梅红樱1,2 杜仕博1,2 陈雪鹏1,2 薛远赫1,2 孙棣1,2
孙光磊1,2 陈耀龙1,2 孙树祥1,2 文桦1,2 温华1,2
（1.黄淮学院电子信息学院/驻马店市太赫兹技术重点实验室，河南 驻马店 463000
2.黄淮学院/河南省智慧照明重点实验室，河南 驻马店 463000）
摘要：针对运动目标控制与追踪系统存在的复杂度高、追踪精度低且成本高等问题，提出基于OpenMV的二维云台控制与追踪系统。该系统由运动目标控制和运动目标自动追踪两个子系统组成；通过OpenMV摄像头采集矩形边框和红色激光笔光斑的坐标信息，并输入到STM32-F103ZET6单片机；该单片机结合PID算法控制二维云台旋转，使红色激光笔沿着矩形边框移动，绿色激光笔追踪红色激光笔；当红色、绿色激光笔光斑距离小于设定阈值时，系统即判定目标已被成功追踪，并触发声光报警信号。实验结果表明，该系统具有成本低、耗时短、追踪精度高等特点，为基于计算机视觉的控制与追踪系统提供参考方案。
关键词：OpenMV；二维云台；目标追踪；PID控制；STM32
中图分类号：TP273 文献标志码：A 文章编号：1674-2605(2025)06-0006-08
DOI：10.12475/aie.20250606 开放获取
A Two-dimensional Gimbal Control and Tracking System Based on OpenMV
MEI Hongying1,2 DU Shibo1,2 CHEN Xuepeng1,2 XUE Yuanhe1,2 SUN Di1,2 SUN Guanglei1,2
CHEN Yaolong1,2 SUN Shuxiang1,2 WEN Hua1,2 WEN Hua1,2
(1.Zhumadian Key Laboratory of Terahertz Technology, School of Electronic Information, Huanghuai University, Zhumadian 463000, China 2.Henan Key Laboratory of Smart Lighting, Huanghuai University, Zhumadian 463000, China)
Abstract:Aiming at the problems of high complexity, low tracking accuracy, and high cost in moving target control and tracking systems, a two-dimensional gimbal control and tracking system based on OpenMV is proposed. This system consists of two subsystems: moving target control and automatic moving target tracking. The OpenMV camera captures the coordinate information of the rectangular frame and the red laser pointer spot, which is then input into the STM32-F103ZET6 microcontroller. This microcontroller, combined with the PID algorithm, controls the rotation of the two-dimensional gimbal, causing the red laser pointer to move along the rectangular frame while the green laser pointer tracks the red one. When the distance between the red and green laser spots is less than a set threshold, the system determines that the target has been successfully tracked and triggers an audible and visual alarm signal. Experimental results show that the system features low cost, short time consumption, and high tracking accuracy, providing a reference solution for computer vision-based control and tracking systems.
Keywords:OpenMV; two-dimensional gimbal; target tracking; PID control; STM32
