| Mankind perceive the outside world by means of vision, and the visual message is the main information of mankind's capturing. The eyes of man accept the stimulus of the visible light in the environment, form the vision on the retina, change from sensitization cell into a neural pulse signal, is spread into the cerebral cortex to deal with and understood by the neural fibre, then control every part of the human body and carry on the corresponding response. The appearance of the computer causes that people attempt to obtain the environmental vision and change into a digital signal with the camera, thus replace the brain with the computer, realize the whole course of treatment to vision information. Thereby, this completely new branch of learning, computer vision, was born.The computer vision research is aimed at making the computer have, by means of one or much image, the capability of cognition surrounding environment information, which will not merely enable machine to perceive the geometry information of the object in the environment, including its form, position, posture, sport, etc., and can describe, store, discern and understand them. Compared with static vision, there is more information that the moving vision includes, and the movement generally exist in the real environment, it is only relative to be static. Frequently, the mankind and other animals know the environmental structure through the moving vision, find the harmful animal or look for preys from the sport.What this paper discussed is to carry on the edge detection to the moving image and get the concrete position of the moving goal, follow to go on voluntarily it, form the vision tracking system. The vision tracking system is the real-time tracking system of the moving goal in succession through the information feedback of the image.Because of the image processing and other reasons, the system has time delays itself. The existence of the time delay will result in serious problems. Many researches show that the existence of a small time delay will decrease the performance of the whole tracking system, even to the degree of causing the system unstable. So, the influence of the time delay to the tracking system is all along considered as the hot research field in which many vital pending problems catch the attentions of many researchers. This paper has been studied aimed at the system being living below the delay situation and how to guarantee that well control effect and the real time. The work of this paper is start off through practice and theory separately and consists of the following parts in detail:1. Manufacturing system deviceThe vision tracking system chiefly consists of vision, control and performance three sections. Vision tracking system's mechanical part consists of two step motors controlling CCD to rotate, mechanical drive moderate apparatus and the regular support part. These two step motors are dominated the CCD upward to bow the head movement and horizontal hunting. For improve to rotate precision and unlikely to reduce speed of tracking at the same time, two suits of reduction gear are designed to decelerate in the interest of 1:5. CCD is fixed on the stand , and adapts to the executive body moving in company , and constitutes the vision system. CCD finish moving goal acquisition, and vision process system deal with the image, receiving the position value in the visual field of the goal, then the controller utilizes position value of the goal to calculate and control step motors, driving CCD to track to moving goal.2. the research of the Control algorithm In the actual application, the sort of control algorithm is a lot. Traditional PID control algorithm is easy and possesses good robustness and high dependability, so it is living in the industry production process control to be using one of the most wide-ranging control algorithm, and especially to use to the certainty control system that may establish the exact mathematical model. But to those targets having nonlinearity and trend change of the ti...
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