Ultra High-speed Manipulation Using 1ms Vision chip with Massively Parallel Architecture

使用具有大规模并行架构的 1ms 视觉芯片进行超高速操作

• 批准号: 11355010
• 负责人: ISHIKAWA Masatoshi
• 金额: $ 19.13万
• 依托单位: University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (A)
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11355010/
• 关键词: Robot Control; Massively Parallel Processing; Visual Feedback; High-speed Hand-Arm; Dynamics of an environment; Active Vision; semiconductor integration; High-speed Vision; 高速ハンド・アーム; 集積化

For past years we had developed several types of a massively parallel vision chip system and the 1ms sensory-motor fusion system. In the project, our main aim is to extend these our results and to systemize an ultra high-speed manipulation technology based on a new principle using high-speed visual feedback control. As a result an integrated LSI active vision system and a high-speed hand-arm system have been developed. The detailed results are written as following.1.Development of an 1ms active vision system basedn on 1ms vision chip architectureThe 2-axis active vision system with high-speed vision chip has been developed. Using the developed system, an active vision control method is proposed, in which 3D shape recognition and target tracking is achieved in parallel.2.Development of a high-speed hand-arm system with a 1ms vision systemIn order to control a robot hand-arm and an active vision, a realtime DSP processing system has been developed. In the developed system has several processors, and parallel control processing is executed. As a result many numbers of sensor information can be processed in 1ms. A high-speed hand-arm system is controlled using 1ms vision system based on parallel DSP processing.3.Development of an image processing using massively parallel architecture and high-speed processingParallel image processing algorithm is developed in order for high-speed visual servo control. Realtime recognition of a 3D position and a 3D shape using 2-sets of active vision systems is achieved.4.High-speed visual feedback theory based on analysis of dynamics of an environmentA high-speed visual feedback control theory is proposed, in which high-speed manipulation is achieved by observing the dynamics of a target with high-speed vision in realtime. Also a dynamic control theory of a robot using a high-speed vision for a touching task is proposed.

在过去的几年里，我们已经开发了几种类型的大规模并行视觉芯片系统和1ms感觉-运动融合系统。在该项目中，我们的主要目标是扩展我们的结果，并基于使用高速视觉反馈控制的新原理来系统化超高速操纵技术。在此基础上，研制了集成的大规模集成电路主动视觉系统和高速手-臂系统。具体研究成果如下：1.基于1ms视觉芯片结构的1ms主动视觉系统研制开发了基于高速视觉芯片的两轴主动视觉系统。利用开发的系统，提出了一种主动视觉控制方法，实现了三维形状识别和目标跟踪的并行实现。2.开发了具有1ms视觉系统的高速手臂系统为了控制机器人手臂和主动视觉，开发了实时数字信号处理系统。在所开发的系统中有多个处理器，并执行并行控制处理。因此，可以在1ms内处理大量的传感器信息。采用基于并行DSP处理的1ms视觉系统对高速手臂系统进行控制。3.基于大规模并行结构和高速处理的图像处理系统的开发为了实现高速视觉伺服控制，开发了并行图像处理算法。基于环境动力学分析的高速视觉反馈理论提出了一种高速视觉反馈控制理论，该理论通过实时观察高速视觉下目标的运动来实现对目标的高速操纵。提出了一种基于高速视觉的机器人触觉动态控制理论。

项目成果

高速画像処理のワンチップ集積化

单芯片集成高速图像处理

• 发表时间: 2001
• 期刊: 光学 Vol.30, No.1 1
• 作者: 小室孝;石川正俊
• 通讯作者: 石川正俊

視触覚フィードバックを用いた実環境作業支援システム

使用视觉触觉反馈的真实环境工作支持系统

• 发表时间: 2000
• 期刊: 第18回日本ロボット学会学術講演会予稿集 3A12
• 作者: 山田泉;並木明夫;石井抱;石川正俊
• 通讯作者: 石川正俊

CMOS Digital Vision Chip Using General Purpose Processing Elements and Its Applioatopns

采用通用处理元件的CMOS数字视觉芯片及其应用

• 发表时间: 2001
• 作者: M.Ishikawa

中防嘉宏, 石川正俊: "超並列・超高速ビジョンを用いたビジュアルインピーダンス"日本ロボット学. Vol.19, No.8. 959-966 (2001)

Yoshihiro Nakabo、Masatoshi Ishikawa：“使用超并行和超高速视觉的视觉阻抗”日本机器人学第 19 卷，第 959-966 期。

石川正俊, 小室孝: "ディジタルビジョンチップとその応用"電子情報通信学会論文誌C. Vol.J84-C, No.6. 451-461 (2001)

Masatoshi Ishikawa、Takashi Komuro：“数字视觉芯片及其应用” IEICE Transactions C. Vol.J84-C，No.6 (2001)。