Development Of Moving Target Car And Target Image Acquisition Control System

Some firing tests are required to conduct moving target shooting by GB, there should be no man on the target car during test on account of safety, so the driving direction and speed of target must be controlled under remote control mode. We also need to acquire target images in real time in order to get the test results without delay. We designed the moving target car and target image acquisition control system for the testing site according to above requirements, the system consists two essential parts: the moving target car control module and the target image acquisition module.The target car is based on the structure of a locomotive, which is driven by a high power motor. There’s a diesel generator on the car which supplies power for the motor and its controller, a frequency converter. The core component of our moving target car control module is PLC, which gives instructions to the frequency converter, and then controls moving direction, moving speed, brake and automatic stopping of the target car. There’s a local control chamber on the target car which can realize local automatic mode and local manual mode, and a remote control chamber which can realize remote control mode. The communication between two control chambers is conducted through wireless digital radio under free port mode, the free port mode of S7-200PLC is half-duplex operation based on RS-485.The system also needs to acquire target image in real time. On account of safety, the camera can only be mounted outside the target region, which means that the target images are captured at a tilt orientation and are obviously perspective, so we designed target image processing program to correct the perspective of real-time target image. The perspective correction needs four control points to conduct projection transformation, the initial ordinates of control points need to be known. There’s no detectable control point on the target image, so we detect edging lines by using Radon transform and use their vertexes as control points. The upper computer is written in Lab VIEW and the image processing is realized by calling MATLAB program through MATLAB Script.The proposed moving target car and target image acquisition control system is running safely and reliably, it meets the requirement of the testing site.