| High speed motion exists in every corner of life,from airplanes and rockets to object vibrations.Studying different high-speed motion targets is of great significance in various fields.Early research focused on contact measurement by installing sensors on high-speed moving targets.With the development of cameras,image measurement methods have emerged because image measurement belongs to non-contact measurement and does not change the motion state of high-speed moving targets,making measurement more accurate.The emergence of pan tilt cameras greatly increases the measurement range,but the rotational speed of the pan tilt motor greatly limits the movement speed of the measured object.In the process of gaze tracking,we hope to simultaneously obtain a larger field of view and more motion information.With the development of electronic technology,laser and other industries,scanning galvanometers have stepped onto the stage of image measurement,and gaze tracking systems have emerged.During the process of gaze tracking,the scanning galvanometer rotates with the movement of the high-speed moving target,keeping the high-speed moving target at the center of the image obtained by the high-speed camera,enabling the gaze tracking system to obtain a clear target image,facilitating subsequent analysis and calculation.Therefore,improving the real-time performance and field of view range of gaze tracking systems is of great significance for studying high-speed moving targets.In this paper,the performance of staring tracking system is the main research object,hoping to achieve the effect of stable and accurate tracking of small high-speed moving targets.The specific work is as follows:(1)For one-dimensional high-speed moving targets,the architecture design and optical path design of the one-dimensional staring tracking system are completed.In terms of optical path design,the one-dimensional staring tracking system is also improved.The traditional parallel shooting mode is changed to the elevation shooting mode.In the simulation experiment,the improved shooting range of the system is verified by changing different experimental parameters,Finally,it is concluded that the shooting range of the improved staring system is much larger than that of the traditional system.(2)For the two-dimensional high-speed moving target,the architecture design and optical path design of the two-dimensional staring tracking system are completed.On the basis of complete and clear imaging,the relationship between the system coverage and various parameters of the system is obtained through simulation experiments.(3)A target tracking algorithm based on HSV was studied to address the characteristics of fast moving targets and significant background changes.After simulation experiments,the algorithm can achieve a computing speed of 478 frames per second in a 1920 × 1080 size image sequence,fully meeting the requirements of gaze tracking systems.In order to control the rotation of the scanning galvanometer,a controller and driver of the vibration motor were designed.The driver can convert the 0 V～3.3V DC voltage emitted by the controller into-10 V～+10 V DC voltage,making it convenient to control the scanning galvanometer for large-scale rotation.At the same time,in order to improve the performance of the scanning galvanometer,an improved sliding mode active disturbance rejection controller is designed to solve the problems of slow response speed,complex parameter tuning,and the problem between buffeting effect and anti-interference ability of Sliding mode control.It is a composite control strategy combining the fast response speed of sliding mode controller and strong anti-interference ability of active disturbance rejection controller,and retains the advantages of both.At the same time,a simulation model based on improved sliding mode automatic disturbance rejection control was built using Simulink simulation software for simulation experiments,which verified that the response speed and antiinterference ability of the improved sliding mode automatic disturbance rejection controller were significantly improved compared to traditional automatic disturbance rejection controllers.(4)The field of view range and the performance of scanning galvanometer of one-dimensional and two-dimensional gaze tracking systems are verified by physical experiments.The experiment shows that the 1% step response time of the scanning galvanometer is 1.57 ms,the time to deflect from the minimum angle to the maximum angle is 18.9 ms,and the following time of the scanning galvanometer is 836 us.Finally,the staring tracking of one-dimensional high-speed moving target EVA foam sponge bullet and two-dimensional high-speed moving target table tennis ball is completed,which verifies the feasibility of the staring tracking system. |
