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RaceSubCar_K210
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add rfid and spec terrain process

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master
UnknownObject 2 years ago
parent c6688b7d98
commit 8a31afd48e
2 changed files with 113 additions and 18 deletions
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15
submit.bat
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@ -0,0 +1,15 @@
@echo off
set /p message=请输入本次提交信息：
REM 将变更添加到暂存区
git add track.py
git add submit.bat
REM 提交变更并添加提交信息
git commit -m "%message%"
REM 推送到远程仓库
git push origin master
REM 等待用户手动关闭窗口
pause

116
track.py
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@ -110,7 +110,29 @@ def data_format_wrapper(down_center, state_crossing, deflection_angle):
return bytes(send_data)
def UsartSend(str_data, _img):
def SendWhiteData(is_detect, detect_info=0x00):
data = [0x55,0x02,0x80,
0x02 if is_detect else 0x01,
detect_info if is_detect else 0x00,0x00,0x00,0xBB]
UsartSend(bytes(data))
def SendROIData(roi_data):
data_1 = [0x55,0x02,0x81,
0x01 if roi_data['left']['blob_flag'] else 0x00,
0x01 if roi_data['right']['blob_flag'] else 0x00,
0x01 if roi_data['up']['blob_flag'] else 0x00,
0x00,0xBB]
data_2 = [0x55,0x02,0x82,
0x01 if roi_data['middle_up']['blob_flag'] else 0x00,
0x01 if roi_data['middle_down']['blob_flag'] else 0x00,
0x01 if roi_data['down']['blob_flag'] else 0x00,
0x00,0xBB]
UsartSend(bytes(data_1))
time.sleep(1)
UsartSend(bytes(data_2))
def UsartSend(str_data):
'''
串口发送函数
'''
@ -122,7 +144,7 @@ def UsartSend(str_data, _img):
#--------------定时器部分 START -------------------
is_need_send_data = True # 是否需要发送数据的信号标志
is_need_send_data = False # 是否需要发送数据的信号标志
def uart_time_trigger(tim):
'''
串口发送数据的定时器，定时器的回调函数
@ -176,8 +198,9 @@ time.sleep(1)
# 直线灰度图颜色阈值
LINE_COLOR_THRESHOLD = [(6, 65)]
#LIGHT_LINE_COLOR_THRESHOLD = [(9, 88)]
LINE_COLOR_THRESHOLD = [(6, 65)] #Dark
WHITE_BLOCK_THRESHOLD = [(165, 255)]
#LINE_COLOR_THRESHOLD = [(6, 120)] #Light
#LINE_COLOR_THRESHOLD = [(0, 52, -19, 0, -1, 14)]
# 以实际空间坐标为基准，取样窗口
@ -229,10 +252,41 @@ def find_blobs_in_rois(img):
if is_debug:
img.draw_rectangle((x,y,width, height), color=(255))
else:
#blobs=canvas.find_blobs(LINE_COLOR_THRESHOLD, roi=roi, merge=True, pixels_area=10)
blobs=canvas.find_blobs(LINE_COLOR_THRESHOLD, roi=roi, merge=True, pixels_area=10)
continue
return roi_blobs_result
def find_white_blobs_in_rois(img):
'''
说明：在ROIS中寻找色块，获取ROI中色块的中心区域与是否有色块的信息
'''
global ROIS
global is_debug
canvas = img.copy()
roi_blobs_result = {} # 在各个ROI中寻找色块的结果记录
for roi_direct in ROIS.keys():
roi_blobs_result[roi_direct] = {
'cx':0,
'cy':0,
'w':0,
'blob_flag': False
}
for roi_direct, roi in ROIS.items():
blobs=canvas.find_blobs(WHITE_BLOCK_THRESHOLD, roi=roi, merge=True)
if len(blobs) != 0:
largest_blob = max(blobs, key=lambda b: b.pixels())
if largest_blob.area() > 1000:
x,y,width,height = largest_blob[:4]
roi_blobs_result[roi_direct]['cx'] = largest_blob.cy()
roi_blobs_result[roi_direct]['cy'] = largest_blob.cx()
roi_blobs_result[roi_direct]['w'] = largest_blob.h()
roi_blobs_result[roi_direct]['blob_flag'] = True
if is_debug:
img.draw_rectangle((x,y,width, height), color=(255))
else:
blobs=canvas.find_blobs(WHITE_BLOCK_THRESHOLD, roi=roi, merge=True, pixels_area=10)
continue
return roi_blobs_result
@ -277,6 +331,27 @@ def state_deflection_angle(roi_blobs_result):
#--------------直线与路口检测部分 END -------------------
#--------------RFID卡与特殊地形标志物检测 START -------------------
white_line_flag = 0
def rfid_and_spec_terrain_detect(roi_blobs_result):
global white_line_flag
if roi_blobs_result['up']['w'] > 100 and white_line_flag == 0:
white_line_flag = 1;
return False
if roi_blobs_result['middle_up']['w'] > 100 and white_line_flag == 1:
white_line_flag = 2;
return False
if roi_blobs_result['middle_down']['w'] > 100 and white_line_flag == 2:
white_line_flag = 3;
return False
if roi_blobs_result['down']['w'] > 100 and white_line_flag == 3:
white_line_flag = 0;
return True
#--------------RFID卡与特殊地形标志物检测 END -------------------
#--------------二维码识别部分 START -------------------
@ -309,8 +384,6 @@ def QR_Check():
last_cx = 0
last_cy = 0
Flag_track = False
#调试，使设备始终处于巡线模式
#Flag_track = True
#将蓝灯引脚IO12配置到GPIO0，K210引脚支持任意配置
fm.register(12, fm.fpioa.GPIO0)
LED_B = GPIO(GPIO.GPIO0, GPIO.OUT) #构建LED对象
@ -322,6 +395,8 @@ while True:
LED_B.value(0) #点亮LED
# 拍摄图片
img = sensor.snapshot()
# 去除图像畸变
img.lens_corr(DISTORTION_FACTOR)
# 串口数据接收处理
data = uart.read(8)
if data is not None:
@ -340,8 +415,9 @@ while True:
if(data[3] == 0x02):
print("巡线")
print("停止识别")
Flag_track = False
tim1.stop() # 停止定时器
Flag_track = False
time.sleep(1)
if(data[3] == 0x03): # 舵机调整
angle = data[5]
# 判断舵机控制方向
@ -372,22 +448,26 @@ while True:
QR_Flag = False
# 去除图像畸变
#img.lens_corr(DISTORTION_FACTOR)
# 二维码识别
#QR_Check()
# 巡线
if Flag_track:
roi_blobs_result = find_blobs_in_rois(img)
down_center, state_crossing, deflection_angle = state_deflection_angle(roi_blobs_result)
LCDDrawTrackInfo(down_center, state_crossing, deflection_angle, img)
if is_need_send_data:
UsartSend(data_format_wrapper(down_center, state_crossing, deflection_angle))
time.sleep_ms(10)
if rfid_and_spec_terrain_detect(find_white_blobs_in_rois(img)):
SendWhiteData(False)
is_need_send_data = False
# 在LCD上显示
#lcd.display(img)
else:
down_center, state_crossing, deflection_angle = state_deflection_angle(roi_blobs_result)
if state_crossing:
white_line_flag = 0
LCDDrawTrackInfo(down_center, state_crossing, deflection_angle, img)
if is_need_send_data:
UsartSend(data_format_wrapper(down_center, state_crossing, deflection_angle))
time.sleep_ms(10)
is_need_send_data = False
else:
# 在LCD上显示
lcd.display(img)
#按键KEY按下。开启或关闭调试，并退出所有任务。
if btn_debug.value() == 0:
Flag_track = not Flag_track # 巡线任务退出

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