CN111464796A - Multi-vision unit feedback real-time distributed control system, method and device - Google Patents
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Abstract
The invention belongs to the field of control systems, and particularly relates to a multi-vision unit feedback real-time distributed control system. The control system aims to solve the problems that the traditional control system is limited in the number of paths for collecting images, when the number of paths for collecting images is large, the real-time property of collection is insufficient, the processing time is long, high-frequency control cannot be carried out, and the distance between a visual component and an execution component is short. The high-speed vision unit obtains image information through a plurality of vision devices, the image real-time processing unit extracts image characteristic data according to the image information, the image acquisition module acquires the image information into a shared memory of an upper computer through an image acquisition board, the instruction generation unit calculates a control instruction according to the image characteristic data and the current running state, and the instruction execution unit executes the control instruction. The invention increases the number of paths for the control system to acquire the images, improves the acquisition real-time property, reduces the time from the acquisition to the processing of the images and increases the distance between the visual equipment and the execution equipment.
Description
Technical Field
The invention belongs to the field of control systems, and particularly relates to a multi-vision unit feedback real-time distributed control system.
Background
At present, in the fields of industrial high-speed automatic detection, precision optical engineering, precision control of large-scale astronomical devices, precision measurement and control of aerospace and the like, some application scenes exist, and in the application scenes, a plurality of visual units (such as industrial cameras) are required to be used for carrying out multi-directional detection on a certain object. By processing the images detected by these visual elements, the image features of interest are obtained. The image features are used for carrying out feedback control on the relevant execution units in the application scene. With the improvement of performance indexes required in the application fields, higher and higher requirements are put forward on a visual feedback control system. For some visual feedback control systems, the following stringent requirements apply: 1) the number of the visual units is multiple, and 10 visual units and more visual units are required; 2) the closed loop control frequency reaches kilohertz; 3) the distance between the visual unit and the execution unit is far and is more than dozens of meters.
At present, in a solution of high-speed visual feedback, an embedded hardware board is often manufactured, and image acquisition, image processing and system closed-loop control are performed through a hardware processing unit on the hardware board. However, this solution is difficult to meet the stringent requirements of the three aspects. The concrete expression is as follows: 1) the number of paths of the images acquired by the hardware board card is limited, and the number of paths is generally 1 path, 2 paths, 4 paths or 8 paths; 2) when the number of paths for collecting images is large, the real-time property and the processing time of collection are large, and the requirement of high-frequency control cannot be met; 3) in order to ensure real-time performance, the image acquisition unit, the image processing unit and the system closed-loop control calculation unit are often made into a board card or are very close to each other in space, and the requirement that the distance between the visual unit and the execution unit cannot be dozens of meters or more is met.
Disclosure of Invention
In order to solve the above problems in the prior art, that is, to solve the problems of a small number of image paths acquired by a hardware board, poor acquisition instantaneity, long processing time and too short distance between a visual device and a processing device when multi-path image acquisition is performed at the same time, a first aspect of the present invention provides a multi-visual-unit feedback real-time distributed control system, where the control system includes a multi-visual-unit acquisition processing subsystem 100 and a closed-loop computation execution subsystem 200;
the multi-vision unit acquisition processing subsystem 100 comprises a high-speed vision unit 110 and an image real-time processing unit 120; the high-speed vision unit 110 is used for acquiring image information through a plurality of vision devices; the image real-time processing unit 120 is configured to extract image feature data according to the acquired image information;
the closed-loop computation execution subsystem 200 includes an instruction generation unit 210 and an instruction execution unit 220; the instruction generating unit 210 is configured to generate a control instruction according to the image feature data and the current operating state of the instruction executing unit 220; the instruction execution unit 220 is configured to execute the control instruction to complete control;
in some preferred real-time modes, the image real-time processing unit 120 includes an image acquisition module 121, a feature extraction module 122 and a data transmission module 123;
the image acquisition module 121 is configured to acquire image information into a shared memory through an image acquisition board card, and after each frame of image information is acquired, the image acquisition board card triggers hardware interrupt of an upper computer; the image information is not cached on the image acquisition board card;
the feature extraction module 122 is configured to obtain image information in the shared memory by using a hardware interrupt service program through an upper computer real-time system, and extract image feature data through a first multi-core CPU;
the data transmission module 123 is configured to transmit the image feature data to the instruction generating unit 210 through an upper computer real-time system and a high-speed ethernet card.
In some preferred embodiments, the image acquisition board is connected with the upper computer through a PCI socket.
And the non-real-time system of the upper computer is communicated with the real-time system of the upper computer through the shared memory and is also used for carrying out human-computer interaction.
In some preferred embodiments, the high-speed ethernet card is connected to an upper computer through a PCI slot, and shares the first multi-core CPU with the upper computer real-time system and the upper computer non-real-time system.
In some preferred embodiments, the instruction generating unit 210 includes a feature communication module 211, a state collecting module 212, and a closed-loop calculating unit 213;
the characteristic communication module 211 is configured to receive image characteristic data through a high-speed ethernet interface;
the state acquisition module 212 is configured to acquire current operation state information of the instruction execution unit 220, and convert the acquired operation state information into a corresponding position signal;
and the closed loop calculation module 213 is configured to generate a control instruction through parallel calculation by the second multi-core CPU according to the position signal and the feature data of the image.
In some preferred embodiments, the instruction generating unit 210 further includes a communication control module 214;
the communication control module 214 is configured to send the control instruction to the instruction execution unit 220.
In another aspect of the present invention, there is provided a multi-vision unit feedback real-time distributed control method, the method comprising:
step S10, acquiring image information through a plurality of visual devices;
step S20, extracting image feature data from the acquired image information;
step S30, generating a control instruction according to the image characteristic data and the current running state of the execution motor;
step S40, configured to execute the control instruction to complete control;
wherein the step S20 includes steps S21-S23;
step S21, acquiring image information into a shared memory through an image acquisition board card, and triggering hardware interrupt of an upper computer by the image acquisition board card after each frame of image information is acquired; the image information is not cached on the image acquisition board card;
step S22, acquiring image information in the shared memory by an upper computer real-time system by using an interrupt service program, and extracting image characteristic data by a first multi-core CPU;
and step S23, sending the image characteristic data through the upper computer real-time system and the high-speed Ethernet card.
In some preferred embodiments, step S30 includes:
step S31, receiving image characteristic data through a high-speed Ethernet interface;
step S32, collecting the current running state information of the executing motor, and converting the collected running state information into a corresponding position signal;
in step S33, a control command is generated by parallel calculation by the second multi-core CPU based on the position signal of the actuator and the feature data of the image.
In a third aspect of the present invention, a storage device is provided, in which a plurality of programs are stored, the programs being adapted to be loaded and executed by a processor to implement the above-mentioned multi-vision unit feedback real-time distributed control method.
In a fourth aspect of the present invention, a processing apparatus is provided, which includes a processor, a storage device; the processor is suitable for executing various programs; the storage device is suitable for storing a plurality of programs; the program is adapted to be loaded and executed by a processor to implement the multi-vision unit feedback real-time distributed control method described above.
The invention has the beneficial effects that:
according to the invention, the image acquisition board card is used for acquiring image information, and the image acquisition board card is connected with the upper computer through the PCI slots, so that the path number of simultaneously acquiring images is increased, the information of a plurality of visual devices can be simultaneously acquired, the number of the simultaneously acquired image acquisition modules depends on the number of the PCI slots, and the expansibility is realized.
The image acquisition board card provided by the invention directly acquires the image information on the shared memory of the upper computer, the image information is not cached on the image acquisition board card, hardware interruption is triggered after each frame of image is acquired, and the real-time system of the upper computer starts to read the image information in the shared memory for image processing.
The invention only transmits the extracted picture characteristic data through the Ethernet, thereby shortening the time from image acquisition to instruction generation. The settable distance between the multi-vision processing subsystem and the closed-loop computation execution subsystem is increased.
The real-time image processing and data transmission module of the upper computer system provided by the invention shares a multi-core CPU, so that the utilization rate of the CPU of the upper computer is improved, and the time from image acquisition to image characteristic data transmission is reduced.
Drawings
FIG. 1 is a schematic diagram of the components of a multi-vision unit feedback real-time distributed control system of the present invention;
FIG. 2 is a schematic flow diagram of a second embodiment of the multi-vision unit feedback real-time distributed control system of the present invention;
FIG. 3 is a schematic diagram of a real-time processing module of a second embodiment of the multi-vision unit feedback real-time distributed control system of the present invention;
fig. 4 is a schematic structural diagram of an instruction generation module of a second embodiment of the multi-vision unit feedback real-time distributed control system according to the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The invention provides a multi-vision unit feedback real-time distributed control system, which increases the number of vision units, improves the real-time performance of image processing, further improves the real-time performance of feedback, and also improves the distance from vision equipment to execution equipment.
In order to more clearly explain the analysis-based method of the present invention, the following description will discuss a first embodiment of the present invention with reference to fig. 1, which is a schematic diagram of the composition of the multi-vision unit feedback real-time distributed control system of the present invention.
The control system comprises a multi-vision unit acquisition processing subsystem 100 and a closed-loop computation execution subsystem 200;
the multi-vision unit acquisition processing subsystem 100 comprises a high-speed vision unit 110 and an image real-time processing unit 120; the high-speed vision unit 110 is used for acquiring image information through a plurality of vision devices; the image real-time processing unit 120 is configured to extract image feature data according to the acquired image information;
the closed-loop computation execution subsystem 200 includes an instruction generation unit 210 and an instruction execution unit 220; the instruction generating unit 210 is configured to generate a control instruction according to the image feature data and the current operating state of the instruction executing unit 220; the instruction execution unit 220 is configured to execute the control instruction to complete control.
In order to more clearly explain the analysis-based method of the present invention, the following description is made with reference to fig. 2 to illustrate a flow chart of a second embodiment of the multi-vision unit feedback real-time distributed control system according to the present invention.
The multi-vision unit feedback real-time distributed control system comprises a multi-vision unit acquisition processing subsystem 100 and a closed-loop calculation execution subsystem 200;
the vision unit acquisition processing subsystem 100 comprises a high-speed vision unit 110 and a graph image real-time processing unit 120;
the closed-loop computation execution subsystem 200 includes an instruction generation unit 210 and an instruction execution unit 220;
a vision unit acquisition processing subsystem 100 may be connected to a plurality of closed loop computation execution subsystems 200; each image real-time processing unit 120 may be connected to a plurality of high-speed vision units 110; each instruction generation unit 210 may be coupled to a plurality of instruction execution units 220.
The high-speed vision unit 110 is used for acquiring image information through a plurality of vision devices;
preferably, the high-speed vision unit 110 may be implemented by a plurality of high-frequency image capturing cameras, and further, a camera having a capturing frequency of 500Hz or more may be selected.
The image real-time processing unit 120 is configured to extract image feature data according to the acquired image information, as shown in fig. 3, preferably, the image real-time processing unit 120 is composed of an upper computer with a multi-core CPU, a plurality of PCI slots, a plurality of image acquisition boards, and a plurality of high-speed ethernet cards;
the upper computer can be realized by an industrial control computer or a desktop workstation;
the upper computer is provided with a real-time system and a non-real-time system;
the upper computer is provided with a plurality of PCI slots, and each PCI slot corresponds to one image acquisition board card or one high-speed Ethernet card;
the upper computer is provided with a plurality of CPU cores which are distributed to a real-time system and a non-real-time system for use, and the real-time system and the data transmission module share the CPU;
the real-time system is at least distributed with 2 CPU cores, in some typical embodiments, the non-real-time system adopts Windows, and the real-time system adopts RTX; as shown in fig. 3, p CPU cores (p is not less than 1) are allocated to the upper computer non-real-time system, and q CPU cores (q is not less than 2) are allocated to the upper computer real-time system. Of course, as will be readily appreciated by those skilled in the relevant arts, the greater the number of CPU cores allocated, the more helpful it is to improve computational power and real-time performance. One of the allocated CPU cores is dedicated for communication, and the CPU core _ q is allocated as shown in fig. 3, so that it is responsible for ethernet communication via the high-speed ethernet card. The remaining CPU cores (CPU core _1 to CPU core _ q-1) are used to process image information. In other embodiments, image feature data transfer and image feature extraction share a CPU core.
The image acquisition module 121 is realized by an image acquisition board card and is used for acquiring the acquired image information into a shared memory of an upper computer, and the image information is not cached on the image acquisition board card; in the prior art, image information is generally acquired by an image acquisition board card in a non-real-time system of an upper computer, the time from image acquisition to image processing is shortened, the real-time performance of the system is improved, and the requirement of a control system for high-frequency control is met;
in some preferred embodiments, the communication interface between the image acquisition board and the vision unit is any one of Camera L ink, Camera L ink HS and CoaXPress.
After each frame of image information is acquired, triggering hardware interruption of an upper computer by an image acquisition board card;
the image acquisition board card is connected with an upper computer through a PCI slot.
Preferably, the interfaces and protocols used by the PCI slots may be PCI, PCIX, PCIE, CPCI, and in some preferred embodiments, the PCI slots use PCIE buses and protocols.
The feature extraction module 122 is configured to read image information in the shared memory through the real-time system, process the image information in the shared memory through a hardware interrupt service program, and extract image feature data of the image information in the shared memory by using the first multi-core CPU; in the prior art, image information is generally acquired by an image acquisition board card in a non-real-time system of an upper computer, and is cached in the non-real-time system and then read by a real-time system for processing, the image information is directly acquired in a shared memory of the real-time system of the upper computer and is punished to be interrupted so that the real-time system can immediately process the image information, and the image information is not cached in the image acquisition board card firstly and then stored in the shared memory; the time from image acquisition to image processing is reduced, the real-time performance of the system is improved, and the requirement of high-frequency control of the control system is met.
And the non-real-time system of the upper computer is communicated with the real-time system through the shared memory and is used for carrying out human-computer interaction.
The data transmission module 123 is implemented by an upper computer real-time system and a high-speed ethernet card, and is configured to transmit the extracted image feature data to the instruction generation unit 210;
the high-speed Ethernet card is connected with the upper computer through the PCI slot, shares the first multi-core CPU with the real-time system and the non-real-time system of the upper computer, makes full use of the CPU core of the upper computer, improves the speed of image processing and data transmission, and enables the control system to have real-time performance.
Preferably, the high speed ethernet card and feature communication module 211 may use UDP protocol.
The instruction generating unit 210 is configured to calculate instruction data according to the image feature data, the current operating state, and other configuration information;
preferably, as shown in fig. 4, the instruction generating unit 210 may be implemented by an embedded board card including a multi-core CPU, and further, 1 core of the CPU is allocated to the feature communication module 211, and the other cores are allocated to the state acquiring module 212 and the closed-loop calculating module 213.
A feature communication module 211, configured to receive image feature data through a high-speed ethernet interface;
preferably, the multi-vision unit acquisition processing subsystem 100 and the closed-loop computation execution subsystem 200 may be connected by a common network cable, or may be connected by an optical fiber after passing through a photoelectric conversion module, so as to achieve the purpose of long-distance transmission, so that the transmission distance may reach thousands of meters, and the transmission distance depends on the length of the network cable or the optical fiber.
A state acquisition module 212, configured to acquire current operating state information of the instruction execution unit 220, convert the acquired operating state information into a corresponding position signal, and send the position signal to the closed-loop calculation module 213;
the current operating state information of the instruction execution unit 220 is collected through a state feedback interface in the embedded board card, and the collected state information is converted into a corresponding physical quantity, for example, an AD voltage signal is converted into a position signal.
And a closed loop calculation module 213, configured to calculate instruction data in parallel by the second multi-core CPU according to the position signal of the instruction execution unit 220, the feature data of the image, and other configuration information.
The other configuration information comprises controller parameters and the like;
preferably, the closed-loop controller involved in the closed-loop calculation module 213 is a conventional PID controller, and an optimized PID controller or a more advanced controller may be used according to a system model.
The communication control module 214 is configured to send the instruction data to the instruction execution unit 220;
the instruction data is sent to the instruction execution unit 220 through an instruction interface in the embedded board.
In some preferred embodiments, the state feedback interface in the embedded board of the instruction generating unit 210 employs an AD converter, and the instruction interface employs a DA converter. Of course, the interface is not limited to analog interfaces such as AD and DA, and may be some digital interfaces.
In another aspect of the present invention, a multi-vision unit feedback real-time distributed control method is provided, the method comprising:
step S10, acquiring image information through a plurality of visual devices;
step S20, extracting image feature data from the acquired image information;
step S30, generating a control instruction according to the image characteristic data and the current running state of the execution motor;
step S40, configured to execute the control instruction to complete control;
wherein the step S20 includes steps S21-S23;
step S21, acquiring image information into a shared memory through an image acquisition board card, and triggering hardware interrupt of an upper computer by the image acquisition board card after each frame of image information is acquired; the image information is not cached on the image acquisition board card; the time from image acquisition to image processing is shortened, the real-time performance of the system is improved, and the requirement of high-frequency control of the control system is met.
Step S22, acquiring image information in the shared memory by an upper computer real-time system by using an interrupt service program, and extracting image characteristic data by a first multi-core CPU;
and step S23, sending the image characteristic data through the upper computer real-time system and the high-speed Ethernet card.
In some preferred embodiments, step S30 includes:
step S31, receiving image characteristic data through a high-speed Ethernet interface;
step S32, collecting the current running state information of the executing motor, and converting the collected running state information into a corresponding position signal;
in step S33, a control command is generated by parallel calculation by the second multi-core CPU based on the position signal of the actuator and the feature data of the image.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and related descriptions of the method described above may refer to the corresponding process in the foregoing system embodiment, and are not described herein again.
It should be noted that, the multi-vision unit feedback real-time distributed control system provided in the foregoing embodiment is only illustrated by the division of the above functional modules, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the modules or steps in the embodiment of the present invention are further decomposed or combined, for example, the modules in the foregoing embodiment may be combined into one module, or may be further split into multiple sub-modules, so as to complete all or part of the above described functions. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not to be construed as unduly limiting the present invention.
A storage device of a third embodiment of the present invention has stored therein a plurality of programs adapted to be loaded and executed by a processor to implement the above-described multi-vision unit feedback real-time distributed control system.
A processing apparatus according to a fourth embodiment of the present invention includes a processor, a storage device; a processor adapted to execute various programs; a storage device adapted to store a plurality of programs; the program is adapted to be loaded and executed by a processor to implement the multi-vision unit feedback real-time distributed control system described above.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and related descriptions of the storage device and the processing device described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Those of skill in the art would appreciate that the various illustrative modules, method steps, and modules described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that programs corresponding to the software modules, method steps may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. A multi-vision unit feedback real-time distributed control system is characterized in that the distributed control system comprises a multi-vision unit acquisition processing subsystem 100 and a closed-loop calculation execution subsystem 200;
the multi-vision unit acquisition processing subsystem 100 comprises a high-speed vision unit 110 and an image real-time processing unit 120; the high-speed vision unit 110 is used for acquiring image information through a plurality of vision devices; the image real-time processing unit 120 is configured to extract image feature data according to the acquired image information;
the closed-loop computation execution subsystem 200 includes an instruction generation unit 210 and an instruction execution unit 220; the instruction generating unit 210 is configured to generate a control instruction according to the image feature data and the current operating state of the instruction executing unit 220; the instruction execution unit 220 is configured to execute the control instruction to complete control;
the image real-time processing unit 120 comprises an image acquisition module 121, a feature extraction module 122 and a data transmission module 123;
the image acquisition module 121 is configured to acquire image information into a shared memory through an image acquisition board card, and after each frame of image information is acquired, the image acquisition board card triggers hardware interrupt of an upper computer; the image information is not cached on the image acquisition board card;
the feature extraction module 122 is configured to obtain image information in the shared memory by using a hardware interrupt service program through an upper computer real-time system, and extract image feature data through a first multi-core CPU;
the data transmission module 123 is configured to transmit the image feature data to the instruction generating unit 210 through an upper computer real-time system and a high-speed ethernet card.
2. The multi-vision unit feedback real-time distributed control system of claim 1, wherein the image capture board is connected to an upper computer through a PCI jack.
3. The multi-vision unit feedback real-time distributed control system of claim 2, wherein the feature extraction module 122 further comprises an upper computer non-real-time system;
and the non-real-time system of the upper computer is communicated with the real-time system of the upper computer through the shared memory and is also used for carrying out human-computer interaction.
4. The multi-vision unit feedback real-time distributed control system of claim 3, wherein the high speed Ethernet card is connected to an upper computer through a PCI slot and shares the first multi-core CPU with the upper computer real-time system and an upper computer non-real-time system.
5. The multi-vision unit feedback real-time distributed control system of claim 1, wherein said instruction generating unit 210 comprises a feature communication module 211, a state acquisition module 212, and a closed-loop computing unit 213;
the characteristic communication module 211 is configured to receive image characteristic data through a high-speed ethernet interface;
the state acquisition module 212 is configured to acquire current operation state information of the instruction execution unit 220, and convert the acquired operation state information into a corresponding position signal;
and the closed loop calculation module 213 is configured to generate a control instruction through parallel calculation by the second multi-core CPU according to the position signal and the feature data of the image.
6. The multi-vision unit feedback real-time distributed control system of claim 1 or 5, wherein said instruction generating unit 210 further comprises a communication control module 214;
the communication control module 214 is configured to send the control instruction to the instruction execution unit 220.
7. A multi-vision unit feedback real-time distributed control method, based on the multi-vision unit feedback real-time distributed control system of any one of claims 1-6, the method comprising:
step S10, acquiring image information through a plurality of visual devices;
step S20, extracting image feature data from the acquired image information;
step S30, generating a control instruction according to the image characteristic data and the current running state of the execution motor;
step S40, configured to execute the control instruction to complete control;
wherein the step S20 includes steps S21-S23;
step S21, acquiring image information into a shared memory through an image acquisition board card, and triggering hardware interrupt of an upper computer by the image acquisition board card after each frame of image information is acquired; the image information is not cached on the image acquisition board card;
step S22, acquiring image information in the shared memory by an upper computer real-time system by using an interrupt service program, and extracting image characteristic data by a first multi-core CPU;
and step S23, sending the image characteristic data through the upper computer real-time system and the high-speed Ethernet card.
8. The multi-vision unit feedback real-time distributed control method of claim 7, wherein step S30 comprises:
step S31, receiving image characteristic data through a high-speed Ethernet interface;
step S32, collecting the current running state information of the executing motor, and converting the collected running state information into a corresponding position signal;
in step S33, a control command is generated by parallel calculation by the second multi-core CPU based on the position signal of the actuator and the feature data of the image.
9. A storage means having stored therein a plurality of programs, characterized in that said programs are adapted to be loaded and executed by a processor to implement the multi-vision unit feedback real-time distributed control method of claim 7 or 8.
10. A processing apparatus comprising a processor adapted to execute programs; and a storage device adapted to store a plurality of programs; wherein the program is adapted to be loaded and executed by a processor to perform: the multi-vision unit feedback real-time distributed control method of claim 7 or 8.
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