CN102495639A - Target tracking experiment device - Google Patents

Target tracking experiment device Download PDF

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Publication number
CN102495639A
CN102495639A CN2011103942646A CN201110394264A CN102495639A CN 102495639 A CN102495639 A CN 102495639A CN 2011103942646 A CN2011103942646 A CN 2011103942646A CN 201110394264 A CN201110394264 A CN 201110394264A CN 102495639 A CN102495639 A CN 102495639A
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CN
China
Prior art keywords
target
motor
experimental provision
computer
adopts
Prior art date
Application number
CN2011103942646A
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Chinese (zh)
Inventor
修春波
Original Assignee
天津工业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 天津工业大学 filed Critical 天津工业大学
Priority to CN2011103942646A priority Critical patent/CN102495639A/en
Publication of CN102495639A publication Critical patent/CN102495639A/en

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Abstract

The invention belongs to a target identification and tracking field and discloses a target tracking experiment device. A USB camera is used as an image acquisition part. Two direct current motors are used as direction and pitching execution components and are used to drive the camera to realize rotational movement. A L298N is used as a driving chip of the direct current motor. A single chip microcomputer is used as a control unit of the direct current motor. An image processing computer realizes communication of upper and lower computers through a serial port and the single chip microcomputer. The target tracking experiment device has a simple structure and a low price. The device can be used in tracking control with a simple environment and can be used as a teaching experiment apparatus.

Description

The target following experimental provision

Technical field

The invention belongs to the target recognition and tracking field, relate to a kind of target following experimental provision, particularly a kind of employing USB camera carries out IMAQ, utilizes the Single-chip Controlling The Cloud Terrace to realize the simple experimental device of target following.

Background technology

Based on the moving object detection and tracking of the Flame Image Process space that has a wide range of applications in fields such as civilian and national defense and military, like video monitoring system, Target Tracking System etc.Common target tracker comprises several parts compositions such as video camera, image pick-up card, computing machine and servo-drive system.When moving target occurring in the track window of system; Video camera is sent to captured image in the computing machine through image pick-up card; Computing machine is tried to achieve the information such as position of moving target through image processing techniques and target recognition and tracking algorithm, provides the servo-drive system steering order, and servo-drive system drives camera motion; Attempt to make that target is in the center of track window all the time, thereby accomplish the target recognition and tracking function.The common price of this type systematic is expensive, is not suitable for being applied to the simple video monitoring system of some 26S Proteasome Structure and Functions, more for example towards beginner's experiment teaching system, the supervisory system under the simple environment etc.

Therefore, design a kind of target following experimental provision cheap, simple in structure, that be easy to secondary development and have certain application value.

Summary of the invention

Technical matters to be solved by this invention is, designs a kind of target following experimental provision, realizes basic target detection, recognition and tracking function.

The technical scheme that the present invention adopted is: a kind of target following experimental provision includes pattern process computer (1), slave computer (2); Motor drive module (3), azimuth-drive motor (4), pitching motor (5); Image acquisition component (6); It is characterized in that: adopt the USB camera as image acquisition component (6), azimuth-drive motor (4) and pitching motor (5) are all selected direct current generator for use, and drive Flame Image Process parts (6) are realized rotatablely moving.Adopt L298N as motor drive module, slave computer (2) selects for use single-chip microcomputer to constitute control module, and pattern process computer is realized data communication through serial ports and slave computer.

The objective of the invention is to make target following experimental provision cheap, simple in structure with simple circuit and components and parts.Satisfy the experimental teaching requirement of relevant Target Recognition aspect, can be applied to have better practicability in the Target Recognition and supervisory system under the simple environment.

Description of drawings

Fig. 1 is one-piece construction figure of the present invention.

Fig. 2 is the driving principle figure of azimuth-drive motor and pitching motor.

Wherein:

1: pattern process computer 2: slave computer

3: motor drive block 4: azimuth-drive motor

5: pitching motor 6: image acquisition component

Embodiment

Below in conjunction with embodiment and accompanying drawing the present invention is done further explain.

As shown in Figure 1, pattern process computer (1) adopts the template matches track algorithm to ask for the deviation of tracking target and track window center, and deviation is sent to slave computer (2) through serial communication.Slave computer (2) adopts pid control algorithm to provide steering order according to the deviation size; Driving image acquisition component (6) through motor drive module (3) control azimuth motor (4) and pitching motor (5) rotates; To reduce deviation; Promptly constitute closed loop, form diaxon servo-actuated tracking control system through image acquisition component (6).

Template matching algorithm adopts the absolute average algorithm of gray scale difference.If template A size is M * N, the distance B of onesize image B and A is calculated as by formula (1) in the track window:

D ( A , B ) = 1 c Σ i = 1 M Σ j = 1 N | a i , j - b i , j | , c=M×N (1)

A wherein I, jAnd b I, jBe respectively the gray-scale value of template image A and areal coverage image B, the minimum place of D is match point in the track window.In order to reduce calculated amount, guarantee the real-time of target following experimental provision, matching process is divided into two processes of thick coupling and smart coupling.The mode that promptly at first in track window, adopts capable at a distance from L, separated L to be listed as is carried out the dot interlace coupling and is calculated; And then in the hope of optimal match point be the center; Carry out the pointwise coupling in the scope of length and the wide 2L of being respectively and calculate, can improve matching speed thus, guarantee the real-time performance of system keeps track.

Azimuth-drive motor and pitching motor are all selected direct current generator for use, adopt the chip for driving of L298N as direct current generator.

The circuit theory of driving circuit and orientation and pitching motor is as shown in Figure 2, adopts the rotation of P2.2 and P2.3 control azimuth motor, the rotation of P2.4 and P2.5 control pitching motor.2 Enable Pins are connected respectively to the corner of two motors of pwm signal output terminal control.

Pwm signal adopts the inner timer of single-chip microcomputer to produce.Timer is operated in the timing mode of mode 1 (16 digit counter), changes the dutycycle of pwm signal through the initial value that changes timer.

The invention has the advantages that control device is simple in structure, with low cost, volume is little, and is easy to operate, can realize the target recognition and tracking function of double-axis tracking system, can be applicable in the tracking Control of simple environment, also can be used as experiment device for teaching and uses.

Claims (6)

1. a target following experimental provision includes pattern process computer (1), slave computer (2); Motor drive module (3), azimuth-drive motor (4), pitching motor (5); Image acquisition component (6) is characterized in that: pattern process computer (1) adopts template matching algorithm to carry out Target Recognition, and realizes data communication through serial ports and slave computer; Error signal is reached slave computer (2); Slave computer (2) drives azimuth-drive motor (4) and pitching motor (5) through motor drive module (3) and drives Flame Image Process parts (6) and realize rotatablely moving reducing error, and carries out closed loop through image acquisition component (6), realization target recognition and tracking function.
2. a kind of target following experimental provision according to claim 1 is characterized in that described slave computer (2) selects for use single-chip microcomputer to constitute control module.
3. a kind of target following experimental provision according to claim 1 is characterized in that, described azimuth-drive motor (4) and pitching motor (5) are all selected direct current generator for use.
4. a kind of target following experimental provision according to claim 1 is characterized in that, described motor drive module (3) adopts the L298N chip to constitute.
5. a kind of target following experimental provision according to claim 1 is characterized in that, described image acquisition component (6) adopts the USB camera to constitute.
6. a kind of target following experimental provision according to claim 1; It is characterized in that; The template matching algorithm that described pattern process computer (1) adopts is the absolute average algorithm of gray scale difference; For guaranteeing the real-time of system, carry out earlier mating at a distance from multiple row scanning at a distance from multirow, near Chosen Point, carry out the point by point scanning matching mode again and realize.
CN2011103942646A 2011-12-02 2011-12-02 Target tracking experiment device CN102495639A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011103942646A CN102495639A (en) 2011-12-02 2011-12-02 Target tracking experiment device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011103942646A CN102495639A (en) 2011-12-02 2011-12-02 Target tracking experiment device

Publications (1)

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CN102495639A true CN102495639A (en) 2012-06-13

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CN (1) CN102495639A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0418613A (en) * 1990-02-19 1992-01-22 Aoi Sutajio Kk Automatic tracking projector
JP2001257927A (en) * 2000-03-09 2001-09-21 Technosonic:Kk Object tracking device
US6359647B1 (en) * 1998-08-07 2002-03-19 Philips Electronics North America Corporation Automated camera handoff system for figure tracking in a multiple camera system
CN1449186A (en) * 2003-04-03 2003-10-15 上海交通大学 Abnormal object automatic finding and tracking video camera system
CN100498821C (en) * 2007-07-06 2009-06-10 哈尔滨工程大学 Infrared image real-time target identification and tracking device for movement background, and the method
CN201514565U (en) * 2009-07-22 2010-06-23 中国科学院沈阳自动化研究所 Laser weld seam tracking device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0418613A (en) * 1990-02-19 1992-01-22 Aoi Sutajio Kk Automatic tracking projector
US6359647B1 (en) * 1998-08-07 2002-03-19 Philips Electronics North America Corporation Automated camera handoff system for figure tracking in a multiple camera system
JP2001257927A (en) * 2000-03-09 2001-09-21 Technosonic:Kk Object tracking device
CN1449186A (en) * 2003-04-03 2003-10-15 上海交通大学 Abnormal object automatic finding and tracking video camera system
CN100498821C (en) * 2007-07-06 2009-06-10 哈尔滨工程大学 Infrared image real-time target identification and tracking device for movement background, and the method
CN201514565U (en) * 2009-07-22 2010-06-23 中国科学院沈阳自动化研究所 Laser weld seam tracking device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
由霖等: "《基于模板匹配的目标识别算法》", 《中南大学学报(自然科学版)增刊1》 *

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Application publication date: 20120613

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