Design And Implementation Of Underwater Target Tracking System Based On Two Degrees Of Freedom Pan Tilt

Underwater optical vision observation system is an important platform for ocean observation,and is often used in fields such as acquisition of underwater target image data.The traditional underwater observation system is a passive observation or low-efficiency active observation device.In most underwater observation scenes,the relative position of the camera and the target is not fixed.It is difficult to achieve high-efficiency real-time tracking of the target and obtain real-time high-quality video data.Therefore,the research and development of underwater intelligent active visual target tracking observation system has important value for marine resource exploration,and it also has a wide range of application prospects in aquaculture,inspection and military fields.This paper designs and implements a set of active target tracking system based on underwater two degree of freedom pan/tilt.The system is composed of underwater two degree of freedom pan/tilt,underwater camera,surface unit and underwater photoelectric composite cable.This article firstly builds a set of hardware architecture of underwater target tracking system,and develops an underwater two degree of freedom pan/tilt composed of a horizontal rotation mechanism and a vertical rotation mechanism.Secondly,the hardware circuit design of the pan/tilt control board was completed,including the power supply,two-way motor drive,sensor,and communication circuits.Finally,the design of the lower computer software,communication protocol and upper computer software is completed.The lower computer software has designed a visual closed-loop PID control algorithm to improve the real-time performance and stability of the pan/tilt control;the upper computer software has human-computer interaction functions such as video display,recording,sensor data display,etc,and the active tracking of the target is realized through the target detection and tracking algorithm combined with the two degree of freedom pan/tilt.In terms of target detection and tracking algorithms,based on the HSV color space detection algorithm,this paper designs a detection algorithm that fuses contour features,and verifies the accuracy of the fusion algorithm detection through experiments;and based on the Camshift algorithm combined with Kalman filter to design a tracking algorithm,and it has better tracking accuracy and robustness is verified by experiments.Finally,this paper has conducted integrated joint debugging test on the system.The test results show that the system can accurately detect and track the target in real time,and the entire system meets the design requirements.