Study On Real-time Short-distance Obstacles Detecting System

Nowadays, as the basic and most important technology, real-time image processing has been applied in many fields, not only in science study, but also in the civil and military application. Aiming at the safety problem of vehicle driving, this thesis studies a real-time short-distance obstacles detecting system, presents a design scheme applied in machine vision system to realize the real-time tracking and distance measurement of the obstacles front of and behind the vehicle and feedbacks the information to the users in real time. This system is composed of 3 CPU (AT89C51, TMS320VC5416, AT89C2051). AT89C51, the central processor, realizes the chief controlling, the combination of the information, communication between users and the system. TMS320VC5416 which processes the real-time images, realizes the automatic following of the dynamic target in a larger range and the short-distance measure between the car and obstacles. AT89C2051, controlling the multi-point distance measurement by ultrasonic, realize the short distance measurement. According to the system requirement, the hardware and the interface between MCU and DSP are designed; the applied software of the upper layer and the communication controlling software of the bottom layer are programmed, and both the hardware and the software are debugged successfully. This thesis proves the necessity of study on real-time image processing, the feasibility and its prospect, and then introduces MCU and DSP briefly, the specialty and need of the system. After comparing the main chips, the whole frame is designed. About the distance-measure using ultrasonic based on MCU, it expatiates the principle of the distance measurement system, the hardware and software developments of the signal sending and receiving parts, controlling method of the MCU, and the realization of temperature compensation. About real-time image processing system based on DSP, it expatiates the principle of video capture and controlling, the development of the other modules and the interface controlling method, especially UART and how McBSP simulates I2C, and the way that MCU communicates with DSP by HPI, finally, the designs of voice alarming and displaying on LCD are introduced in details. Above all, this thesis expatiates the comparing of the schemes, the design of the whole frame, developments of the function modules both in hardware and software, realization of interfaces and communication among the modules, anti-jamming measures. Meantime, some circuit schematics, flow chart of the programming and some software source are introduced briefly.