人工智能视觉#

介绍#

AI视觉传感器能够检测和追踪物体、颜色和AprilTag标签。这使得机器人能够分析周围环境、追踪物体，并根据检测到的视觉数据做出反应。

This page uses ai_vision_1, RED_BOX, and BOX_CODE as the example AI Vision Sensor, Color Signature, and Color Code names respectively. Replace them with your own configured names as needed.

以下是所有方法的列表：

数据获取器 – 从 AI 视觉传感器获取数据。

  • take_snapshot – Captures data for a specific Signature.

  • installed – Whether the AI Vision Sensor is connected to the V5 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 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.

  • .angle – Orientation of the Color Code 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).

构造函数 – 手动初始化和配置 AI 视觉传感器及其签名。

获取器#

take_snapshot#

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

要使用此方法，必须先在视觉实用程序中配置颜色签名和颜色代码。

该元组按宽度从大到小排序存储对象，索引从 0 开始。每个对象的属性 (#properties) 可以通过其索引访问。如果没有检测到匹配的对象，则返回空元组。

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 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 – Cubes, rings, and balls.
  • AiVision.ALL_TAGS – All AprilTags.

count

可选。设置可返回对象的最大数量，取值范围为 1 到 24。默认值为 8。

 
# Drive 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#

AI视觉传感器可以根据特定的AI分类检测不同的物体。根据在“设备”窗口中配置AI视觉传感器时选择的AI分类模型，可以检测到不同的物体。目前可用的模型有：

课堂要素

身份证号码

人工智能分类

0

BLUE_BALL

1

GREEN_BALL

2

RED_BALL

3

BLUE_RING

4

GREEN_RING

5

RED_RING

6

BLUE_CUBE

7

GREEN_CUBE

8

RED_CUBE

V5RC 高风险赛事

身份证号码

人工智能分类

0

MOBILE_GOAL

1

RED_RING

2

BLUE_RING

V5RC 推力反馈

身份证号码

人工智能分类

0

BLUE_BLOCK

1

RED_BLOCK

颜色特征#

A Color Signature is a unique color that the AI Vision Sensor can recognize. These signatures allow the 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#

颜色编码是一种结构化的模式，由按特定顺序排列的颜色符号组成。这些编码使人工智能视觉传感器能够识别预定义的颜色模式。颜色编码可用于识别复杂物体或为自主导航创建独特的标记。

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 AI Vision Sensor is currently connected to the V5 Brain.

  • True – The AI Vision Sensor is connected to the V5 Brain.

  • False – The AI Vision Sensor is not connected to the V5 Brain.

Usage:
ai_vision_1.installed()

参数

描述

此方法没有参数。

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

特性#

There are ten properties that are included with each object stored in a tuple after take_snapshot 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 take_snapshot 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:
    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.

有关 AI 分类，请参阅 AI 分类 表中的相应 ID。

对于 AprilTag，.id 属性表示检测到的 AprilTag 的 ID 号，范围为 0 到 36。对于 AI 分类，id 对应于如下所示的预定义 id。

# 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.

构造函数#

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

AiVision#

AiVision creates an AI Vision Sensor.

用法

Vision(smartport, sigs)

参数

描述

smartport

The Smart Port that the AI Vision Sensor is connected to, written as Ports.PORTx where x is the number of the port.

sigs

Optional. The name of one or more signatures, separated by commas (,):

 
# Create the Color Signatures
RED_BOX = Colordesc(1, 255, 0, 0, 20, 0.9)
BLUE_BOX = Colordesc(0, 26, 255, 0, 20, 0.9)

# Create the Color Code
RED_BLUE = Codedesc(RED_BOX, BLUE_BOX)

"""
Create an AI Vision Sensor with the following signatures:
- RED_BLUE
- AiVision.ALL_TAGS - for AprilTags
"""
ai_vision_1 = AiVision(Ports.PORT1, RED_BLUE, AiVision.ALL_TAGS)

Colordesc#

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

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

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.

red

颜色的红色值，范围从 0 到 255。

green

颜色的绿色值，范围从0到255。

blue

颜色的蓝色值，范围从 0 到 255。

hangle

色相允许的变化范围以色轮上的角度范围（1-40）表示。数值越高，允许的旋转偏差越大，偏离基准色相的幅度也越大。

hdsat

允许的饱和度偏差范围为 0.10 至 1.00。该值表示颜色可以在完整饱和度范围内偏移的比例（例如，0.10 = ±10% 饱和度）。

一个圆形色轮，显示完整的色调光谱，边缘标有度数，从顶部的 0° 到 360°，以 30° 为增量递增。

"""
Create a Color Signature with the following values:
- index: 1
- red: 255
- green: 0
- blue: 0
- hangle: 20
- hdsat: 0.9
"""
# Create a red Color Signature
RED_BOX = Colordesc(1, 255, 0, 0, 20, 0.9)

Codedesc#

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.

Usage:
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。先前创建的颜色签名。

sig4

可选。先前创建的颜色签名。

sig5

可选。先前创建的颜色签名。

 
# Create the Color Signatures
RED_BOX = Colordesc(1, 255, 0, 0, 20, 0.9)
BLUE_BOX = Colordesc(0, 26, 255, 0, 20, 0.9)

# Create a Color Code with the Color Signatures
BOX_CODE = Codedesc(RED_BOX, BLUE_BOX)

Tagdesc#

Tagdesc creates an AprilTag ID. You can use it to define identifiable AprilTag IDs, which makes your code clearer and easier to read.

Usage:
Tagdesc(id)

范围

描述

id

要使用的 AprilTag ID。

 
# Set AprilTag ID 7 to be the "goal"
goal = Tagdesc(7)
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