基于Arduino和树莓派的舵机机械臂程序源码.zip

''' 2021-04-14 树莓派摄像头通过opencv进行颜色识别并发送给arduino 摄像头：排线摄像头 通信方式后：usb数据线 接收：arduno by: wu@@@ ''' ''' 2021-04-26 树莓派摄像头通过opencv进行轮廓识别并发送给arduino 摄像头：排线摄像头 通信方式后：usb数据线 接收：arduno 在上一版颜色识别的基础上改进的 上一版编辑日期：2021-04-14 by: wu@@@ ''' import numpy as np import cv2 import serial green_lower = np.array([35,43,46]) green_upper = np.array([77,255,255]) #绿色 # blue_lower = np.array([100,43,46]) # blue_upper = np.array([124,255,255]) #蓝色 red_lower = np.array([156,43,46]) red_upper = np.array([180,255,255]) #红色 # yellow_lower = np.array([26,43,46]) # yellow_upper = np.array([34,255,255]) #黄色 Port = "COM5" # 串口 baudRate = 9600 # 波特率 ser = serial.Serial(Port, baudRate, timeout=1) camera = 1 #摄像头序号 def yanse(): #颜色识别 cap = cv2.VideoCapture(camera+cv2.CAP_DSHOW) cap.set(3, 320) cap.set(4, 240) ret,frame = cap.read() frame = cv2.GaussianBlur(frame, (5, 5), 0) hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) edged = cv2.inRange(hsv, (0, 0, 0), (180, 255, 255)) edged = cv2.dilate(edged, None, iterations=2) #膨胀操作 edged = cv2.erode(edged, None, iterations=2) mask1 = cv2.inRange(hsv, green_lower, green_upper) #mask2 = cv2.inRange(hsv, blue_lower, blue_upper) mask3 = cv2.inRange(hsv, red_lower, red_upper) #mask4 = cv2.inRange(hsv, yellow_lower, yellow_upper) mask = {"green": mask1,"red": mask3, } #"blue": mask2, "yellow": mask4 for key, value in mask.items(): target = cv2.bitwise_and(edged, edged, mask=value) cnts = cv2.findContours(target, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2] for c in cnts: # if the contour is not sufficiently large, ignore it if cv2.contourArea(c) <100: continue else: # y = i print(key) return(key) # cv2.imshow('frame', frame) # cv2.imshow('mask', value) # cv2.imshow('res', target) #if cv2.waitKey(5) & 0xFF == 27: # break cap.release() cv2.destroyAllWindows() def yanse1(): c = yanse() if(c == 'red'): send = 'r' # 发送给arduino的数据 ser.write(send.encode()) if(c == 'green'): send = 'g' # 发送给arduino的数据 ser.write(send.encode()) # if(c == 'yellow'): # send = 'y' # 发送给arduino的数据 # ser.write(send.encode()) def LKSB(): #轮廓识别 cap = cv2.VideoCapture(camera+cv2.CAP_DSHOW) while True: _,frame = cap.read() # if frame.isEmpty(): # break # cv2.imshow('frame', frame) gray=cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY) #图像模糊 bl=cv2.blur(gray, (7,7)) #canny边缘检测 thresh=cv2.Canny(bl,0,30,3) #cv2.imshow("Pick Picture:",frame) # 寻找轮廓 contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE) #面积数组 area = [] # 找到最大的轮廓 for k in range(len(contours)): area.append(cv2.contourArea(contours[k])) max_idx = np.argmax(np.array(area)) # 画出轮廓，-1,表示所有轮廓，颜色为(0, 255, 0)，即Green，粗细为1 cv2.drawContours(frame, contours, max_idx, (0, 255, 0), 2) # 弹出显示视频 # cv2.imshow('Capture', frame) #输出最大面积值 # print(max(area)) if(max(area) > 100): print(max(area)) return('w') #按esc退出 # a=cv2.waitKey(30) # if a == 27:#exit # break # 完成所有操作后，释放捕获器 cap.release() cv2.destroyAllWindows() # del cv2 # del np def lunkuo1(): c = LKSB() if(c == 'w'): send = 'w' # 发送给arduino的数据 ser.write(send.encode()) while True: # send = 'r' # 发送给arduino的数据 #ser.write("hello") str = ser.read().decode() # 获取arduino发送的数据 if(str != ""): # print(str) if(str == 'Y'): # 发送一次便退出 yanse1() #break if(str == 'L'): # 发送一次便退出 lunkuo1() #break # #按esc退出 # a=cv2.waitKey(30) # if a == 27:#exit # break ser.close()