树莓派4B opencv循迹小车开发日志

树莓派烧录系统

  1. 下载官方烧录软件，Raspberry Pi Imager，选择自己合适的系统。

  2. 选择要烧录的系统，推荐选择第一个系统，这个系统可以适配树莓派的所有型号

  3. 选择烧录的 SD 卡

  4. 点击设置配置好必要的设置

    可以参考我的配置

  5. 点击烧录，注意：烧录如果长时间都是 0%，可能需要魔法下载系统镜像文件，关于魔法我不多赘述了，想必玩这个的应该都有吧，没有就再说。

ssh 连接树莓派

  1. 下载并安装 ssh 连接工具FinalShell

  2. 获取树莓派本地 IP，下载并安装 IP 扫描工具Advanced IP Scanner （是手机热点的可以忽略这一步，ip 可以直接在热点的连接设备中查看。）

    • 先查看你电脑的本地 IP ，win+R 输入 cmd
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    ipconfig

    • 将192.168.219.xx粘贴到 Advanced IP Scanner 中进行查询，如果你是第一次登录，显示的名称可能是 IP，需要你每个都尝试一下。如果是你前面设置的主机名称，直接右键复制 IP 就可以了

  3. 连接树莓派

开机自动获取树莓派 IP

  1. 安装vim。关于用法请自行百度。

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    sudo apt update
    sudo apt install vim

  2. 切换到root用户，创建一个新的systemd服务文件

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    sudo su
    sudo vim /etc/systemd/system/wuxian.service

    输入以下内容如：

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    [Unit]
    Description=Wuxian Service
    After=network.target

    [Service]
    ExecStart=/usr/bin/python3 /home/shumei/Downloads/wuxian.py
    User=pi #这个是启动程序的用户，一般填root
    WorkingDirectory=/home/shumei/Downloads

    [Install]
    WantedBy=multi-user.target

  3. 创建wuxian.py文件，

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    sudo vim /home/shumei/Downloads/wuxian.py

    写入以下内容：

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    # 有线网络的IP地址获取将Python脚本里面的wlan0改成eth0就行
    import smtplib
    from email.mime.text import MIMEText
    from email.mime.multipart import MIMEMultipart
    from email.header import Header
    import subprocess
    import time
    import traceback
    #延时15秒，使系统准备完毕（连上网络）
    time.sleep(15)
    #获取指定网卡 wlan0 的ip地址
    cont = subprocess.getoutput("ifconfig wlan0 | grep inet | grep -o -E \([0-9]+\.\){3}[0-9]+ | head -n 1")
    localtime = time.asctime(time.localtime(time.time()))
    #将时间和IP地址写入日志文件中
    log = cont+" "+localtime
    with open("launlog.txt","a") as f:
       f.write("\n")
       f.write(log)
    # 发送邮件服务器
    smtpserver = 'smtp.qq.com'
    #代发邮件的邮箱和用于登录的认证码(在QQ邮箱的设置中获取)
    sender = "xxxxx@qq.com"
    aucode = 'xxxxxxxx'
    #接收邮件的IP地址
    receiver = "yyyyy@qq.com"
    message = MIMEMultipart('related')
    message['From'] = sender
    message['To'] = Header('树莓派', 'utf-8')
    subject = '树莓派'
    message['Subject'] = Header(subject, 'utf-8')
    ipContent = "无线网络IP:"+cont
    content = MIMEText(ipContent, 'plain', 'utf-8')
    message.attach(content)
    try:
       smtp = smtplib.SMTP_SSL(smtpserver, 465)
       smtp.ehlo()
       smtp.login(sender,aucode)
       smtp.sendmail(sender, receiver, message.as_string())
       smtp.quit()
    except smtplib.SMTPException:
          #将异常信息写入日志文件中
       with open("launlog.txt","a") as f:
          f.write('\n')
          f.write(traceback.format_exc())

  4. 启动服务并使其在启动时运行:

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    sudo systemctl start wuxian.service
    sudo systemctl enable wuxian.service

    检查服务是否开启

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    sudo systemctl status wuxian.service

    如果服务未启动，你可以使用以下命令手动启动它：

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    sudo systemctl start wuxian.service

配置 opencv 环境

  1. 安装 vim 编辑器

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    sudo apt update
    sudo apt install vim

  2. 首先在树莓派操作系统的命令行中用 vim 命令编辑「/etc/apt/sources.list」文件：

    输入i编辑文件

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    sudo vim /etc/apt/sources.list

    按下esc ，输入:wq 保存并退出文件

    在每一行内容前都输入＃号，将其注释掉。然后在末尾添加：

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    deb http://mirrors.tuna.tsinghua.edu.cn/raspbian/raspbian/ bullseye main non-free contrib rpi
    deb-src http://mirrors.tuna.tsinghua.edu.cn/raspbian/raspbian/ bullseye main non-free contrib rpi

  3. 编辑「/etc/apt/sources.list.d/raspi.list」文件：

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    sudo vim /etc/apt/sources.list.d/raspi.list

    注释掉原内容，然后添加以下内容：

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    deb http://mirrors.tuna.tsinghua.edu.cn/raspberrypi/ bullseye main

  4. 现在更新软件源列表，同时也可以检查我们的编辑是否正确：

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    sudo apt-get update

  5. 安装 openCV

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    sudo apt-get install python3-opencv

  6. 验证是否安装成功在命令行中输入以下代码

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    python

    import cv2

    cv2.__version__

    出现版本号说明就安装成功了

设置开机自启摄像头

  1. 启用摄像头，打开树莓派的配置界面，注意面板的版本号，版本号不一样的可能有些许不一样 。使用键盘的上下键可以移动光标，回车是确定，键盘左右键是移动光标到下面的确定和退出，前提是鼠标的聚焦窗口是这个面板，如果不是需要点击一下。

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    sudo raspi-config

    • 假设面板版本号不一样，这个摄像头的设置名称是不会变的，回到主菜单多看几个。

    • 选择确定开启

  2. 直接在/home/xxx 目录下创建：(xxx 替换成您的用户名)

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    sudo vim camera.py

    输入以下代码，输入i编辑文件

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    from picamera import PiCamera
    from time import sleep

    camera = PiCamera()
    camera.start_preview()
    sleep(10)
    camera.stop_preview()

    按下esc ，输入:wq 保存并退出文件

  3. 给刚刚创建的脚本添加权限

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    chmod 777 /home/xxx/camera.py

  4. 将文件设置为自启：

    • 首先打开 rc.local 文件
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    sudo vim /etc/rc.local
    • 然后在 exit 0 上面输入：输入i编辑文件
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    python /home/xxx/camera.py

    按下esc，输入:wq 保存并退出文件

安装 motion 实现视频在局域网中传输

  1. 安装 motion
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sudo apt-get update
sudo apt-get install motion

  1. 修改配置文件

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    sudo vim /etc/motion/motion.conf

    motion.conf 相关配置

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    # Rename this distribution example file to motion.conf
    #
    # This config file was generated by motion 4.3.2
    # Documentation:  /usr/share/doc/motion/motion_guide.html
    #
    # This file contains only the basic configuration options to get a
    # system working.  There are many more options available.  Please
    # consult the documentation for the complete list of all options.
    #

    ############################################################
    # System control configuration parameters
    ############################################################

    # Start in daemon (background) mode and release terminal.
    daemon off
    # Start in Setup-Mode, daemon disabled.
    setup_mode off

    # File to store the process ID.
    ; pid_file value

    # File to write logs messages into.  If not defined stderr and syslog is used.
    log_file /var/log/motion/motion.log

    # Level of log messages [1..9] (EMG, ALR, CRT, ERR, WRN, NTC, INF, DBG, ALL).
    log_level 6

    # Target directory for pictures, snapshots and movies
    target_dir /var/lib/motion

    # Video device (e.g. /dev/video0) to be used for capturing.
    videodevice /dev/video0

    # Parameters to control video device.  See motion_guide.html
    ; vid_control_params value

    # The full URL of the network camera stream.
    ; netcam_url value

    # Name of mmal camera (e.g. vc.ril.camera for pi camera).
    ; mmalcam_name value

    # Camera control parameters (see raspivid/raspistill tool documentation)
    ; mmalcam_control_params value

    ############################################################
    # Image Processing configuration parameters
    ############################################################

    # Image width in pixels.
    width 640

    # Image height in pixels.
    height 480

    # Maximum number of frames to be captured per second.
    framerate 60

    # Text to be overlayed in the lower left corner of images
    text_left CAMERA1

    # Text to be overlayed in the lower right corner of images.
    text_right %Y-%m-%d\n%T-%q

    ############################################################
    # Motion detection configuration parameters
    ############################################################

    # Always save pictures and movies even if there was no motion.
    emulate_motion off

    # Threshold for number of changed pixels that triggers motion.
    threshold 1500

    # Noise threshold for the motion detection.
    ; noise_level 32

    # Despeckle the image using (E/e)rode or (D/d)ilate or (l)abel.
    despeckle_filter EedDl

    # Number of images that must contain motion to trigger an event.
    minimum_motion_frames 100

    # Gap in seconds of no motion detected that triggers the end of an event.
    event_gap 60

    # The number of pre-captured (buffered) pictures from before motion.
    pre_capture 3

    # Number of frames to capture after motion is no longer detected.
    post_capture 0

    ############################################################
    # Script execution configuration parameters
    ############################################################

    # Command to be executed when an event starts.
    ; on_event_start value

    # Command to be executed when an event ends.
    ; on_event_end value

    # Command to be executed when a movie file is closed.
    ; on_movie_end value

    ############################################################
    # Picture output configuration parameters
    ############################################################

    # Output pictures when motion is detected
    picture_output off

    # File name(without extension) for pictures relative to target directory
    picture_filename %Y%m%d%H%M%S-%q

    ############################################################
    # Movie output configuration parameters
    ############################################################

    # Create movies of motion events.
    movie_output on

    # Maximum length of movie in seconds.
    movie_max_time 60
    stream_maxrate 60
    # The encoding quality of the movie. (0=use bitrate. 1=worst quality, 100=best)
    movie_quality 45

    # Container/Codec to used for the movie. See motion_guide.html
    movie_codec mkv

    # File name(without extension) for movies relative to target directory
    movie_filename %t-%v-%Y%m%d%H%M%S

    ############################################################
    # Webcontrol configuration parameters
    ############################################################

    # Port number used for the webcontrol.
    webcontrol_port 8080

    # Restrict webcontrol connections to the localhost.
    webcontrol_localhost off

    # Type of configuration options to allow via the webcontrol.
    webcontrol_parms 0

    ############################################################
    # Live stream configuration parameters
    ############################################################

    # The port number for the live stream.
    stream_port 8081

    # Restrict stream connections to the localhost.
    stream_localhost off

    ##############################################################
    # Camera config files - One for each camera.
    ##############################################################
    ; camera /usr/etc/motion/camera1.conf
    ; camera /usr/etc/motion/camera2.conf
    ; camera /usr/etc/motion/camera3.conf
    ; camera /usr/etc/motion/camera4.conf

    ##############################################################
    # Directory to read '.conf' files for cameras.
    ##############################################################
    ; camera_dir /usr/etc/motion/conf.d

  2. 开机自启配置，在 exit 0 前添加 motion , 保存，就会开机自动运行了。

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    sudo vim /etc/rc.local