自航模运行轨迹自动跟踪系统研究

On automatic tracking system of motion trajectory for self-propelled ship model

通过对自航模运行特点的研究,研制出一套利用伺服系统驱动的单台摄像机自动跟踪系统,主要由水平旋转伺服系统、垂直旋转伺服系统和安装在伺服系统之上的工业相机组成。系统对图像进行采集和处理,并与伺服系统形成闭环。当船模成像到达图像正中心后,采集当前水平与垂直伺服系统的角度,计算当前船模坐标,并与上一坐标点进行关联,绘制运行路径。通过实际测试,该系统运行稳定,轨迹定位精度满足工程要求。

A set of servo-controlled single camera automatic tracking system is developed through the study ofthe motion characteristics of a self-propelled ship model. The automatic tracking system consists of the horizontalrotation servo, the vertical rotation servo and the industrial camera installed on the servo system. The images arecollected and processed to form a closed loop with the servo system. When the imaging of the ship model reachesthe picture centring, the angles of the horizontal and vertical servo system are collected to calculate the currentmodel coordinates. The motion trajectory is then drawn by linking to the former coordinate point. This system runsstably through the practical test, and its trajectory positioning precision can meet the engineering requirements.