{"id":266,"date":"2025-12-14T06:53:15","date_gmt":"2025-12-13T22:53:15","guid":{"rendered":"http:\/\/114.55.133.236\/?p=266"},"modified":"2026-03-13T20:36:06","modified_gmt":"2026-03-13T12:36:06","slug":"openmv%e9%a2%9c%e8%89%b2%e8%af%86%e5%88%ab%e5%8f%8a%e5%bd%a9%e7%81%af%e7%8e%af%e6%8e%a7%e5%88%b6%e9%a1%b9%e7%9b%ae","status":"publish","type":"post","link":"http:\/\/qianmo.icu\/index.php\/2025\/12\/14\/openmv%e9%a2%9c%e8%89%b2%e8%af%86%e5%88%ab%e5%8f%8a%e5%bd%a9%e7%81%af%e7%8e%af%e6%8e%a7%e5%88%b6%e9%a1%b9%e7%9b%ae\/","title":{"rendered":"OpenMV\u989c\u8272\u8bc6\u522b\u53ca\u5f69\u706f\u73af\u63a7\u5236\u9879\u76ee"},"content":{"rendered":"\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u60f3\u4e86\u89e3\u66f4\u591a\u9879\u76ee\u8bf7\u641c\u7d22\u201c\u9879\u76ee\u201d\u6807\u7b7e\u6216\u8005\u8bbf\u95ee\u6211\u7684github\u4ed3\u5e93\u3002<br>\u4ed3\u5e93\u5730\u5740\uff1a<a href=\"https:\/\/github.com\/QianmoNai?tab=repositories\">QianmoNai&#8217;s Repositories<\/a><\/p>\n<\/blockquote>\n\n\n\n<h2 class=\"wp-block-heading\">\u57fa\u4e8eOpenMV\u989c\u8272\u8bc6\u522b\u53caWS2812\u706f\u73af\u63a7\u5236\u9879\u76ee\uff08\u505c\u6b62\u7ef4\u62a4\uff09<\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">1.\u9879\u76ee\u80cc\u666f<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u8eab\u7528\u4e8erobotcup\u821e\u8e48\u673a\u5668\u4eba\u521b\u610f\u8d5b\u7684\u6bd4\u8d5b\u9644\u52a0\u8981\u6c42\uff0c\u5b9e\u73b0\u8bc6\u522b\u989c\u8272\uff0c\u8ffd\u8e2a\u76ee\u6807\u884c\u52a8\uff0c\uff0c\u80fd\u5b9e\u65f6\u8fd4\u56de\u5bf9\u5e94\u989c\u8272\u7684\u4e32\u53e3\u6570\u636e\uff0c\u63d0\u4f9b\u7ed9\u4e0a\u4f4d\u5355\u7247\u673a\u8fdb\u884c\u5904\u7406\u3002\u540c\u65f6\u8868\u6f14\u7684\u7f8e\u89c2\u8003\u8651\uff0c\u80fd\u591f\u63a7\u5236WS2812\u706f\u73af\u5f69\u8272\u706f\u5149\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u53c2\u8003\u5b98\u65b9\u4ee3\u7801\u5730\u5740\uff1a<a href=\"https:\/\/docs.openmv.io\/library\/\">MicroPython libraries \u2014 MicroPython 1.25 documentation<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">2.\u9879\u76ee\u4ecb\u7ecd<\/h2>\n\n\n\n<details class=\"wp-block-details has-pale-pink-color has-text-color has-link-color wp-elements-f772713ff11068e971e172878bbcfee3 is-layout-flow wp-block-details-is-layout-flow\"><summary>\u4ee3\u7801\u90e8\u5206\uff08\u70b9\u6211\uff09<\/summary>\n<pre class=\"wp-block-code\"><code>import sensor, image, time\nfrom pyb import UART\nimport pyb\nfrom neopixel import NeoPixel\n\n# \u989c\u8272\u5b9a\u4e49\nrgb_colors = &#91;\n    (255, 50, 50),     # \u4eae\u7ea2\u8272\n    (50, 255, 50),     # \u4eae\u7eff\u8272\n    (50, 150, 255),    # \u4eae\u84dd\u8272\n    (255, 255, 100),   # \u4eae\u9ec4\u8272\n    (255, 80, 255),    # \u4eae\u7c89\u8272\n    (100, 255, 255),   # \u4eae\u9752\u8272\n    (255, 180, 50),    # \u4eae\u6a59\u8272\n    (200, 80, 255),    # \u4eae\u7d2b\u8272\n]\n\n# \u6a21\u5f0f\u72b6\u6001\u53d8\u91cf\nstart_color_flag = False    # \u989c\u8272\u8bc6\u522b\nstart_color_display = True  # \u8868\u6f14\u706f\u5149\nstart_color_trace = False   # \u989c\u8272\u8ffd\u8e2a\nws2812_color_flag = 0\n\n# \u786c\u4ef6\u914d\u7f6e\u53c2\u6570\nWS2812_PIN = pyb.Pin(\"P0\")  # \u706f\u73e0\u6570\u636e\u5f15\u811a\nLED_NUM = 16                # \u706f\u73e0\u6570\u91cf\nFLOW_DELAY = 0.05           # \u7f29\u77ed\u6d41\u6c34\u706f\u5ef6\u8fdf\uff08\u539f0.1s\uff09\nTRACE_VALUE = 80            # \u753b\u9762\u8ffd\u8e2a\u9608\u503c\ntime_light = 30             # \u51cf\u5c11\u706f\u5149\u5207\u6362\u5ef6\u8fdf\uff08\u539f50\u6b21\uff09\nws2812_flag_display_time=100 # \u8bc6\u522b\u8868\u6f14\u989c\u8272\u8bc6\u522b\u663e\u793a\u65f6\u95f4\n\n# \u521d\u59cb\u5316\u786c\u4ef6\nled_red = pyb.LED(1)\nled_green = pyb.LED(2)\nled_blue = pyb.LED(3)\n\n# \u521d\u59cb\u5316WS2812\u5e76\u8bb0\u5f55\u72b6\u6001\uff0c\u51cf\u5c11\u4e0d\u5fc5\u8981\u7684\u5199\u5165\nnp = NeoPixel(pin=WS2812_PIN, n=LED_NUM, timing=1)\nlast_led_states = &#91;(0,0,0)] * LED_NUM  # \u8bb0\u5f55\u4e0a\u4e00\u6b21\u706f\u73e0\u72b6\u6001\n\n# \u521d\u59cb\u5316\u6444\u50cf\u5934\uff08\u964d\u4f4e\u5206\u8fa8\u7387\u63d0\u9ad8\u5e27\u7387\uff09\nsensor.reset()\nsensor.set_pixformat(sensor.RGB565)\nsensor.set_framesize(sensor.QVGA)  # 160x120\uff0c\u6bd4QVGA\u51cf\u5c1175%\u50cf\u7d20\nsensor.skip_frames(time=500)       # \u7f29\u77ed\u521d\u59cb\u5316\u7b49\u5f85\u65f6\u95f4\nsensor.set_auto_gain(False)\nsensor.set_auto_whitebal(False)\n\n# \u521d\u59cb\u5316\u4e32\u53e3\nuart = UART(3, 115200)\n\n# \u5de5\u5177\u51fd\u6570\uff1a\u53d1\u9001\u6570\u636e\uff08\u51cf\u5c11\u6253\u5370\u8f93\u51fa\u63d0\u9ad8\u6548\u7387\uff09\ndef send_hex_data(data):\n    if isinstance(data, list):\n        data_bytes = bytes(data)\n    elif isinstance(data, bytes):\n        data_bytes = data\n    else:\n        data_bytes = bytes(&#91;data])\n    uart.write(data_bytes)\n    # \u4ec5\u8c03\u8bd5\u65f6\u4fdd\u7559\u6253\u5370\n    # print(f\"\u53d1\u9001: {&#91;hex(b) for b in data_bytes]}\")\n    return data_bytes\n\n# \u5de5\u5177\u51fd\u6570\uff1a\u63a5\u6536\u6570\u636e\uff08\u7b80\u5316\u5904\u7406\uff09\ndef receive_hex_data():\n    if uart.any():\n        return uart.read()\n    return None\n\n# \u4f18\u5316LED\u63a7\u5236\uff1a\u4ec5\u5728\u989c\u8272\u53d8\u5316\u65f6\u66f4\u65b0\ndef all_leds_static(color):\n    global last_led_states\n    # \u68c0\u67e5\u662f\u5426\u9700\u8981\u66f4\u65b0\n    if all(np&#91;i] == color for i in range(LED_NUM)):\n        return\n    for i in range(LED_NUM):\n        np&#91;i] = color\n    np.write()\n    last_led_states = &#91;color] * LED_NUM\n\n# \u989c\u8272\u9608\u503c (L, A, B\u8303\u56f4)\nred = (55, 16, 13, 52, 15, 44)\nyellow = (37, 83, -17, 3, 31, 68)\ngreen = (39, 69, -16, -53, 54, 7)\npurple = (56, 24, 34, 2, -69, -24)\n\n# \u5bf9\u5e94\u989c\u8272\u7684\u663e\u793a\u53c2\u6570\ncolors = &#91;\n    (red, (255,0,0), \"\u7ea2\", 0x01),\n    (yellow, (255,255,0), \"\u9ec4\", 0x02),\n    (green, (0,255,0), \"\u7eff\", 0x03),\n    (purple, (128,0,128), \"\u7d2b\", 0x04)\n]\n\n# \u5904\u7406\u63a5\u6536\u6570\u636e\uff08\u7b80\u5316\u903b\u8f91\uff09\ndef get_data():\n    global start_color_flag, start_color_display, start_color_trace,ws2812_color_flag\n    data = receive_hex_data()\n    if not data:\n        return\n    for byte in data:\n        if byte == 0xBA:  # \u989c\u8272\u8bc6\u522b\u6307\u4ee4\n            start_color_flag, start_color_display, start_color_trace = True, False, False\n        elif byte == 0xBB: # \u8868\u6f14\u6307\u4ee4\n            start_color_flag, start_color_display, start_color_trace = False, True, False\n        elif byte == 0xBC: # \u989c\u8272\u8ffd\u8e2a\u6307\u4ee4\n            start_color_flag, start_color_display, start_color_trace = False, False, True\n        elif byte == 0xB0: # \u505c\u6b62\u6307\u4ee4\n            start_color_flag, start_color_display, start_color_trace = False, False, False\n        elif byte == 0x01: # \u7ea2\u8272\n            ws2812_color_flag=1;\n        elif byte == 0x02: # \u9ec4\u8272\n            ws2812_color_flag=2;\n        elif byte == 0x03: # \u7eff\u8272\n            ws2812_color_flag=3;\n        elif byte == 0x04: # \u7d2b\u8272\n            ws2812_color_flag=4;\n\ndef ws2812_flag_display():\n    global ws2812_color_flag\n\n    if ws2812_color_flag==1:\n        all_leds_static((255,0,0))\n    elif ws2812_color_flag==2:\n        all_leds_static((255,255,0))\n    elif ws2812_color_flag==3:\n        all_leds_static((0,255,0))\n    elif ws2812_color_flag==4:\n        all_leds_static((128,0,128))\n\n    for _ in range(ws2812_flag_display_time):\n        get_data()\n        if not start_color_display:\n            break\n        time.sleep_ms(100)\n\n    ws2812_color_flag=0\n\n# \u4e3b\u5faa\u73af\ncurrent_flow_led = 0  # \u8bb0\u5f55\u6d41\u6c34\u706f\u5f53\u524d\u4f4d\u7f6e\uff0c\u907f\u514d\u91cd\u590d\u521d\u59cb\u5316\nwhile True:\n    get_data()  # \u4f18\u5148\u5904\u7406\u6307\u4ee4\n\n    img = sensor.snapshot()  # \u6355\u83b7\u56fe\u50cf\n\n    # \u989c\u8272\u8bc6\u522b\u6216\u8ffd\u8e2a\u6a21\u5f0f\n    if start_color_flag or start_color_trace:\n        # \u5feb\u901f\u5173\u95ed\u706f\u5149\n        led_red.off()\n        led_green.off()\n        led_blue.off()\n        all_leds_static((255,255,255))\n\n        time.sleep_ms(500)  # \u5ef6\u957f\u9002\u5e94\u65f6\u95f4\u5230500ms\n        # \u8fde\u7eed\u6355\u83b73\u5e27\u5e76\u4e22\u5f03\uff0c\u6e05\u7a7a\u7f13\u5b58\uff0c\u8ba9\u4f20\u611f\u5668\u53c2\u6570\u7a33\u5b9a\n        for _ in range(3):\n            sensor.snapshot()\n            time.sleep_ms(100)\n        # \u6700\u7ec8\u4f7f\u7528\u7a33\u5b9a\u540e\u7684\u5e27\u8fdb\u884c\u8bc6\u522b\n        img = sensor.snapshot()\n\n        max_blob = None\n        max_area = 0\n\n        if start_color_flag:\n            # \u989c\u8272\u8bc6\u522b\u6a21\u5f0f - \u68c0\u6d4b\u6240\u6709\u989c\u8272\n            for threshold, color, name, send_value in colors:\n                blobs = img.find_blobs(&#91;threshold],pixels_threshold=800)\n                if blobs:\n                    b = blobs&#91;0]\n                    if b.area() &gt; max_area:\n                        max_area = b.area()\n                        max_blob = (b, color, name, send_value)\n        elif start_color_trace:\n            # \u989c\u8272\u8ffd\u8e2a\u6a21\u5f0f - \u53ea\u68c0\u6d4b\u7ea2\u8272\n            threshold, color, name, send_value = colors&#91;0]  # \u4ec5\u4f7f\u7528\u7ea2\u8272\n            blobs = img.find_blobs(&#91;threshold],pixels_threshold=800)\n            if blobs:\n                max_blob = (blobs&#91;0], color, name, send_value)\n\n        # \u5904\u7406\u68c0\u6d4b\u7ed3\u679c\n        if max_blob:\n            b, color, name, send_value = max_blob\n            img.draw_rectangle(b.rect(), color=color)\n            img.draw_cross(b.cx(), b.cy(), color=color)\n\n            if start_color_flag:\n                send_hex_data(send_value)\n                led_red.intensity(color&#91;0])\n                led_green.intensity(color&#91;1])\n                led_blue.intensity(color&#91;2])\n                all_leds_static(color)\n            else:  # \u8ffd\u8e2a\u6a21\u5f0f\n                # \u9488\u5bf9QQVGA\u5206\u8fa8\u7387\u8c03\u6574\u4e2d\u5fc3\u5750\u6807\uff08160x120\u7684\u4e2d\u5fc3\u662f80,60\uff09\n                if abs(b.cx() - 160) &lt;= TRACE_VALUE:\n                    send_hex_data(0x11)\n                elif b.cx() &lt; 160:\n                    send_hex_data(0x12)\n                else:\n                    send_hex_data(0x13)\n        elif start_color_flag:\n            send_hex_data(0x02)\n            all_leds_static((255,255,0))\n        else:\n            send_hex_data(0x00)\n            led_red.on()\n            led_green.on()\n            led_blue.on()\n\n        # \u5355\u6b21\u68c0\u6d4b\/\u8ffd\u8e2a\u5b8c\u6210\n        start_color_flag = False\n        start_color_trace = False\n\n    # \u8868\u6f14\u706f\u5149\u6a21\u5f0f\n    elif start_color_display:\n        # \u989c\u8272\u5207\u6362\u6548\u679c\n        for i in range(8):\n            all_leds_static(rgb_colors&#91;i])\n            for _ in range(time_light):\n                get_data()\n                if ws2812_color_flag:\n                    ws2812_flag_display()\n                if not start_color_display:\n                    break\n                time.sleep_ms(10)\n            if not start_color_display:\n                break\n\n        time.sleep(FLOW_DELAY)\n\n    # \u964d\u4f4e\u4e3b\u5faa\u73af\u5ef6\u8fdf\n    time.sleep_ms(20)\n<\/code><\/pre>\n<\/details>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u673a\u5668\u4eba\u80fd\u591f\u5b9e\u73b0\u5e95\u76d8\u591a\u6837\u7684\u706f\u5149\uff0c\u4e5f\u80fd\u8ffd\u968f\u6307\u793a\u724c\u524d\u8fdb\uff0c\u4e5f\u80fd\u8bc6\u522b\u989c\u8272\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='http:\/\/114.55.133.236\/wp-content\/uploads\/2025\/12\/Screenshot_20251214_064601-1024x687.jpg'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"687\" data-original=\"http:\/\/114.55.133.236\/wp-content\/uploads\/2025\/12\/Screenshot_20251214_064601-1024x687.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-267\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">3.\u9879\u76ee\u91cd\u70b9\u5185\u5bb9<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u2460WS2812\u706f\u73af\u7684\u63a7\u5236\u4ee3\u7801\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u2461\u989c\u8272\u8bc6\u522b\uff0c\u4ee5\u53ca\u6a21\u5f0f\u5207\u6362\u903b\u8f91\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u2462\u4e32\u53e3\u63a7\u5236\u6307\u4ee4\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u60f3\u4e86\u89e3\u66f4\u591a\u9879\u76ee\u8bf7\u641c\u7d22\u201c\u9879\u76ee\u201d\u6807\u7b7e\u6216\u8005\u8bbf\u95ee\u6211\u7684github\u4ed3\u5e93\u3002\u4ed3\u5e93\u5730\u5740\uff1aQianmoNai&#8217;s R [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[20,21,17],"class_list":["post-266","post","type-post","status-publish","format-standard","hentry","category-article","tag-openmv","tag-21","tag-17"],"_links":{"self":[{"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts\/266","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/comments?post=266"}],"version-history":[{"count":3,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts\/266\/revisions"}],"predecessor-version":[{"id":420,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts\/266\/revisions\/420"}],"wp:attachment":[{"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/media?parent=266"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/categories?post=266"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/tags?post=266"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}