运动目标控制与自动追踪系统设计  

Design of Motion Target Control and Automatic Tracking System

作　　者：林娟 李瑛 景博星 李斌浩 于天阳 LIN Juan;LI Ying;JING Boxing;LI Binhao;YU Tianyang(School of Electrical Engineering,Lanzhou Institute of Technology,Lanzhou,Gansu 730050,China)

机构地区：[1]兰州工业学院电气工程学院,甘肃兰州730050

出　　处：《自动化应用》2025年第7期40-43,共4页Automation Application

基　　金：2024第八批科技计划科技专员(24CXGA032);2024年度兰州工业学院青年科技创新项目“复杂场景多目标检测跟踪方法研究及系统设计”(2024026);2024甘肃省产业支撑计划(2024CYZC-62)。

摘　　要：以STM32H7单片机为控制核心,采用OpenMV机器视觉模块搭配舵机云台,组成了一种运动目标控制与自动追踪的系统,并通过5 V开关电源为系统提供稳定电流。运动目标控制系统采用OpenMV识别和锁定运动的红色光斑,搭配PWM控制算法控制云台的两个舵机转角,使得运动的红色光斑能在指定时间内实现复位和沿边移动功能。运动目标追踪系统选取OpenMV摄像模块截取和收集图像,并对采集的图像进行一系列数字信号处理,将处理后的图像信息传递给STM32H7单片机。单片机确定红色光斑的位置后,锁定红色光斑,使得控制绿色光斑的舵机旋转,确保绿色光斑能在规定时间内成功追踪到红色光斑,且控制两个光斑的中心距离在3 cm内,追踪成功后发出连续声光提示。This design uses STM32H7 microcontroller as the control core,and adopts OpenMV machine vision module combined with servo gimbal to form a system for motion target control and automatic tracking,and provides stable current to the system through 5 V switching power supply.The motion target control system uses OpenMV to recognize and lock the red light spot of the motion,combined with PWM control algorithm to control the two servo angles of the gimbal,so that the red light spot of the motion can be reset and moved along the edge within the specified time.The motion target tracking system selects the OpenMV camera module to capture and collect images,and performs a series of digital signal processing on the collected images.The processed image information is transmitted to the STM32H7 microcontroller.After the microcontroller determines the position of the red spot,it locks the red spot and controls the servo of the green spot to rotate,ensuring that the green spot can successfully track the red spot within the specified time.The center distance between the two spots is controlled within 3 cm,and continuous sound and light prompts are issued after successful tracking.

关 键 词：OpenMV机器视觉 运动目标控制 运动目标追踪 PWM控制算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]