx,recty,rectw,recth)
                img.draw_edges(blob.corners(), color=(0,255,255),thickness=3)
                #画图abcd四个点
                img.draw_string((corners[0])[0],(corners[0])[1],"A",color = (0,255,255),scale=4, mono_space=False)
                img.draw_string((corners[1])[0],(corners[1])[1],"B",color = (0,255,255),scale=4, mono_space=False)
                img.draw_string((corners[2])[0],(corners[2])[1],"C",color = (0,255,255),scale=4, mono_space=False)
                img.draw_string((corners[3])[0],(corners[3])[1],"D",color = (0,255,255),scale=4, mono_space=False)
                img.draw_rectangle(blob.rect())
                k1 = str(k)
                img.draw_string(5,5,"k:"+k1,color = (255,0,0),scale=4, mono_space=False)
                #四条边的判断以及与电控通信
                if flage == 0:
                    outuart(Ax,Ay,flage)
                    print("111111111111111111111111111")
                    print(Ax,Ay)


                    if abs(Ax)<3 and abs(Ay)<3:
                        time.sleep_ms(500)
                        flage = 1
                        outuart(0,0,10)
                        print("--------------------------------")
                if flage == 1:
                    print("222222222222222222222222222")
                    if Bx is not 0:
                        bk= By/Bx
                        x=1.0
                        y=1.0*bk
                        outuart(x,y,flage)
                        print(Bx,By)

                        if abs(Bx)<5 and abs(By)<5:

                            time.sleep_ms(500)
                            flage = 2
                            outuart(0,0,10)
                if flage == 2:
                    print("333333333333333333333333333333333")
                    if Cx is not 0:
                        ck = Cy/Cx
                        x=1.0
                        y=1.0*ck
                        outuart(x,y,flage)
                        #outuart(0,0,10)
                        print(Cx,Cy)
                        if abs(Cx)<4.5 and abs(Cy)<4.5:
                            outuart(0,0,10)
                            time.sleep_ms(500)
                            flage = 3
                            print("--------------------------------")
                if flage == 3:
                    print("444444444444444444444444444444444")
                    if Dx is not 0:
                        dk = Dy/Dx
                        x=-1.0
                        y=-1.0*dk
                        outuart(x,y,flage)
                        print(Dx,Dy)
                        if abs(Dx)<5 and abs(Dy)<5.5:
                            outuart(0,0,10)
                            time.sleep_ms(500)
                            flage = 4
                            print("--------------------------------")
                if flage == 4:
                    print("555555555555555555555555555555555")
                    if Ax is not 0:
                        ak = Ay/Ax
                        x=-1.0
                        y=-1.0*ak
                        outuart(x,y,flage)
                       # outuart(0,0,10)
                        print(Ax,Ay)
                        if abs(Ax)<4.5 and abs(Ay)<4.5:
                            outuart(0,0,10)
                            time.sleep_ms(500)
                            outuart(0,0,20)
                            print("--------------------------------")
                            flage = 100
                            break
        #lcd.display(img,x_scale=0.3,y_scale = 0.4)
        print(clock.fps())

提高部分

思路

其实很简单识别红色的激光色块然后进行坐标转换，计算出目标的位置发给电控就ok了

提高部分代码

import sensor, image, time,ustruct,lcd,math
from pyb import UART,LED
thresholds_red1 = (12, 100, 3, 127, -128, 127)
t2 =(5, 100, -128, 127, -128, 127)
center = [0,0]     #红色激光笔的位置
roi = (100,60,126,140)
flage = 0.0     # 是否追上
#img.draw_cross(160-3,120-1,color = (255,0,0),thickness=2)  #绿色十字的位置
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.skip_frames(time = 2000)     # Wait for settings take effect.
clock = time.clock()                # Create a clock object to track the FPS.
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
sensor.set_auto_exposure(False,9000)
uart = UART(3,115200)

def outuart(x,y,flage):
 global uart;
 #frame=[0x2C,18,cx%0xff,int(cx/0xff),cy%0xff,int(cy/0xff),0x5B];
 #data = bytearray(frame)
 data = ustruct.pack("<bbhhhb",      #格式为俩个字符俩个短整型(2字节)
                0x2C,                      #帧头1
                0x12,                      #帧头2
                int(x*100), # up sample by 4    #数据x坐标
                int(y*100), # up sample by 4    #数据y坐标
                int(flage), # up sample by 4     #FLAGE
                0x5B)

 uart.write(data);  #必须要传入一个字节数组

 time.sleep_ms(10)

while(True):
 clock.tick()                    # Update the FPS clock.
 img = sensor.snapshot()
 img.binary([thresholds_red1])
 img.dilate(1)
 #img.draw_rectangle((roi),color = (0,0,255), thickness=1,fill=False)  #画出roi

 Blob = img.find_blobs([t2],roi = roi,pixels_threshold=2, area_threshold=15, merge=True,invert = 0)
 if not Blob:
         outuart(0,0,10)
 for b in Blob:

     print("光斑的面积大小")
     print(b.area())
     area = b.area()
     if area>20 and area<500:
     # 打印激光色块的中心位置  下面获取的坐标基于图像的左上角为原点(0, 0),X轴向右增大，Y轴向下增大
     # 使用b.x()获取色块矩形左上角X坐标
     # 使用b.y()获取色块矩形左上角Y坐标
     # 使用b.w()获取色块矩形宽度
     # 使用b.h()获取色块矩形高度
     # 矩形中心坐标为（x + w/2，y + h/2)
         img.draw_rectangle(b.rect(), color = (255,0 , 0), scale = 2, thickness = 5)
         center[0] = (b.x() + b.w()/2)-160+4          #x
         center[1] = (b.y() + b.h()/2)-120+8          #y
         Ax = center[0]
         Ay = center[1]
         rectx = b.x()-30
         recty = b.y()-30
         rectw = b.w()+60
         recth = b.h()+60
         roi = (rectx,recty,rectw,recth)
         print("距离*************************************")
         dis = math.sqrt(abs(Ax)*abs(Ax)+abs(Ay)*abs(Ay))
         print(dis)
         #if dis>2 and dis <15:
             #roi = roi
         if dis>2:
             outuart(Ax,Ay,flage)

         if dis<=7.2 and dis>2:
             flage = 1
             outuart(Ax,Ay,flage)
             print("报警")
             LED(1).on()
             outuart(Ax,Ay,10)

         if dis>7.2:
             flage = 0
             print("不报警")
             outuart(Ax,Ay,flage)
             LED(1).off()
             outuart(Ax,Ay,10)





 print(clock.fps())          

大致的效果，我调的也不是很好只能是这样