Research On Positioning And Tracking System Of Moving Target Drived By Ultrasonic Motors

Research on the video target tracking and positioning is the hot spot in thefield of computer vision. With the development of computer science andautomation technology, Reserch on the target tracking system combined withthe corresponding hardware to expand our scope of target tracking andprecise positioning of the target have get more and more attention in variousresearch institutions. In this paper,the target positioning and tracking systembased on ultrasonic motor driver are studied, combining with ultrasonicmotor’s advantages of high precision, light weight, high torque at lowspeed, and don’t need a retarding mechanism can be driven directly. Thedesign of a target tracking system drived by ultrasonic motors is completed,with an analysis of the positioning principle of the tracking system. Thisarticle reserchs the target tracker system based on ultrasonic motor andcompleted following work:1. The research made a conclusion of current situation of target tracking.By comparing kinds of tracking algorithms and doing researches on targettracking with OpenCV, We choose the target tracking algorithm based onTracking-Learning-Detection(TLD).Then, by summarizing the advantages ofultrasonic motor and its applications in target tracking, the tracking systemcould be fast response, smaller and high precision.2. According to the model of the target tracking system inthree-dimensional coordinates, homogeneous transformation is used toconvert the coordinate of target in camera coordinate system to earth cartesian coordinate. Then, making a reserch on the tracking system’spositioning precision and find out the main influence factors.3. According to the overall design requirement, the total hardwaresystem is completed, including the total design of tracking system, themechanical design of tracking system, camera chosen and ultrasonic motordouble drive circuit,etc.4. According to requirement of target tracking positioning system, thesoftware design is completed by combining with OpenCV. Software designcontain TLD based on OpenCV and the software of ultrasonic motor doubledrive which can drive two motors.5. The experiment platform of target tracking positioning system is built,which contains iamge processing experiment, ultrasonic motor double drivecircuit experiment and motor positioning experiment, etc.