Visual servo control method and device and unmanned equipment
A visual servo and control method technology, applied in the field of devices, visual servo control methods, and unmanned equipment, can solve problems such as the performance degradation of the overall flight control system and the intractability of system constraints, so as to improve the operation control performance and overcome the adjustment parameters. difficult effect
Pending Publication Date: 2020-09-04
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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[0003] In recent years, image-based visual servo control has been applied to unmanned aerial vehicles, but the key issue of image-based visual servo control is how to obtain the image Jacobian matrix that reflects the relationship between image features and the position and attitude of the unmanned aerial vehicle, and, based on image The visual servo control is difficult to deal with the constraints of the system, which may lead to the performance degradation of the overall flight control system
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[0031] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
[0032] At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.
[0033] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way intended as any limitation of the disclosure, its application or uses.
[0034] Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of t...
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The invention provides a visual servo control method and device and unmanned equipment, and relates to the field of unmanned control. The method comprises the steps: obtaining a ground identificationimage shot by a visual sensor of the unmanned equipment at the current position; determining a current visual feature point coordinate based on the ground identification image; by utilizing the difference value between the visual feature point coordinate and the expected visual feature point coordinate at each moment in the prediction time domain, and by controlling the operation parameters of theunmanned equipment at each moment in the time domain, constructing a cost function of a model prediction controller, and according to the current visual feature point coordinate and the correspondingoperation parameters, obtaining the visual feature point coordinates at each moment in the prediction time domain; predicting a cost function of the controller through a minimization model, and predicting to obtain operation parameters of the unmanned equipment at each moment in the control time domain; and serving the operation parameters at the first moment in the control time domain as targetoperation parameters and performing visual servo control on the unmanned equipment, so that the operation control performance of the unmanned equipment can be improved.
Description
technical field [0001] The present disclosure relates to the field of unmanned control, in particular to a visual servo control method, device and unmanned equipment. Background technique [0002] The visual servo algorithm based on robots or UAVs has been widely studied. The visual servo system uses one or more cameras to perceive the position and attitude of robots or UAVs, so as to precisely control its position and direction. According to the form of feedback information to construct the error amount, the visual servo control system can be divided into position-based visual servo control (PBVS), image-based visual servo control (IBVS) and hybrid visual servo control. [0003] In recent years, image-based visual servo control has been applied to unmanned aerial vehicles, but the key issue of image-based visual servo control is how to obtain the image Jacobian matrix that reflects the relationship between image features and the position and attitude of the unmanned aerial ...
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Login to View More IPC IPC(8): G05B13/04G05D1/10
CPCG05D1/101G05B13/042
Inventor 李梅
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD