人工智能视觉传感器#

介绍 #

The IQ AI Vision Sensor can detect and track objects, colors, and AprilTags. This allows the robot to analyze its surroundings, follow objects, and react based on detected visual data.

For the examples below, the configured IQ AI Vision Sensor will be named ai_vision_1, and the configured Color Signature objects, such as RED_BOX, will be used in all subsequent examples throughout this API documentation when referring to AiVision class methods.

以下是所有方法的列表：

Getters — Get data from the IQ AI Vision Sensor.

take_snapshot — Captures data for a specific Signature.
installed — Whether the IQ AI Vision Sensor is connected to the IQ (2nd gen) Brain.

Properties — Object data returned from take_snapshot.

.exists — Whether the object exists in the current detection as a Boolean.
.width — Width of the detected object.
.height — Height of the detected object.
.centerX — X position of the object’s center.
.centerY — Y position of the object’s center.
.angle — Orientation of the Color Code or AprilTag.
.originX — X position of the object’s top-left corner.
.originY — Y position of the object’s top-left corner.
.id — Classification or tag ID of the object.
.score — Confidence score for AI Classifications.

Constructors — Manually initialize and configure the sensors.

AiVision — Creates an IQ AI Vision Sensor.
Colordesc — Creates a Color Signature.
Codedesc — Creates a Color Code.

Getters #

take_snapshot #

take_snapshot filters the data from the IQ AI Vision Sensor’s frame to return a tuple. The IQ AI Vision Sensor can detect configured Color Signatures and Color Codes, AI Classifications, and AprilTags.

必须先在 Vision Utility 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:
ai_vision_1.take_snapshot(SIGNATURE)

参数	描述
`SIGNATURE`	What signature to get data of. Color Signatures or Color Codes – The name of the IQ AI Vision Sensor, two underscores, and then the Color Signature’s or Color Code’s name.For example: `vision_1__RED_BOX`. `AiVision.ALL_AIOBJS` – All detected AI Classifications depending on the model configured in the AI Vision Utility. `AiVision.ALL_TAGS` – All AprilTags.
`count`	可选。设置可返回的最大对象数，范围为 1 至 24（默认值：8）。

参数

描述

SIGNATURE

What signature to get data of.

Color Signatures or Color Codes – The name of the IQ AI Vision Sensor, two underscores, and then the Color Signature’s or Color Code’s name.For example: vision_1__RED_BOX.
AiVision.ALL_AIOBJS – All detected AI Classifications depending on the model configured in the AI Vision Utility.
AiVision.ALL_TAGS – All AprilTags.

count

可选。设置可返回的最大对象数，范围为 1 至 24（默认值：8）。

# Move forward if an object is detected
while True:
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)
    if objects[0].exists:
        drivetrain.drive_for(FORWARD, 50, MM)
    wait(50, MSEC)

人工智能分类 #

The IQ AI Vision Sensor can detect different objects under certain AI Classifications. Depending on the AI Classification model selected when configuring the AI Vision Sensor in the Devices window, different objects will be detected. The currently available models are:

教室物品

ClassroomElements.BLUE_BALL
ClassroomElements.GREEN_BALL
ClassroomElements.RED_BALL
ClassroomElements.BLUE_RING
ClassroomElements.GREEN_RING
ClassroomElements.RED_RING
ClassroomElements.BLUE_CUBE
ClassroomElements.GREEN_CUBE
ClassroomElements.RED_CUBE

VIQRC 混搭组合

GameElementsMixAndMatch.BEAM
GameElementsMixAndMatch.BLUE_PIN
GameElementsMixAndMatch.RED_PIN
GameElementsMixAndMatch.ORANGE_PIN

色彩签名 #

A Color Signature is a unique color that the IQ AI Vision Sensor can recognize. These signatures allow the IQ AI Vision 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 take_snapshot to process and detect colored objects in real-time.

In order to use a configured Color Signature in a project, its name must be the name of the sensor, two underscores, and then the Color Signature’s name. For example: ai_vision_1__RED_BOX.

# Display if any objects match the RED_BOX signature
while True:
    brain.screen.set_cursor(1, 1)
    brain.screen.clear_row(1)
    # Change to any configured Color Signature
    red_box = ai_vision_1.take_snapshot(ai_vision_1__RED_BOX)
    if red_box[0].exists:
        brain.screen.print("Color detected!")
        wait(100, MSEC)

颜色代码 #

A Color Code is a structured pattern made up of color signatures arranged in a specific order. These codes allow the IQ AI Vision Sensor to recognize predefined patterns of colors. Color Codes are useful for identifying complex objects or creating unique markers for autonomous navigation.

In order to use a configured Color Code in a project, its name must be the name of the sensor, two underscores, and then the Color Code’s name. For example: ai_vision_1__BOX_CODE.

# Display if any objects match the BOX_CODE code
while True:
    brain.screen.set_cursor(1, 1)
    brain.screen.clear_row(1)
    # Change to any configured Color Code
    box_code = ai_vision_1.take_snapshot(ai_vision_1__BOX_CODE)
    if box_code[0].exists:
        brain.screen.print("Code detected!")
        wait(100, MSEC)

installed #

installed returns a Boolean indicating whether the IQ AI Vision Sensor is currently connected to the IQ (2nd gen) Brain.

True — The IQ AI Vision Sensor is connected to the IQ (2nd gen) Brain.
False — The IQ AI Vision Sensor is not connected to the IQ (2nd gen) Brain.

Usage:
ai_vision_1.installed()

参数	描述
	该方法没有参数。

# Display a message if the AI Vision Sensor is connected
if ai_vision_1.installed():
    brain.screen.print("Installed!")

特性 #

使用 take_snapshot 后，元组中存储的每个对象包含十个属性。

Some property values are based off of the detected object’s position in the IQ AI Vision Sensor’s view at the time that take_snapshot was used. The IQ 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:
    brain.screen.clear_screen()
    brain.screen.set_cursor(1, 1)
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)

    if objects[0].exists:
        if objects[1].exists:
            brain.screen.print("At least 2")
            
        else:
            brain.screen.print("Less than 2")
    wait(50, MSEC)

.width #

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

# Approach an object until it's at least 100 pixels wide
while True:
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)

    if objects[0].exists:
        if objects[0].width < 100:
            drivetrain.drive(FORWARD)
    else:
        drivetrain.stop()
    wait(50, MSEC)

.height #

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

# Approach an object until it's at least 90 pixels tall
while True:
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)

    if objects[0].exists:
        if objects[0].height < 90:
            drivetrain.drive(FORWARD)
    else:
        drivetrain.stop()
    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 until an object is directly in front of the sensor
drivetrain.set_turn_velocity(10, PERCENT)
drivetrain.turn(RIGHT)

while True:
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)

    if objects[0].exists:
        if 140 < objects[0].centerX < 180: 
            drivetrain.stop()
    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.

# Approach an object until the object's center is
# high enough in the field of view
while True:
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)

    if objects[0].exists:
        if objects[0].centerY < 150:
            drivetrain.drive(FORWARD)
    else:
        drivetrain.stop()
    wait(50, MSEC)

.angle #

.angle returns the orientation of the detected Color Code or AprilTag in degrees, which is an integer between 0 and 360.

# Turn left or right depending on how a
# configured Color Code is rotated
while True: 
    box_code = ai_vision_1.take_snapshot(ai_vision_1__BOX_CODE)

    if box_code[0].exists: 
        if 50 < box_code[0].angle < 100:
            drivetrain.turn(RIGHT)
            
        elif 270 < box_code[0].angle < 330:
            drivetrain.turn(LEFT)
        
        else:
            drivetrain.stop()
    else:
        drivetrain.stop()
    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 object is to the left or the right
while True:
    brain.screen.clear_screen()
    brain.screen.set_cursor(1,1)
    
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)
    
    if objects[0].exists:
        if objects[0].originX < 120:
            brain.screen.print("To the left!")
        else: 
            brain.screen.print("To the right!")
    else:
        brain.screen.print("No objects")
    wait(100, 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 object is close or far
while True:
    brain.screen.clear_screen()
    brain.screen.set_cursor(1,1)
    
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)

    if objects[0].exists:
        if objects[0].originY < 110:
            brain.screen.print("Close")
        else: 
            brain.screen.print("Far")

.id #

.id returns the ID of the detected AI Classification or AprilTag as an integer. AI Classifications depend on the model that is configured in the AI Vision Utility.

For an AprilTag, the .id property represents the detected AprilTag’s ID number in the range of 0 to 36. For an AI Classification, the id corresponds to the predefined id as shown below.

教室物品	ID
蓝球	0
绿球	1
红球	2
蓝环	3
绿环	4
红环	5
蓝色立方体	6
绿色立方体	7
红色立方体	8

VIQRC 混合搭配	ID
光束	0
蓝针	1
红针	2
橙色别针	3

# Move forward when AprilTag 1 is detected
while True:
    apriltags = ai_vision_1.take_snapshot(AiVision.ALL_TAGS)

    if apriltags[0].exists:
        if apriltags[0].id == 1:
            robot.drive(FORWARD)
    else:
        drivetrain.stop()

    wait(50, MSEC)

.score #

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

# Display if a score is confident
while True:
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)
    brain.screen.clear_screen()
    brain.screen.set_cursor(1, 1)
    if objects[0].exists:
        if objects[0].score > 95: 
            brain.screen.print("Confident")
    else:
        brain.screen.print("Not confident")

    wait(50, MSEC)

构造函数 #

Constructors are used to manually create AiVision, Colordesc, and Codedesc objects, which are necessary for configuring the IQ AI Vision Sensor outside of VEXcode.

AI Vision Sensor #

AiVision creates an IQ AI Vision Sensor.

用法

Vision(port, sigs)

参数	描述
`port`	Which Smart Port the IQ AI Vision Sensor is connected to, from 1 to 12.
`sigs`	Optional. The name of one or more signatures: Color Signature Color Code `AiVision.ALL_TAGS` – All AprilTags `AiVision.ALL_AIOBJS` – All AI Classifications

参数

描述

port

Which Smart Port the IQ AI Vision Sensor is connected to, from 1 to 12.

sigs

Optional. The name of one or more signatures:

Color Signature
Color Code
AiVision.ALL_TAGS – All AprilTags
AiVision.ALL_AIOBJS – All AI Classifications

例子

ai_vision_1 = AiVision(Ports.PORT1, AiVision.ALL_AIOBJS)

# Move forward if an object is detected
while True:
    objects = ai_vision_1.take_snapshot(AiVision.ALL_AIOBJS)
    if objects[0].exists:
        drivetrain.drive_for(FORWARD, 50, MM)
    wait(50, MSEC)

Color Signature #

Colordesc creates a Color Signature. Up to seven different Color Signatures can be stored on an IQ AI Vision Sensor at once.

用法：

Colordesc(index, uMin, uMax, uMean, vMin, vMax, vMean, rgb, type)

范围	描述
`index`	The `Colordesc` object’s index, from 1 - 7. Note: Creating two `Colordesc` objects with the same index number will cause the second created object to override the first.
`uMin`	The value from `uMin` in the Vision Utility.
`uMax`	The value from `uMax` in the Vision Utility.
`uMean`	The value from `uMean` in the Vision Utility.
`vMin`	The value from `vMin` in the Vision Utility.
`vMax`	The value from `vMax` in the Vision Utility.
`vMean`	The value from `vMean` in the Vision Utility.
`rgb`	The value from `rgb` in the Vision Utility.
`type`	The value from `type` in the Vision Utility.

要获取创建颜色签名的值，请转到 Vision Utility。配置颜色签名后，从配置窗口复制参数值。

例子

# Create a new Signature RED_BOX with the Colordesc class
RED_BOX = Colordesc(1, 10121, 10757, 10439,-1657, -1223, -1440,2.5, 1)
# Create a new AI Vision Sensor "ai_vision_1" with the AiVision
# class, with the RED_BOX Signature.
ai_vision_1 = AiVision(Ports.PORT1, 100, RED_BOX)

# Move forward if a red object is detected
while True:
    red_object = ai_vision_1.take_snapshot(RED_BOX)
    if red_object[0].exists:
        drivetrain.drive_for(FORWARD, 10, MM)
    wait(5, MSEC)

Color Code #

Codedesc creates a Color Code. It requires at least two already defined Color Signatures in order to be used. Up to eight different Color Codes can be stored on a Vision Sensor at once.

用法：

Codedesc(sig1, sig2, sig3, sig4, sig5)

范围	描述
`sig1`	先前创建的颜色签名。
`sig2`	先前创建的颜色签名。
`sig3`	可选。之前创建的颜色签名。
`sig4`	可选。之前创建的颜色签名。
`sig5`	可选。之前创建的颜色签名。

例子

# Create two new Signatures for a red and blue box
RED_BOX = Colordesc(1, 10121, 10757, 10439,-1657, -1223, -1440, 2.5, 1)
BLUE_BOX = Colordesc(2, -4443, -3373, -3908,6253, 7741, 6997, 2.5, 1)
# Create a Color Code for a red box to the left of a blue box
RED_BLUE = Codedesc(RED_BOX, BLUE_BOX)
# Create a new AI Vision Sensor "ai_vision_1" with the AiVision
# class, with the RED_BOX and BLUE_BOX Signatures.
ai_vision_1 = AiVision(Ports.PORT1, 100, RED_BOX, BLUE_BOX)

# Display a message if Color Code is detected
while True:
    brain.screen.set_cursor(1, 1)
    brain.screen.clear_row(1)
    # Change to any configured Color Code
    box_code = ai_vision_1.take_snapshot(RED_BLUE)
    if box_code[0].exists:
        brain.screen.print("Code detected!")
        wait(100, MSEC)