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Visual servo control system based on multi-core processor

A multi-core processor and visual servo technology, applied in the field of visual servo control systems, can solve problems affecting system real-time performance, system accuracy, system stability, etc., to improve data processing speed, meet real-time performance, and achieve dynamic Compensation effect

Inactive Publication Date: 2017-10-20
HUAZHONG UNIV OF SCI & TECH
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  • Description
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AI Technical Summary

Problems solved by technology

In addition, the delay of image acquisition and the delay of operation control command generation also affect the real-time performance of the system.
[0004] (2) The accuracy of the system
[0005] (3) The stability of the system

Method used

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Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0024] see figure 1 and figure 2 , the visual servo control system based on the multi-core processor provided by the preferred embodiment of the present invention, the visual servo control system includes a motion execution system 1, a visual feedback system 2, a multi-core processor and a shared memory module 4, the motion execution system 1 is electrically connected to the visual feedback s...

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Abstract

The invention belongs to the technical field related to automatic control and discloses a visual servo control system based on a multi-core processor. The visual servo control system includes a motion executing system and a visual feedback system connected to the motion executing system. The visual servo control system further includes a multi-core processor which is connected to the motion executing system and the visual feedback system. The multi-core processor includes a first multi-core processor core connected to the visual feedback system and a second multi-core processor core connected to the motion executing system, wherein the first multi-core processor is connected to the second multi-core processor core through a shared memory module. The first multi-core processor core and the second multi-core processor core of the visual servo control system process the data of the visual feedback system and the data of the motion executing system respectively to reduce a difference between a visual servo cycle and a motion servo cycle, thereby improving the real-time performance of the system.

Description

technical field [0001] The invention belongs to the technical field related to automatic control, and more specifically relates to a visual servo control system based on a multi-core processor. Background technique [0002] Visual servo control is a feedback control based on visual information. Compared with traditional control technology, it has higher precision, flexibility and robustness. However, since visual servo technology involves image processing, machine vision, control theory, kinematics, In many technical fields such as dynamics, there are still many problems in the research of visual servoing that have not been well resolved. Among them, the image processing method and the actual calculation processing speed are the difficulties of visual servoing; after the image processing is completed, the image features and Model building between motion control is another difficulty of visual servoing; many current control systems cannot guarantee that the system is stable i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/402
Inventor 龚时华黄禹王子悦李德龙张灿然曾卓
Owner HUAZHONG UNIV OF SCI & TECH
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