运动目标控制与自动追踪系统的设计与实现  

Design and Implementation of Motion Target Control and Automatic Tracking System

作　　者：张晨亮 金堃 王文 孙雪丽 ZHANG Cheniang;JIN Kun;WANG Wen;SUN Xuei(Naval Aviation University,Yantai 264001)

机构地区：[1]海军航空大学,烟台264001

出　　处：《舰船电子工程》2025年第3期17-20,54,共5页Ship Electronic Engineering

基　　金：国家自然科学基金面上项目(编号:62371465);山东省泰山学者专项人才工程专项(编号:TS201511020);山东省高等学校青创团队计划(编号:2022kj084)资助。

摘　　要：随着自动化与人工智能技术的发展,运动目标的自动追踪已成为诸多行业关注的焦点。鉴于传统追踪系统存在成本高昂、操作复杂等问题,设计基于MSP430F5529单片机、OpenMV摄像头与四轴电动云台组成的运动目标控制与自动追踪系统。利用OpenMV摄像头进行图像识别,使用矩形检测算法识别白色屏幕和A4靶纸的黑色矩形框,结合几何公式计算出屏幕边线、中心点和A4靶纸的边线坐标值。利用色块检测算法识别红、绿光斑的当前位置坐标。单片机结合光斑坐标和运动目标坐标值,利用数字PID算法计算出控制量,分别独立控制红、绿光斑二维电动云台实现目标点的运动与跟踪,从而实现光斑复位、沿屏幕边缘移动、循A4靶纸外侧电工黑胶带以及绿色光斑自动追踪红色光斑等功能。通过测试,系统展现出了良好的稳定性、迅捷响应与准确度,实现了设计任务要求。With the development of automation and artificial intelligence technology,automatic tracking of moving targets has become a focus in many industries.In view of problems of high cost and complex operation of traditional tracking systems,a moving target control and automatic tracking system based on MSP430F5529 microcontroller,OpenMV camera and quad-axis electric gim-bal is designed.The OpenMV camera is used for image recognition,using the rectangle detection algorithm to identify the black frame on the white screen and A4 target paper,and combining geometric formulas to calculate the coordinate values of the screen edge,center point and A4 target paper.The blob detection algorithm is used to identify the current position coordinates of the red and green light spots.The microcontroller combines the coordinates of the light spots and coordinates of the moving target,uses the digital PID algorithm to calculate the control quantity,and independently controls the two-dimensional electric gimbal of the red and green spots to achieve the movement and tracking of the target point,thereby realizing the functions of light spot reset,move-ment along the screen edge,following the black tape outside A4 target paper,and automatic tracking of the green light spot on the red light spot.Through testing,the system shows good stability,rapid response and accuracy and meets the design task require-ments.

关 键 词：MSP430单片机 OpenMV 运动目标控制 目标自动追踪 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]