基于图像跟踪的云台控制系统设计

Design of PTZ control system based on image tracking

图像目标跟踪、定位在安防、机器人、自动装配等领域有广泛的应用。本文研究了单目视觉+云台的目标跟踪控制系统设计方法。以STM32单片机作为系统微控制器,采用Pixy(CMUcam5)摄像头,通过云台控制,实现了目标的识别与定位。结合串口通信电路,把获取的颜色,位置坐标等信息传到核心处理器中,通过信息分析,结合按键电路的模式切换,将运算结果显示在液晶显示屏上;软件采用独立式分块编程的设计方式,逻辑结构简单清晰,最终实现对采集到的位置坐标进行云台模拟控制。经过多次的实验测试表明,系统各个模块配合良好、实时性好、性能稳定,控制准确的特点,达到了设计要求。

Target image tracking and location are widely used in security,robot,automatic assembly and other fields.In this paper,the design method of target tracking control system based on monocular vision + pylon is studied.Using STM32 microcontroller as the system microcontroller,using PIXY (CMUCAM5) camera to realize the target object identification and positioning,combined with the serial communication circuit,the color,position coordinates and other information obtained to the core processor,through the information analysis,combined with the key circuit mode switching,the calculation results are displayed on the LCD screen;The software adopts the design method of independent block programming,and its logic structure is simple and clear.Finally,the collected position coordinates are simulated and controlled by the pan-head.After many times of experimental tests,it shows that each module of the system has the characteristics of good coordination,good real-time performance,stable performance and accurate control,and has reached the design requirements.