應用於五軸工具機之防碰撞晶片設計與實作

Design and Implementation of ASIC for five-axis CNC machine

柯佑勳(YU-HSUN KO)

指導教授 ： 朱元三

國立中正大學/工學院/電機工程學系/碩士(2016年)

摘要

隨著科技日新月異，機械自動防碰撞系統變得更加重要。不管是在自動無人車、精密儀器、機器人等等，都會使用到此技術。物體碰撞與否，主要是在三維空間中判斷兩物體是否有相交。由於龐大的資料量運算，導致需要使用到高階的硬體才能達到即時運算的功能。而如果要將此技術普遍化，必定要使晶片達到與高階硬體一樣的速度。

此篇論文以分離軸定理為基礎，實作出積體電路。由於演算法需要大量三角形座標乘法運算，因此降低三角形乘法運算時間乃是此論文重點之一。藉由將一般乘法改為交叉相乘來降低乘法器大小，使操作頻率能夠加快。除此之外加入DI區塊預測是否需要比較分離軸以減少所使用的時間。最後將整個硬體架構做平行化，進而加快偵測碰撞時間。

關鍵字

防碰撞

並列摘要

With the advancement of technology, mechanical automatic anti-collision system becomes more significant. Whether in self-driving vehicles, precision instruments, or robot etc…, will have to use this technology. Object collision or not, is mainly deter- mined by checking if two objects are intersect in three-dimensional space. Due to the huge amount of data calculation, resulting in the need of using advanced hardware to achieve real-time computing. And if you want this technology be generalized, we must make our development as fast as advanced hardware.

This dissertation makes integrated circuits based on separating axis theorem. Since the algorithm requires a lot of triangles coordinate multiplication, thus reducing the triangle multiplication time is one of key point in this paper. First, we change general multiplication into cross-multiplication to reduce the size of the multiplier, so the operating frequency can be accelerated. Second, we use DI block to predict if data doesn’t have to compare. And at last, we use pipeline design to promote throughput of the design.

並列關鍵字

collision detect

參考文獻

[1]　凃咨宸 “防碰撞偵測之硬體設計與實現,”碩士論文，國立中正大學電機工程研究所，2014

[2]　“Separating axis theorem” http://en.wikipedia.org/wiki/Hyperplane_

Separation theorem.

[3]　T. Möller, “A fast triangle-triangle intersection test,” Journal of Graphics

Tools, vol. 2, no. 2, pp. 25–30, 1997.