An opentype liftable two-axis rotary turntable for visual tracking

In order to detect and track objects with color image, an opentype liftable two-axis rotary turntable is designed and developed, which has three degrees of freedom. The turntable uses two-level control system, i.e. data processing level and motion control level. By using the CamShift algorithm for processing the color image supplied by a visual sensor on the turntable, static object or moving object can be extracted and detected. According to the deviation between the detected object in the image window and the center of the image, the turntable automatically regulate its yaw and pitch angles so as to realize vision based closed-loop control and object tracking.