opencv检测红色小球

opencv检测是否出现红色小球

import cv2
import numpy as np 
cap=cv2.VideoCapture(0)
while True:   
    ret,frame=cap.read()    
    frame=cv2.flip(frame,1)  
	dst = cv2.pyrMeanShiftFiltering(frame, 10, 100) 
	hsv=cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)   
	lower_hsv=np.array([156,43,46])    	
	upper_hsv=np.array([180,255,255])    
	img_r=cv2.inRange(hsv,lower_hsv,upper_hsv)    
	circles = cv2.HoughCircles(img_r, cv2.HOUGH_GRADIENT, 1, 20, param1=50, param2=30, minRadius=10, maxRadius=9000)    
if circles is not None:       
      print("yes")    
cv2.imshow("cv", img_r)    
c=cv2.waitKey(50)    
if c==27:       
       break
cv2.destroyAllWindows()