一种嵌入式的运动目标控制与自动追踪系统
投稿时间:2024-03-18  修订日期:2024-04-03  点此下载全文
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作者单位邮编
邹 辉 南京邮电大学 电子与光学工程学院 210023
潘 宁 南京邮电大学 电子与光学工程学院 
李 伟 南京邮电大学 电子与光学工程学院 
王增旭* 南京邮电大学 理学院 210023
基金项目:国家自然科学基金(61405096);国家重点实验开放基金(M28035)
中文摘要:针对无人机能更准确和无误的实现监控,设计了一种基于嵌入式技术的运动目标控制与自动追踪系统。本系统由STM32单片机、树莓派、二维电控云台、摄像头模块、OLED屏和声光提示模块构成。采用摄像头模块拍摄获取屏幕角点、激光点等的坐标,利用树莓派进行摄像头实时图像特征提取并将提取的数据打包至单片机,单片机根据图像处理后的特征信息通过PID算法控制二维电控云台驱动舵机完成相应的目标控制或追踪动作,并将有效信息显示在显示屏上和发出声光提示。经测试,本系统能实现高精度的运动目标控制及自动追踪,在自动化控制领域具有广泛应用。
中文关键词:嵌入式  目标控制  自动追踪  STM32  PID  图像处理
 
Embedded Motion Target Control and Automatic Tracking System
Abstract:A motion target control and automatic tracking system based on embedded technology has been designed to achieve more accurate and error-free monitoring for drones. This system consists of an STM32 microcontroller, a Raspberry Pi, a two-dimensional electric control gimbal, a camera module, an OLED screen, and an audio-visual alert module. The camera module is used to capture the coordinates of screen corners, laser points, etc. The Raspberry Pi performs real-time image feature extraction from the camera and sends the extracted data to the microcontroller. The microcontroller controls the two-dimensional electric control gimbal drive servo based on the processed image features using a PID algorithm to achieve the corresponding target control or tracking actions. The system displays relevant information on the screen and provides audio-visual alerts. Through testing, the system has demonstrated the capability to achieve high-precision motion target control and automatic tracking, making it widely applicable in the field of automation control.
keywords:embedded system  target control  automatic tracking  STM32  PID  image processing
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