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Pan-tilt visual control system and control method

A vision system and control method technology, which is applied in the direction of using feedback control, image data processing, instruments, etc., to achieve the effect of improving speed and control accuracy

Pending Publication Date: 2020-06-12
FOSHAN UNIVERSITY
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a PTZ vision control system and control method to solve one or more technical problems in the prior art, at least provide a beneficial option or create conditions

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  • Pan-tilt visual control system and control method

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no. 1 example

[0042] refer to figure 1 , the application discloses a control method of a pan-tilt vision system, its first embodiment, comprising the following steps:

[0043] Step 100, acquiring environmental information, obtaining a visual image, and performing preprocessing on the visual image;

[0044] Step 200, identifying the target to be tested from the visual image;

[0045] Step 300, establishing a camera coordinate system, and calculating the three-dimensional coordinates of the target to be measured in the camera coordinate system;

[0046] Step 400, calculating a vision control angle according to the three-dimensional coordinates of the target to be measured in the camera coordinate system, where the vision control angle includes a yaw angle and a pitch angle of the target to be measured relative to the camera coordinate system;

[0047] Step 500, establishing a ground coordinate system, and calculating the three-dimensional coordinates of the target to be measured in the grou...

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Abstract

The invention discloses a pan-tilt visual control system and control method, and the control method comprises the steps: obtaining environment information, and obtaining a visual image; identifying ato-be-detected target from the visual image; calculating three-dimensional coordinates of the to-be-detected target in a camera coordinate system; calculating a visual control angle according to the three-dimensional coordinates of the to-be-detected target in the camera coordinate system; calculating three-dimensional coordinates of the to-be-detected target in a ground coordinate system; calculating a prediction compensation angle according to the three-dimensional coordinates of the to-be-detected target in the ground coordinate system; and according to the visual control angle and the prediction compensation angle, a holder motor is controlled based on a fuzzy control algorithm. According to the technical scheme, when the pan-tilt motor is controlled, the yaw angle prediction compensation value and the pitch angle prediction compensation value of the to-be-detected target are obtained by referring to the three-dimensional coordinates of the to-be-detected target in the ground coordinate system and the gyroscope detection data, so that the response speed of an operation system and the control accuracy are improved.

Description

technical field [0001] The invention relates to the technical field of machine vision, and more specifically relates to a pan-tilt vision control system and a control method. Background technique [0002] With the rapid development of object detection technology, especially convolutional deep neural network, the vision system is more intelligent and robust, the tasks that computer vision can solve are more complex and diverse, and the application fields are wider. A vision system with tracking function can be applied in the pan-tilt control of a mobile robot to detect dynamic targets. Visual tracking technology is maturing step by step and has gradually become the core technology of modern robots. It is applied in robot competitions, picking systems, handheld pan-tilt systems and unmanned aerial vehicles and other fields. [0003] The traditional pan-tilt vision system uses only two-dimensional target detection in the visual tracking method, and uses the deviation between t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12G06T7/73G06T7/13G06T7/12G06T5/00
CPCG05D3/12G06T7/73G06T7/13G06T7/12G06T5/70
Inventor 张云志梁尧森李嘉滔吴泳庆
Owner FOSHAN UNIVERSITY
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