Development of Semi-custom LSI for Multi Window Vision System

虽然我们人类并不是每时每刻都有意识，但在执行任务的过程中，我们运用了各种各样的视觉注意，寻找物体，监测环境的变化，引导物体的运动，验证一些动作前后的环境情况。如果我们能够提供一个具有快速和灵活的这种视觉关注能力的机器人，机器人与环境的交互将会得到很大的改善。这些相互作用的视觉程序可以被构建，将视觉注意力集中在预期出现关键特征的局部区域。一般来说，注意点应该是多个并并行运行的。为了实现这种视觉关注，我们设计并实现了一种多功能的机器人多窗口视觉系统。为一个注意力处理的矩形局部区域称为窗口。它不是固定在屏幕上的。单个窗口的位置、形状和空间数据采样率可以独立和同时控制。在本研究中，我们首先设计并开发了一个基于TTL lsi的多窗口视觉系统原型。然后，我们为上述窗口控制逻辑的电子电路设计了半定制LSI，并将其实现在40引脚封装的2400门CMOS门阵列上。利用该集成电路，我们还开发了具有56个窗口的多窗口视觉系统。实验证明，该系统为机器人视觉应用提供了快速、灵活的性能。

Although we human beings are not conscious in every instant, we employ so many kinds of visual attentions during task execution, to find objects, to monitor environment changes, to guide the motion of objects, and to verify environment situations before or after some actions. If we could provide a robot with fast and flexivle capability of such cisual attentions, robot-environment interactions would be improved very much. The vision programs for those interactions can be constructed to focus visual attentions onto local regions where key features are expected to appear. Generally, points of attention should be multiple and run in parallel. In order to realize such visual attentions, we designed and implemented a versatile multi window vision system for robots. A rectangular local region to be processed for one attention is referred to as a window. It is not fixed on the screen. Location, shape, and spatial data sampling rate for individual windows can be vontrolled independently and simultaneously.In this reaearch, we first designed and developed a prototype of multi window vision system by using TTL LSIs. Then, we designed semicustom LSI for the electronic circuits of above mentioned window control logic and implemented it onto CMOS gate array of 2400 gates in 40 pin package. By using that LSI, we also developed the multi window vision system that has 56 windows. Experiments prove that the system provides fast and flexible capability for robot vision applications.