118 lines
4.6 KiB
Python
118 lines
4.6 KiB
Python
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# -*- coding:utf-8 -*-
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# @Author len
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# @Create 2023/11/30 11:08
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import sensor, lcd, time
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from machine import Timer, PWM, UART, Timer
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lcd.init(freq=15000000) # 初始化LCD
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sensor.reset() # 复位和初始化摄像头
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sensor.set_vflip(1) # 将摄像头设置成后置方式（所见即所得）
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sensor.set_pixformat(sensor.RGB565) # 设置像素格式为彩色 RGB565
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sensor.set_framesize(sensor.QVGA) # 设置帧大小为 QVGA (320x240)
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sensor.set_auto_gain(False)
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sensor.set_auto_whitebal(False)
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sensor.set_auto_gain(0,0)
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sensor.skip_frames(time = 200) # 等待设置生效
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def Servo(angle):
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'''
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说明：舵机控制函数
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功能：180度舵机：angle:-90至90 表示相应的角度
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360连续旋转度舵机：angle:-90至90 旋转方向和速度值。
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【duty】占空比值：0-100
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'''
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#PWM通过定时器配置，接到IO17引脚
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tim_pwm = Timer(Timer.TIMER0, Timer.CHANNEL0, mode=Timer.MODE_PWM)
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S1 = PWM(tim_pwm, freq=50, duty=0, pin=17)
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S1.duty((angle+90)/180*10+2.5)
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Servo(25)
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# 阈值和颜色标签
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# thresholds = [(35, 100, 6, 127, 0, 127, "红色"), # 红色阈值
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# (25, 100, -6, 127, 5, 43, "黄色"), # 黄色阈值
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# (52, 100, -128, -5, 5, 127, "绿色")] # 绿色阈值
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# thresholds = [(51, 62, 33, 101, 14, 127, "红色"), # 红色阈值
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# (39, 98, -17, 21, 17, 57, "黄色"), # 黄色阈值
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# (44, 90, -61, -13, -3, 30, "绿色")] # 绿色阈值
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thresholds = [(43, 68, 7, 74, 1, 46, "红色"), # 红色阈值
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(48, 100, -23, 19, 4, 55, "黄色"), # 黄色阈值
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(40, 93, -57, -7, -8, 29, "绿色")] # 绿色阈值
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# thresholds = [(43, 68, 7, 74, 1, 46, "红色"), # 红色阈值
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# (34, 98, -17, 50, 7, 67, "黄色"), # 黄色阈值
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# (40, 93, -57, -7, -8, 29, "绿色")] # 绿色阈值
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# thresholds = [(43, 68, 7, 74, 1, 46, "红色"), # 红色阈值
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# (48, 100, -23, 19, 4, 55, "黄色"), # 黄色阈值
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# (40, 93, -57, -7, -8, 29, "绿色")] # 绿色阈值
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# thresholds = [
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# (193, 213, 140, 160, 119, 139, "红色"), # 更强的红色区分
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# (40, 80, -10, 30, 20, 60, a"黄色"), # 更强的黄色区分
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# (40, 90, -50, -10, -20, 30, "绿色") # 保持绿色
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# ]
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# 初始化
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results = []
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start_time = time.time()
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while time.time() - start_time < 3: # 循环持续三秒
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img = sensor.snapshot()
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max_blob = None
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max_blob_size = 0
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max_blob_color = ""
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max_blob_color_index = 0
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# 找圆
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circles = img.find_circles(threshold=3500, x_margin=10, y_margin=10, r_margin=10,
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r_min=2, r_max=100, r_step=2)
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rects = img.find_rects(threshold=3500, x_margin=10, y_margin=10, r_margin=10,
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r_min=2, r_max=100, r_step=2)
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for index, threshold in enumerate(thresholds):
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# 查找每种颜色的色块
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blobs = img.find_blobs([threshold[:-1]], pixels_threshold=200, area_threshold=200, merge=True)
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if blobs:
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# 找到最大的色块
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blob = max(blobs, key=lambda b: b.pixels())
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if blob.pixels() > max_blob_size:
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max_blob = blob
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max_blob_size = blob.pixels()
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max_blob_color = threshold[-1] # 颜色标签
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max_blob_color_index = index
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print("圆形：", circles)
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# 画圆
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for c in circles:
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area = (c.x() - c.r(), c.y() - c.r(), 2 * c.r(), 2 * c.r())
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img.draw_rectangle(area, color=(255, 255, 255))
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# 画矩形
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print("矩形：", rects)
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for c in rects:
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area = (c.x() - c.r(), c.y() - c.r(), 2 * c.r(), 2 * c.r())
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img.draw_rectangle(area, color=(0, 0, 0))
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# 绘制最大色块的矩形和中心十字，并输出颜色
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if max_blob:
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results.append((max_blob_color, max_blob_color_index)) # 存储识别结果
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img.draw_rectangle(max_blob[0:4])
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img.draw_cross(max_blob[5], max_blob[6])
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print("最大色块的颜色是:", max_blob_color, max_blob_color_index)
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# 初始化计数字典
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color_count = {}
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for color, index in results:
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if (color, index) in color_count:
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color_count[(color, index)] += 1
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else:
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color_count[(color, index)] = 1
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# 找出出现次数最多的颜色和下标
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if color_count:
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most_common_color, most_common_index = max(color_count, key=color_count.get)
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print("出现最多的颜色:", most_common_color, "在下标位置:", most_common_index)
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else:
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print("没有识别到有效的颜色块")
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while True:
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pass
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