CAJ | 학술논문

为了实现视觉目标跟踪，提出了一种基于 EtherCAT 总线的视觉目标跟踪平台的设计方案。该平台通过EtherCAT总线技术实现主从站数据通信，主站通过Mean Shift跟踪算法程序求出跟踪目标中心点坐标数据，从站结合DSP伺服控制技术输出伺服控制指令驱动跟踪平台实现视觉目标跟踪。实验结果表明该视觉目标跟踪平台具有较高的稳定性与实时性，满足视觉目标跟踪的要求。
위료실현시각목표근종，제출료일충기우 EtherCAT 총선적시각목표근종평태적설계방안。해평태통과EtherCAT총선기술실현주종참수거통신，주참통과Mean Shift근종산법정서구출근종목표중심점좌표수거，종참결합DSP사복공제기술수출사복공제지령구동근종평태실현시각목표근종。실험결과표명해시각목표근종평태구유교고적은정성여실시성，만족시각목표근종적요구。
In order to achieve the purpose of the visual target tracking, the design of visual target tracking platform based on the EtherCAT bus is presented in this paper. The platform realizes the data exchange of master-slave station through the EtherCAT bus. Master station obtains the coordinate data of the tracking target using the Mean Shift tracking algorithm program. Slave station outputs the servo control instructions to drive the tracking platform to realize the visual target tracking with DSP servo control technology. The experimental results show that the visual target tracking platform has good stability and real-time, and satisfy the requirement of visual target tracking.