人工智能视觉

介绍

The VEX AIM Coding Robot’s AI Vision Sensor detects and tracks objects, colors, and AprilTags. This allows the robot to analyze its surroundings, follow objects, and react based on detected visual data. Below is a list of all available methods and properties:

Actions – Show or hide the AI Vision camera feed.

• show_aivision – Displays the AI Vision feed on the robot’s screen.

• hide_aivision – Hides the AI Vision feed from the screen.

• tag_detection – Turns AprilTag detection on or off.

Getters – Detect if the robot is holding an object.

• get_data – Returns a tuple of detected objects based on a given signature.

• has_sports_ball – Returns whether the robot has a sports ball.

• has_any_barrel – Returns whether the robot has any type of barrel.

• has_blue_barrel – Returns whether the robot has a blue barrel.

• has_orange_barrel – Returns whether the robot has an orange barrel.

Properties – Object data returned from get_data.

• exists – Whether the object exists in the current detection as a Boolean.

• width – Width of the detected object in pixels.

• height – Height of the detected object in pixels.

• centerX – X position of the object’s center in pixels.

• centerY – Y position of the object’s center in pixels.

• bearing – Horizontal angle relative to the front of the robot in degrees.

• rotation – Orientation of the object in degrees.

• originX – X position of the object’s top-left corner in pixels.

• originY – Y position of the object’s top-left corner in pixels.

• id – Classification or tag ID of the object.

• score – Confidence score for AI Classifications (1–100).

• type – Returns the object’s type (AI, Tag, Color, or Code).

Constructors – Define color signatures and codes.

• Create a Color Signature – Creates a new Color Signature based on RGB and hue/saturation ranges.

• Create a Color Code – Combines multiple Color Signatures into a single Color Code.

行动

show_aivision

show_aivision displays the AI Vision Sensor’s live data feed on the robot’s screen. The live data feed will cover any other images or text on the screen.

Note: The screen will not display any other images or text unless hide_aivision is used to hide the feed.

Usage:
robot.screen.show_aivision()

参数	描述
	该方法没有参数。

# Watch the AI Vision Sensor detect AI Classifications
# and AprilTags as you move the robot
robot.screen.show_aivision()

hide_aivision

hide_aivision removes the AI Vision Sensor’s live data feed from the robot’s screen.

Usage:
robot.screen.hide_aivision()

参数	描述
	该方法没有参数。

# View the AI Vision Sensor's feed for five seconds
robot.screen.show_aivision()
wait(5, SECONDS)
robot.screen.hide_aivision()

tag_detection

tag_detection enables or disables the AprilTag detection, where the state is a Boolean value.

该传感器可以检测 Circle21h7 系列的 AprilTag ID 0 至 36。

Usage:
robot.vision.tag_detection(state)

参数	描述
state	True Enables AprilTag detection. False Disables AprilTag detection.

robot.screen.set_font(PROP30)

# Cut off AprilTag detection after 5 seconds
while True:
    if robot.timer.time(SECONDS) > 5:
        robot.vision.tag_detection(False)

    robot.screen.clear_screen()
    robot.screen.set_cursor(3, 1)
    apriltags = robot.vision.get_data(ALL_TAGS)
    
    if apriltags[0].exists:
        robot.screen.print("AprilTag detected!")
    else:
        robot.screen.print("Nothing detected!")

    wait(0.1, SECONDS)

吸气剂

get_data

get_data filters the data from the AI Vision Sensor frame to return a tuple. The AI Vision Sensor can detect signatures that include pre-trained objects, AprilTags, or configured Colors and Color Codes.

必须先在 AI Vision 实用程序中配置 颜色签名 和 颜色代码，然后才能使用此方法。

该元组存储的对象按宽度从大到小排序，从索引 0 开始。每个对象的 属性 可以通过其索引访问。如果未检测到匹配的对象，则返回一个空元组。

Usage:
robot.vision.get_data(signature, count)

参数	描述
signature	What signature to get data of. Available signatures are: ALL_VISION - Sports balls, barrels, VEX AIM Coding Robots, AprilTags, colors, and color codes ALL_CARGO - Sports balls and barrels ALL_TAGS - All AprilTags ALL_COLORS - All configured color signatures and color codes SPORTS_BALL - Only sports balls BLUE_BARREL - Only blue barrels ORANGE_BARREL - Only orange barrels AIM_ROBOT - All VEX AIM Coding Robots TAG0 through TAG37 - A single AprilTag with an ID from 0 to 37 NAME - Color signature or color code where NAME is the name configured in the AI Vision Utility.
count	可选。设置可返回的最大对象数，范围为 1 至 24（默认值：8）。

**注意：**可以使用 AIM Printables 中打印的 AprilTags 获取 AprilTags 5 至 37。

# Move forward if a sports ball is detected
while True:
    ball = robot.vision.get_data(SPORTS_BALL)
    if ball[0].exists:
        robot.move_for(10, 0)
    wait(50, MSEC)

Viewing Data

Printing the tuple returned by get_data displays a list of all properties of all detected objects:

• exists

• type

• id

• centerX

• centerY

• originX

• originY

• width

• height

• bearing

• rotation

# Display properties of all detected AprilTag IDs
while True:
    vision_data = robot.vision.get_data(ALL_TAGS)

    if vision_data[0].exists:
        break
    
    wait(0.25, SECONDS)

print(vision_data)

色彩签名

A color signature is a unique color that the AI Vision Sensor can recognize. These signatures allow the sensor to detect and track objects based on their color. Once a Color Signature is configured, the sensor can identify objects with that specific color in its field of view. Color signatures are used with get_data to process and detect colored objects in real-time.

# Display if any objects match the Red_Box signature
while True:
    robot.screen.set_cursor(1, 1)
    robot.screen.clear_row(1)
    # Change to any configured Color Signature
    ai_objects = robot.vision.get_data(Red_Box)
    if ai_objects[0].exists:
        robot.screen.print("Color signature detected!")

颜色代码

颜色代码是由 2 到 4 个按特定顺序排列的颜色特征组成的结构化模式。这些代码使 AI 视觉传感器能够识别预定义的颜色模式。颜色代码可用于识别复杂物体或为自主导航创建独特的标记。

# Display if any objects match the BlueRed code
while True:
    robot.screen.set_cursor(1, 1)
    robot.screen.clear_row(1)
    # Change to any configured Color Code
    ai_objects = robot.vision.get_data(BlueRed)
    if ai_objects[0].exists:
        robot.screen.print("Color code detected!")

has_sports_ball

has_sports_ball returns a Boolean indicating whether the robot currently has a sports ball.

• True – The robot has a sports ball.

• False – The robot does not have a sports ball.

Usage:
robot.has_sports_ball()

参数	描述
	该方法没有参数。

# Kick when the robot has a sports ball
while True:
    if robot.has_sports_ball():
        robot.kicker.kick(MEDIUM)

    wait(50, MSEC)

has_any_barrel

has_any_barrel returns a Boolean indicating whether the robot currently has any type of barrel.

• True – The robot has a barrel.

• False – The robot does not have a barrel.

Usage:
robot.has_any_barrel()

参数	描述
	该方法没有参数。

# Push a barrel away when detected
while True:
    if robot.has_any_barrel():
        robot.kicker.place()

    wait(50, MSEC)

has_blue_barrel

has_blue_barrel returns a Boolean indicating whether the robot currently has a blue barrel.

• True – The robot has a blue barrel.

• False – The robot does not have a blue barrel.

Usage:
robot.has_blue_barrel()

参数	描述
	该方法没有参数。

# Push a blue barrel away when detected
while True:
    if robot.has_blue_barrel():
        robot.kicker.place()

    wait(50, MSEC)

has_orange_barrel

has_orange_barrel returns a Boolean indicating whether the robot currently has an orange barrel.

• True – The robot has an orange barrel.

• False – The robot does not have an orange barrel.

Usage:
robot.has_orange_barrel()

参数	描述
	该方法没有参数。

# Push an orange barrel away when detected
while True:
    if robot.has_orange_barrel():
        robot.kicker.place()

    wait(50, MSEC)

特性

There are twelve properties that are included with each object stored in a tuple after the robot.vision.get_data method is used.

Some property values are based off of the detected object’s position in the AI Vision Sensor’s view at the time that robot.vision.get_data was used. The AI Vision Sensor has a resolution of 320 by 240 pixels.

.exists

.exists returns a Boolean indicating if the index exists in the tuple or not.

• True: The index exists.

• False: The index does not exist.

# Check if at least two objects are detected
while True:
    robot.screen.clear_screen()
    robot.screen.set_cursor(1, 1)
    ai_objects = robot.vision.get_data(ALL_CARGO)

    if ai_objects[0].exists:
        if ai_objects[1].exists:
            robot.screen.print("At least 2")
        else:
            robot.screen.print("Less than 2")
    wait(0.1, SECONDS)

.width

.width returns the width of the detected object in pixels, which is an integer between 1 and 320.

# Move towards a Blue Barrel until its width is
# larger than 100 pixels
while True:
    barrel = robot.vision.get_data(BLUE_BARREL)

    if barrel[0].exists:
        if barrel[0].width < 100:
            robot.move_at(0)
    else:
        robot.stop_all_movement()

    wait(50, MSEC)

.height

.height returns the height of the detected object in pixels, which is an integer between 1 and 240.

# Move towards a Blue Barrel until its height is
# larger than 100 pixels
while True:
    barrel = robot.vision.get_data(BLUE_BARREL)

    if barrel[0].exists:
        if barrel[0].height < 100:
            robot.move_at(0)
    else:
        robot.stop_all_movement()

    wait(50, MSEC)

.centerX

.centerX returns the x-coordinate of the detected object’s center in pixels, which is an integer between 0 and 320.

# Turn slowly until a Blue Barrel is centered in
# front of the robot
robot.set_turn_velocity(30)
robot.turn(RIGHT)

while True:
    barrel = robot.vision.get_data(BLUE_BARREL)

    if barrel[0].exists:
        if 140 < barrel[0].centerX < 180: 
            robot.stop_all_movement()

    wait(10,MSEC)

.centerY

.centerY returns the y-coordinate of the detected object’s center in pixels, which is an integer between 0 and 240.

# Move towards a Blue Barrel until its
# center y-coordinate is more than 140 pixels
while True:
    barrel = robot.vision.get_data(BLUE_BARREL)

    if barrel[0].exists:
        if barrel[0].centerY < 140:
            robot.move_at(0)
    else:
        robot.stop_all_movement()

    wait(50, MSEC)

.bearing

.bearing returns a float representing how far an object is to the left or right of the center of the AI Vision Sensor’s view as a degree. A value of 0 means it’s centered, positive values mean the object is to the right, and negative values mean the object is to the left.

# Turn to keep the Blue Barrel directly in front
robot.set_turn_velocity(40)
while True:
    vision_data = robot.vision.get_data(BLUE_BARREL)

    if vision_data[0].exists:

        if vision_data[0].bearing > 5:
            robot.turn(RIGHT)
        elif vision_data[0].bearing < -5:
            robot.turn(LEFT)
        else:
            robot.stop_all_movement()

    else:
        robot.stop_all_movement()

    wait(0.1, SECONDS)

.rotation

.rotation returns the object’s orientation on the AI Vision Sensor’s viewing plane, measured in degrees from 0 to 359. A Color Code is 0° when its colors are arranged in a horizontal line (e.g., Red–Blue). If the colors are rotated, the angle changes (e.g., arranging Blue-Red returns 180°).

对于下面的示例，颜色代码已配置为左侧为红色，右侧为蓝色。

在此图像中，将蓝色放在红色上方相当于将原始颜色代码向右旋转 270 度。

# Slide left or right depending on how a Color Code (BlueRed)
# is rotated on the vertical plane
while True: 
    # Original Color Code is Red to the left, Blue to the right
    code = robot.vision.get_data(BlueRed)

    if code[0].exists: 
        # Check if Color Code is now Red on top of Blue
        if 50 < code[0].rotation < 100 :
            robot.move_at(90)
            
        # Check if Color Code is now Blue on top of Red
        elif 270 < code[0].rotation < 330 :
            robot.move_at(270)
        
        else:
            robot.stop_all_movement()
    else:
        robot.stop_all_movement()

    wait(50, MSEC)

.originX

.originX returns the x-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 320.

# Display if an Orange Barrel is to the
# left or the right
while True:
    robot.screen.clear_screen()
    robot.screen.set_cursor(1,1)
    
    orange_barrel = robot.vision.get_data(ORANGE_BARREL)
    
    if orange_barrel[0].exists:
        if orange_barrel[0].originX < 160:
            robot.screen.print("To the left!")
        else: 
            robot.screen.print("To the right!")

    wait(50, MSEC)

.originY

.originY returns the y-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 240.

# Display if an Orange Barrel is close or far
# from the robot
while True:
    robot.screen.clear_screen()
    robot.screen.set_cursor(1, 1)

    orange_barrel = robot.vision.get_data(ORANGE_BARREL)
    
    if orange_barrel[0].exists:
        if orange_barrel[0].originY < 80:
            robot.screen.print("Far")
        else: 
            robot.screen.print("Close")

    wait(50, MSEC)

.id

.id returns the ID of the detected AI Classification or AprilTag as an integer.

For an AprilTag, the .id property represents the detected AprilTag’s ID number in the range of 0 to 37. For an AI Classification, the id corresponds to the predefined id as shown below.

人工智能分类	ID	签名
球	0	SPORTS_BALL
蓝桶	1	BLUE_BARREL
橙色桶	2	ORANGE_BARREL
AIM机器人	3	AIM_ROBOT

# Move forward when AprilTag 1 is detected
while True:
    apriltags = robot.vision.get_data(ALL_TAGS)

    if apriltags[0].exists:
        if apriltags[0].id == 1:
            robot.move_at(0)
    else:
        robot.stop_all_movement()

    wait(50, MSEC)

.score

.score returns the confidence score of the detected AI Classification as an integer between 1 and 100.

# Look confident if an Orange Barrel is detected
while True:
    barrel = robot.vision.get_data(ORANGE_BARREL)

    if barrel[0].exists:
        if barrel[0].score > 95: 
            robot.screen.show_emoji(CONFIDENT)
        else:
            robot.screen.hide_emoji()

    wait(50, MSEC)

.type

.type returns an integer that indicates the type of object detected. You can compare this value using either the type number or the corresponding named constant:

Type Number	Named Constant	包含的对象
1	AiVision.COLOR_OBJECT	Color Signatures
2	AiVision.CODE_OBJECT	Color Codes
4	AiVision.AI_OBJECT	Sports Balls Blue Barrels Orange Barrels
8	AiVision.TAG_OBJECT	AprilTag IDs

# Display if an AprilTag or AI Classification
# is detected
while True:
    robot.screen.clear_screen()
    robot.screen.set_cursor(1, 1)
    vision_data = robot.vision.get_data(ALL_VISION)
    if vision_data[0].exists:
        if vision_data[0].type == AiVision.AI_OBJECT:
            robot.screen.print("AI Object!")
        elif vision_data[0].type == AiVision.TAG_OBJECT:
            robot.screen.print("AprilTag!")
    wait(0.1, SECONDS)

# Display a list of all detected objects
while True:
    robot.screen.clear_screen()
    robot.screen.set_cursor(1, 1)
    vision_data = robot.vision.get_data(ALL_VISION)
    
    if vision_data[0].exists:
        for obj in vision_data:
            if obj.type == AiVision.AI_OBJECT:
                robot.screen.print("- AI Object")
            elif obj.type == AiVision.TAG_OBJECT:
                robot.screen.print("- AprilTag")
            robot.screen.next_row()
    
    wait(0.1, SECONDS)

构造函数

Creating a Color Signature

A new Color Signature is created using the Colordesc constructor and then registered with the AI Vision Sensor using the color_description method. A Colordesc object defines 1 of up to 7 detectable color signatures for the sensor, but it must be explicitly set using color_description to take effect.

Colordesc Usage:
Colordesc(index, red, green, blue, hangle, hdsat)

范围	描述
index	表示颜色签名索引的 1 到 7 之间的整数。如果两个颜色签名使用相同的索引，则第二个颜色签名将覆盖第一个。
red	表示颜色红色成分的 0 至 255 之间的整数。
green	表示颜色的绿色成分的 0 至 255 之间的整数。
blue	表示颜色蓝色成分的 0 至 255 之间的整数。
hangle	1 至 40 之间的浮点数，表示色调范围（以度为单位）。
hdsat	表示饱和度范围从 0.10 到 1.00 的浮点数。

color_description Usage:
robot.vision.color_description(object)

范围	描述
object	The Colordesc object to set as a detectable Color Signature.

# Detect a red object
red_box = Colordesc(1, 207, 19, 25, 10.00, 0.20)
robot.vision.color_description(red_box)

while True:
    robot.screen.clear_screen()
    robot.screen.set_cursor(1, 1)

    red_boxes = robot.vision.get_data(red_box)

    if red_boxes[0].exists:
        robot.screen.print("Red detected!")
    else:
        robot.screen.print("No red detected.")

    wait(0.2, SECONDS)

Creating a Color Code

A new Color Code is created using the Codedesc constructor and then activated using the code_description method. A Color Code groups 2 to 4 existing Colordesc objects into a single identifier that the AI Vision Sensor can detect as a sequence, but it must be explicitly set using code_description to take effect.

Codedesc Usage:
Codedesc(index, c1, c2, c3, c4, c5)

范围	描述
index	The index of the Color Code, from 1 to 8. Note: If you create two Codedesc objects with the same index, the second will override the first.
c1	The first Colordesc object in the code.
c2	The second Colordesc object in the code.
c3	Optional. A third Colordesc object.
c4	Optional. A fourth Colordesc object.

code_description Usage:
robot.vision.code_description(object)

范围	描述
object	A Codedesc object to register as a detectable Color Code.

# Create Color Signatures
red_box = Colordesc(1, 207, 19, 25, 10.00, 0.20)
purple_box = Colordesc(2, 98, 18, 227, 10.00, 0.20)

robot.vision.color_description(red_box)
robot.vision.color_description(purple_box)

# Detect a red_purple Color Code
red_purple = Codedesc(1, red_box, purple_box)
robot.vision.code_description(red_purple)

while True:
    robot.screen.clear_screen()
    robot.screen.set_cursor(1, 1)

    code_objects = robot.vision.get_data(red_purple)

    if code_objects[0].exists:
        robot.screen.print("Code detected!")
    else:
        robot.screen.print("No code detected.")

    wait(0.2, SECONDS)