摘要
在生活中经常可见这种场景,一个目标物体在不断的移动,而在它周围的某个地方,有个摄像头正对准着它,目标物体动,则摄像头也动,目标物体停,则摄像头也停。这就是二维跟踪,在本文里就是所谓的二维定位了。
本文中所谓的二维定位系统,是这样的一个系统,分别在水平和竖直两个方向上个设置一个电机,电机运转带动执行器件动作,执行器件又带动摄像头动作,也就是说摄像头的移动完全依靠电机的运转来完成的。这样通过控制两台电机的正确运转,就可使摄像头改变位置,达到跟踪定位的目的。
设计中选用直流永磁电机作为执行器件,电机X控制了摄像头的水平方位,电机Y控制摄像头的垂直方位,以此组成二维定位系统。整个系统分为给定、控制、执行三个环节。给定环节是由图像处理得到的目标位置的数据。控制环节是以AVR单片机ATmega8为主控核心器件,配以外围辅助电路、电机驱动主电路、位置检测反馈电路组成的控制系统,同时辅以软件程序的配合控制,达到最优控制。执行环节是由电机带动执行器件,以此带动摄像头动作来完成的。由图像处理来数据送给控制环节的单片机,单片机接收此数据,并转化成相应的控制信号,然后送到由开关管组成的主电路,由主电路去控制是哪台电机动作以及是正转还是反转,从而控制了执行环节。当电机转动起来以后,为了达到准确定位,设计了由自制的光电码盘和整形电路组成的反馈环节,反馈环节将电机的实际转过的位移也就是摄像头移动的距离,实时的反馈给单片机,单片机通过比较反馈值与给定值,决定输出控制信号的停止时刻。这样电机带动摄像头在给定的目标位置停下来,达到了准确定位。其间,需要单片机处理的数据都是通过软件编成实现的,这就是软硬件结合控制的思想。
In our daily life we often see the following scene: one objective is always tailed after by a camera somewhere nearby the objective, and when the objective moves, the camera must move, when the objective stops, then the camera stops. Anyhow, the camera is always aimed at the objective, namely the camera is running after the objective. This is what is so called the Two-dimensional Positioning System, which is introduced in this paper.
In this paper, the so-called Two-dimensional Positioning System is such a system as that there is a motor both in the level and vertical orientation respectively. The camera is derived and controlled completely by the motors. And so, given by the proper control signal of the motor, the camera can change its position to achieve the goal of positioning.
DC permanent-magnet motor is elected as the executive appliance in this paper's design, of which motor X is used to control the level orientation, and motor Y the vertical orientation of the camera to form the Two-dimensional Positioning System. The whole system is composed of three parts, which are respectively the given part, the controlled part and the executive part. The given value is some data of the target's location coming from the image processor. Taking the MCU ATmega8 as the core control element, the controlled part consists of the secondary circuit of the MCU, the main drive circuit of the motor, and the location's feedback circuit, meanwhile, in the interest of achieving best positioning purpose, the software is also added to the controlled part. The executive part is mainly composed of motor, which driving the camera moving. The data from the image processor is sent into ATmega8, which is one element of the control part and can transform these data into corresponding control signal that will be sent to the next main drive circuit, which consists of switch components and also decides which of the two should run and their forward-backward running. After the motor accomplishes its start-up, for the pinpoint goal, a self-made photoelectric disk and plastic circuit are used to form the feedback portion, which can send real-timely the feedback signal that shows the distance the motor has moved to the MCU. The MCU then decides the moment when its output should be stopped by compare the given with the feedback value, and by doing so, the camera droved by the motor stop at the objective location by rule and line. Meanwhile, the disposal of the data that need the MCU to deal with is implemented via software programmer, and this is the idea of integrated control by integrating hardware with software.
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