论文--基于树莓派的智能追踪摄像头设计.pdf

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毕业设计(论⽂) 题目：基于树莓派的智能追踪摄像头设计学生姓名学号专业班级黄日超 201320090109 电子 1501 二级学院信息工程学院指导教师（职称）郑丽君(讲师) 年月

诚信承诺书本⼈谨此承诺，本⼈所写毕业设计（论⽂）均由本⼈独⽴撰写，⽆任何抄袭⾏为。凡涉及他⼈的观点材料，均作了注释。如出现抄袭或侵犯他⼈知识产权的情况，愿承担由此引起的任何责任，并接受相应的处分。学⽣签名：年⽉⽇

浙江工业大学之江学院毕业设计（论文）中文摘要基于树莓派的智能追踪摄像头设计 ——基于抵消式追踪修正算法【摘要】随着智慧城市被提出在“十三五”规划，国内所有的副省级城市、76%的地级城市明确提出，智慧安防是智慧城市的一部分。安防可明白得分出三个子行业，安防运营、安防产品和安防产品服务。技术相关被广泛应用于智能交通、楼宇、环保、金融、慧医疗等行业。随着监查摄像头数量指数级别地上升，人力监控效率低下，不能及时调取实用数据的困恼，亟待智能应用的监察技术。本课题全称为基于树莓派的智能追踪摄像头设计。选择搭载特殊系统的树莓派作为系统的核心控制处理器，系统以成熟的 OC 人面识别解决方案组合分析摄像头的信息流，可以进行每秒 10 帧以上的实时动态识别锁定的人物，并利用搭载双轴舵机的云台驱动摄像头转动，实现同步追踪。研究的重点在于利用可控的脉冲电流实时控制舵机正确转动，最终形成一套可实际运行的实物系统与相关控制算法。【关键词】追踪，舵机，识别，脉冲信号 I

浙江工业大学之江学院毕业设计（论文）英文摘要 Design Of Intelligent Tracking Camera Based On Raspberry Pie ——On Offset tracking correction algorithm 【Abstract】 With the intelligent city being proposed in the 13th Five-Year Plan, all the sub-provincial cities and 76% of the prefecture-level cities in China clearly put forward that the intelligent security is a part of the intelligent city. Security can clearly be divided into three sub-industries, security operations, security products and security products and services. Technology-related is widely used in intelligent transportation, building, environmental protection, finance, medical and other industries. As the number of surveillance cameras increases exponentially, the efficiency of manpower surveillance is low, and it is difficult to obtain practical data in time, so the surveillance technology of intelligent application is urgently needed. Based on the design of intelligent tracking camera of raspberry pie, raspberry pie with special system is selected as the core control processor of the system. The system uses Python and OpenCV to read the information stream of the camera. It can recognize special color objects in real time and dynamically more than 10 frames per second, and use the platform with two-axis rudder to drive the camera to rotate, so as to achieve synchronous tracking. The key point of the research is to use the controllable pulse current to control the steering gear to rotate correctly in real time, and finally to form a complete physical system. 【Key Words】 Trackin，steering，recognition，camera，Pulse signal II

浙江工业大学之江学院毕业设计（论文）目录目录 1 绪论 ···························································································································· 1 1.1 研究意义 ································································································································· 1 1.1.1 智能摄像头的原理 ························································································································· 3 1.2 研究目的 ································································································································· 1 1.3 主要研究内容 ························································································································ 1 2 项目的研究过程与重难点 ····················································································· 3 2.1 研究过程 ·································································································································· 3 2.1.1 前期准备 ············································································································································· 4 2.1.2 中期调试与优化 ······························································································································· 4 2.1.3 后期方案定型 ·································································································································· 5 2.2 研究的重点和难点 ················································································································ 6 2.3 拟解决的关键问题 ················································································································ 7 2.3.1 感知层技术 ········································································································································ 7 2.3.2 传输层技术 ········································································································································ 8 2.3.3 控制层技术 ········································································································································ 9 3 采取的研究方案 ······································································································ 10 3.1 项目主要目标 ······················································································································· 10 3.2 研究的基本思路及可行性 ································································································· 10 3.3 具体研究方法 ······················································································································· 10 3.4 系统测试方法 ······················································································································· 11 4 课题研究成果 ··········································································································· 12 4.1 实物研究结果 ······················································································································· 12 4.2 算法研究结果 ······················································································································· 12 5 研究进度总结 ··········································································································· 14 5.1 研究工作进度计划 ·············································································································· 14 5.2 其他需要说明的问题 ·········································································································· 14 结论 ······························································································································ 15 参考文献 ······················································································································· 16 致谢 ······························································································································ 17 III

浙江工业大学之江学院毕业设计（论文）图目录图目录图 2.1 树莓派脉冲 IO 端口与地线电源线分布图 ··············································· 6 图 2.2 基于神经网络原理的特征匹配器 ······························································· 7 图 2.3 基于多个特征匹配器的混合识别器| ·························································· 7 图 2.4 智能识别追踪系统多模块通讯序列图 ······················································ 8 图 2.5 占空比 12.5%的 PWM 波形图 ····································································· 9 图 2.6 占空比 7.5%的 PWM 波形图 ······································································· 9 图 2.7 占空比 2.5%的 PWM 波形图 ······································································· 9 图 3.1 智能识别追踪系统脉冲信号与舵机转角图 ··········································· 10 图 3.2 智能识别追踪系统流程图 ··········································································· 11 图 3.3 盛辉某型舵机脉冲响应差异对比图 ······················································· 11 图 4.1 智能识别追踪系统实物图 ··········································································· 12 图 4.2 智能识别追踪系统算法极坐标图 ····························································· 13 图 5.1 智能识别追踪系统流程图 ··········································································· 14 IV

浙江工业大学之江学院毕业设计（论文）表目录表目录表 2.1 脉冲信号宽度与舵机转角度关系表 ......................................................... 5 表 2.2 UDP 与 TCP 优缺点对比 ................................................................................ 8 V

浙江工业大学之江学院毕业设计（论文） 1 绪论 1.1 研究意义目前我国处于经济转型期和迅速发展的时期，公共安全形势目前来看越发严峻，我国城市对公共安全体系的建设的需求已经十分紧迫。其中，视频监控产品属于安防产品的核心，占比达 51%。2016 年我国监控行业的市场规模达到 2050 亿元，2017 年市场规模为 2500 亿元，同比增长了 20%，从这两年的市场规模发展来看，行业正处正处于快速发展之中，预计 2022 年将保持 15%的增速，市场规模将达到近五千亿。从行业总体前景上看，我国智能安防市场前景良好，国家在政策层面大力扶持安防领域，全民安全理念基本形成。因中国城镇化加大，对家庭、微型企业、超市等机构安防设备的需求量增多，视频监控的民用化已经成为不可逆转的趋势。我国智能安防将朝着前端化、云端化、行业化发展。同时因为人们安全意识不断提高，对防火防盗、老幼看护等需求与期待都有了日益增长的重视，于是不少人就纷纷安装了智能安防系统给自己家里。智能安防摄像头在安防系统中极大程度地替代了人的眼睛，重要性可见一斑。通过上述，可知智能摄像头的定义组成、以及工作场景，然而不同场景下适合应用智能摄像头范围，以及特殊场景下的摄像头所需的调试技巧与控制原理才是当前研究的关键点。只有解决了这两大核心问题，智能追踪才能真正在成本与能效平衡中找到最合理的解决方案。 1.2 研究目的通过研究追踪摄像头的控制理论与调试方法，形成一套能应用于实际的研究成果，帮助人们实际解决看守难的问题。同时沉淀出一套发现问题、分析问题、解决问题的可用来指导自己独立研究复杂控制系统的方法论。并且通过不断梳理复杂的研究过程，从中提取出最优的研究流程与最具普适性的研究方法，将里面具备与他人交流的价值的成果记录成文字的形式作为总结，以供他人参考。 1.3 课题要求及论文内容了解了研究的意义与研究的目的后，本课题基本解决了做什么的问题，下一步就是解决怎么做，以及做成什么样的问题。这一块内容可以拆分为课题的具体要求与论文的具体内容两个部分来讨论。 1

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