人工智能视觉#

介绍#

VEX AIM 编程机器人的 AI 视觉传感器可检测并追踪物体、颜色和 AprilTag。这使得机器人能够分析周围环境、跟踪物体并根据检测到的视觉数据做出反应。以下是所有可用方法和属性的列表:

操作——显示或隐藏 AI Vision 摄像头馈送。

Getters——检测机器人是否拿着物体。

  • 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).

构造函数——定义颜色签名和代码。

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:
        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

获取什么签名的数据。可用的签名有:

  • ALL_VISION - 运动球、桶、VEX AIM 编码机器人、AprilTag、颜色和颜色代码
  • ALL_CARGO - 运动球和桶
  • ALL_TAGS - 所有 AprilTag
  • ALL_COLORS - 所有配置的颜色签名和颜色代码
  • SPORTS_BALL - 仅限运动球
  • BLUE_BARREL - 仅限蓝色桶
  • ORANGE_BARREL - 仅限橙色桶
  • AIM_ROBOT - 所有 VEX AIM 编码机器人
  • TAG0TAG37 - 单个 AprilTag,ID 来自0 到 37
  • NAME - 颜色签名或颜色代码
其中 NAME 是在 AI Vision Utility 中配置的名称。44

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:
        robot.move_for(10, 0)
    wait(50, MSEC)

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.

AI 视觉实用程序展示了一个连接的视觉传感器正在检测两个彩色物体。左侧显示实时摄像头画面,左侧为蓝色框,右侧为红色框,每个框都带有白色边框。黑色标签显示其各自的名称、坐标和尺寸。右侧包含颜色签名设置,红色和蓝色框的色调和饱和度范围均有滑块。底部是添加颜色、冻结视频、复制和保存图像的按钮,右下角有一个关闭按钮。

# 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:
        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。

AI Vision Utility 界面显示一个已连接的视觉传感器正在检测两个相邻的物体,左侧为蓝色框,右侧为红色框,它们被组合成一个标记为 BlueRed 的白色边界框。检测信息包括角度 (A:11°)、坐标 (X:143, Y:103)、宽度 (W:233) 和高度 (H:108)。右侧面板列出了三个颜色特征:Red_Box、Blue_Box 和 BlueRed,并可调整色调和饱和度范围。BlueRed 特征结合了 Blue_Box 和 Red_Box。视频源下方是标有“冻结视频”、“复制图像”、“保存图像”和“关闭”的按钮。

# 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:
        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.

带有橙色条纹的蓝色桶位于框架的中心,周围环绕着黑色边界框。

.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:
        if ai_objects[1].exists:
            robot.screen.print("More than 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.

带有橙色条纹的蓝色桶位于框架中央,周围环绕着黑色边界框。两条垂直的红色虚线从框架顶部延伸至边界框的左右边缘。两条线之间的双向黑色箭头表示宽度测量值。

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

    if barrel:
        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.

带有橙色条纹的蓝色桶位于框架中央,周围环绕着黑色边界框。两条水平红色虚线从框架左侧延伸至边界框的顶部和底部边缘。两条线之间的双向黑色箭头表示高度测量值。

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

    if barrel:
        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.

带有橙色条纹的蓝色桶位于框架中央,周围环绕着黑色边界框。一条垂直的红色虚线从框架顶部延伸至边界框的中心,指示中心的 X 坐标。

# 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:
        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.

带有橙色条纹的蓝色桶位于框架中央,周围环绕着黑色边界框。一条水平红色虚线从框架左侧延伸至边界框中心,表示中心的 Y 坐标。

# 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:
        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.

设置 设置
# 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:

        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。

相机界面显示一个垂直堆叠的物体,上半部分为蓝色,下半部分为红色,位于画面中央。物体下方的标签为“Red_Blue A:270° CX:185 CY:81 W:93 H:150”,指示物体的名称、旋转角度、中心 X 和 Y 坐标、宽度和高度。网格线和数字轴标记图像尺寸,X 轴范围为 0 到 320,Y 轴范围为 0 到 240。

# 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: 
        # 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.

带有橙色条纹的蓝色桶位于框架中央,周围环绕着黑色边界框。一条垂直的红色虚线从框架顶部延伸到边界框的左边缘,表示边界框原点的 X 坐标。

# 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:
        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.

带有橙色条纹的蓝色桶位于框架中央,周围环绕着黑色边界框。一条水平红色虚线从框架左侧延伸至边界框顶部边缘,表示边界框原点的 Y 坐标。

# 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:
        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

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

    wait(50, MSEC)

.type#

.type returns what type of object is detected. It will return one of the following:

对象类型

包含的对象

AiVision.AI_OBJECT

- Sports balls
- Blue barrels
- Orange barrels

AiVision.TAG_OBJECT

- AprilTags

AiVision.COLOR_OBJECT

- Color signatures

AiVision.CODE_OBJECT

- Color codes

# 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:
        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:
        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:
        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:
        robot.screen.print("Code detected!")
    else:
        robot.screen.print("No code detected.")

    wait(0.2, SECONDS)