Multi-agent visual servo-coordination control method

Abstract

The present invention relates to the technical field of moving object coordination control, and particularly to a multi-agent visual servo-coordination control method. The tasks of target monitoring, tracking, grasping, etc. are completed by controlling the position and the gesture of the moving object or the moving mechanism relatively to the target or one target characteristic set through the visual information. In the technical solution, a plurality of cameras are adopted for executing real-time image collecting to the monitored scene or the controlled object, and the monitored scene or the controlled object is executed coordination control through synthesizing the information obtained by each camera and obtaining the effective control signal by the computer technology and image processing technology. According to the invention, the installing of the cameras on the measuring azimuthal angles is required. The servo signal is obtained through the processes of image processing, target identifying, etc. for executing control decision. The adding of the devices of a signal transmitter, a sensor, etc. on the controlled object is not required. Particularly the non-contact monitoring and control can be realized in a certain specific environments and dangerous environments of high temperature, high pressure, vacuum, etc. The method of the invention is a coordination control technique with wide application background.

Description

technical field [0001] The invention relates to the technical field of coordinated control of moving bodies, in particular to a vision-based coordinated control method. Background technique [0002] The multi-agent visual servo coordination control method emerged with the rapid development of computer and electronic technology in the late 1960s. The research on the use of visual information for manipulator positioning can be traced back to the 1970s. At that time, some practical vision systems appeared, such as the inspection of integrated circuit production, precision electronic product assembly, and beverage canning. In the late 1980s, specialized image processing hardware appeared, and people began to systematically study vision-based servo control systems. The servo coordinated control technology has attracted many researchers to devote themselves to it. In the late 1990s, visual servo control technology has made great progress in terms of structure, image processing m...

AI Technical Summary

Problems solved by technology

The visual system is a complex sensory system, which contains a large amount of information. To extract useful information from it requires complex algorithms and consumes a lot of computing time; Affected by various factors (such as camera accuracy, light intensity, transmission noise, etc.), visual information inevitably contains noise, which increases the difficulty of image processing

Images