The Design and Implementation of the Unmanned Vehicle Fixed-point Tracking System Liang-liang CHEN, Yu-ying LIU and Chun ZHAN

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1 2017 2nd International Conference on Environmental Science and Energy Engineering (ICESEE 2017) ISBN: The Design and Implementation of the Unmanned Vehicle Fixed-point Tracking System Liang-liang CHEN, Yu-ying LIU and Chun ZHAN College of Communication and Electronics, Jiangxi Science and Technology Normal University, Nanchang, China Keywords: OpenCV, Fixed-point tracking, OpenCL, Computer vision. Abstract. The detection and continuous tracking of a certain object is the leading direction and hot spot in the field of computer vision. This design is the CamShift algorithm in the OpenCV transplanted to the OpenCL for DE1-SOC. The whole design is divided into five modules: Video module, audio module, Ultrasonic distance measuring module, Bluetooth speaker driver module and algorithm transplantation module. Finally our car can achieve fixed-point tracking fixed target, and then stop in front of the target 10cm and at the same time to pick up the Bluetooth speaker. Introduction The detection of specific targets and continuous tracking technology is the frontier and hot research direction in the field of computer vision, because of its advanced technology integration, is widely used in many industries, more because of its behind the enormous economic benefits and opportunities, caused a lot of scientific research institutions, academic and business circles pay close attention to. Currently a lot of research institutions, enterprises have invested a lot of energy in the field of research and exploration, and achieved fruitful results[1]. This design is to transplant the CamShift algorithm of OpenCV to the OpenCL platform of the DE1-SOC development board, according to the color spectrum of the selected area of the mouse to carry on the tracking of the fixed target. This design chose the DE1-SOC development board,de1-soc development board provides onboard USB Blaster II JTAG online debugging function, HPS, SD card boot enjoy 1GB DDR3 memory, SDRAM memory, FPGA enjoy 64MB VGA HD display, ADC sampling, 10/100/1000M Ethernet, USBx2 interface, FPGA expansion interface and hardware resource rich extension[13]. DE1-SoC development board system block diagram shown in Figure 1. Figure 1. DE1-SOC system block diagram [13]. System Realization Principle The whole system is divided into five modules: video module, audio module, ultrasonic ranging module, Bluetooth speaker driver module and algorithm module. The overall design structure is shown in figure 2. Figure 2. General design structure. 242

2 The audio module, the video module and the ultrasonic distance measuring module are controlled by the FPGA part, the Bluetooth speaker driver module and the image algorithm transplantation module are controlled by the ARM part. The detailed analysis of the implementation of the principle of each sub module. Video Module The DE1-SoC development board provides a video decoder chip ADV7180, which is controlled by the I2C bus protocol[4,13]. Video display principle as shown in figure 3. Figure 3. Video display flow chart. First detection of external images by TD_Detect detection module, and select the appropriate video standard, as shown in Figure 4, the default video standard for NTSC. Figure 4. TD_Detect module. Secondly, the collected images are decoded by ITU_656_Decoder to generate the YCbCr image format, as shown in figure 5. Figure 5. ITU_656_Decoder module. The next YCbCr signal is decoded to write to the SDRAM, and through the SDRAM to read out, as shown in figure 6. Figure 6. SDRAM module. Finally through the following three modules will be stored in the YCbCr of the SDRAM signal is converted to 4:4:4 image format, and then converted to RGB image format, through the VGA interface displayed on the screen, as shown in figure 7. Figure 7. VGA control module. Audio Module DE1-SoC development board to provide a 24 bit audio decoder chip WM8731, this chip supports the microphone into, line-out.wm8731 is controlled by the I2C bus protocol[6,13]. The realization principle of the audio module is shown in figure

3 Figure 8. Audio module schematic diagram. One of the core modules for the sub module HIGH, is used to store audio files, we store is "YOU and ME" music audio. Ultrasonic Distance Measuring Module Ultrasonic module HC-SR04, it has VCC, GND, Trig, Echo four pins, as long as give Trig a high level of more than 10us, in the time of high level received Echo port is the location of the time, the distance formula: s=t*340/2, we can set the high time to set the distance[7]. The principle of ultrasonic distance measurement module is shown in figure 9. Figure 9. Ultrasonic module schematic diagram. Bluetooth Speaker Driver Module We use the external expansion of DE1-SoC, the USB development board to install the Bluetooth speaker's sending end, and then on the Linux system and our Bluetooth audio connection, so as to achieve the amplification of the audio signal. Bluetooth speaker driver module software flow as shown in Figure 10[9]. Figure 10. Bluetooth speaker driver module schematic diagram. Algorithm Transplantation Module We use the principle of the algorithm a face scan to scan camera scanning to the color of the image, the OpenCV CamShift algorithm (MeanShift algorithm for adaptive) ported to DE1-SoC development board on the OpenCL platform, the video camera to read according to the chroma spectral region of the mouse box tracking, positioning of the white target tracking[12]. Algorithm transplantation module software flow chart as shown in Figure 11[11]. 244

4 Figure 11. Algorithm transplantation Module Schematic Diagram. System Testing The 5 sub modules are integrated together to form a complete intelligent tracking system, the overall effect of the link is shown in figure Figure 12. Positive effect diagram. Figure 13. Side Effect diagram. Conclusion DE1-SoC development board to run Linux, we first need to set the serial port, the development board connected to the computer, to find the appropriate external device. Then execute putty.exe to choose Serial to carry on the serial port communication, carry on the preservation after can close this window. The last is to produce microsd card Image image file, downloaded using win32diskimager.exe Linux image to burn to SD, on the electricity board, open the putty.exe, when the boot system after enter root and press enter to login to the system. DE1-SoC development board to achieve FPGA to ARM/HPS communication. First of all, we need to build a Qsys hardware system. Then you need to write a complete C language code to complete the corresponding function (mainly in conjunction with the development board to complete the address mapping and register configuration and function implementation), and then is to create a Makefile file, the development of a series of rules of the project (according to the case of the file name and address to the file name and address can be changed to their own); Finally open the Embedded_Command_Shell.bat file in the embedded, enter the CD switch path, enter your file location, enter the make can generate a blank document form in the original document executable file. Open the Putty.exe disk can be used to generate the executable files into disk, then the development of on-board power, the corresponding input command to the file into the Linux path of the root. Download the FPGA hardware sof file in Quartus, finally in the serial input terminal "./+ generated file name". We mainly use ARM to control the GPIO FPGA port. A video decoder chip ADV7180 is provided on the DE1-SoC development board, which is based on the transmission of the I2C bus protocol. When the external camera to scan the object will be the first to generate YCbCr format images, and then stored in SDRAM, and then Ycbcr format through the decoding to generate RGB format, through the VGA interface to display images on the display. The DE1-SoC development board provides a 24 bit audio decoder chip WM8731, which is based on the transmission of I2C bus protocol. Through the phase locked loop frequency, the control of 245

5 the sound module, the tone of the fixed music with Maker MIF to generate MIF files stored in ROM, the digital tube display music, through the external Bluetooth speakers for sound amplification. Hardware car module is mainly through the L298 module to drive the DC motor to control the movement of the car module, through the FPGA port GPIO port of the control signal to the car to move the corresponding signal. The main power supply using the battery to the development board, and then through the buck and then to the motor and the corresponding module. Literature References [1] Lazaro J.L.; Garci J.C.; Mazo M. Distributed Architecture for Control and Path Planning of Autonomous Vehicles. 2001, (03): [2] Liu Wanli; Wang Zhankui; Zhu Hua Novel Method of Trajectory Tracking and Posture Stabilization for Mobile Robot. [S.I.]: IEEE Press, [3] Regional objects based image retrieval [A]; Proceedings of the 2011 Chinese Control and Decision Conference (CCDC) [C]; [4] Wu Li. The image sensor line extraction and anti jamming algorithm study and application of [J]. AET, 2012, (02): [5] Shen Huan, Li Shunming, Bai Fangchao, Miao Xiaodong, Li Fangpei. Visual method [J]. Acta Optica Sinica, 2010, (04): [6] Cui Jinjuan. Current situation and Prospect of path planning for mobile robot [J]. Journal of Anyang Teachers College, 2013, (02): [7] Hu Yongshi, Zhang Yang. Research on path planning for obstacle avoidance of intelligent vehicle based on genetic fuzzy algorithm [J]. Journal of Fuzhou University (Natural Science Edition), 2015, (02): [8] Ruan Xiaofang. Research on Fuzzy obstacle avoidance of multi channel ultrasonic robot [J]. Computer Measurement and Control, 2012, (12): [9] Ho Yi, Zhang Yifei. Computer simulation, simulation of [J]. computer simulation, 2013, (02): [10] Wang Minglei. Research on path planning and tracking control of obstacle avoidance in intelligent vehicle autonomous navigation [D]. Hefei Polytechnic University, [11] Zhang Qian. Research on trajectory tracking control method of intelligent vehicle [D]. Harbin Institute of Technology, [12] Mao Xingyun, Leng Xuefei. Introduction to OpenCV3 programming [M]. Publishing House of Electronics Industry, 2015, [13] Terasic technology company. Altera Training materials for DE1-SoC [M]. Terasic technology company,