FPGA Reconfiguration for Robot Image Processing
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Solution Overview
Problem
In factory automation, Field-Programmable Gate Arrays (FPGAs) with small circuit sizes are limited in executing various types of image processing required for robot operations, as their processing capacity is insufficient to handle the diverse image processing tasks needed in workpiece measurement and inspection processes.
Innovation Solution
An image processing system that includes an FPGA capable of reconfiguring its internal circuit configuration based on the operation area of a robot, using a reconfiguration unit that acquires the robot's position and adjusts the circuit configuration with pre-defined circuit information associated with specific operation areas, allowing for dynamic adaptation of image processing tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the FPGA circuit size is increased to execute various types of image processing, then the processing capability is improved, but the device complexity and cost increase
Solution Approach 1:
The patent applies dynamic reconfiguration of the FPGA circuit configuration based on the robot's current operation area. The reconfiguration unit changes the FPGA's internal circuit configuration dynamically according to which operation area (first or second) the robot is in, allowing the same hardware to adapt its processing capability to different tasks without permanently increasing circuit size.
Solution Approach 2:
The patent makes the FPGA circuit configuration universal by designing it to serve multiple functions through reconfiguration. The same FPGA hardware can execute different image processing algorithms (first image processing in the first operation area, second image processing in the second operation area) by changing its circuit configuration, eliminating the need for separate dedicated circuits for each function.
2Device complexity
If the FPGA circuit size is kept small to reduce complexity, then the device simplicity is improved, but the image processing versatility deteriorates
Solution Approach 1:
The patent uses dynamic reconfiguration to allow a small FPGA circuit to perform multiple image processing tasks. By changing the circuit configuration based on the robot's operation area, the same small hardware can execute different image processing algorithms at different times, achieving versatility without permanently increasing circuit size.
Solution Approach 2:
The patent implements a nested structure where multiple image processing algorithms are nested within a single reconfigurable FPGA circuit. The circuit configuration is selected and nested based on the current operation area, allowing one hardware structure to contain multiple functional capabilities through temporal multiplexing of circuit configurations.
Data Source
AI summary
An image processing system which can execute various image processings in an operation process of a robot is provided. The image processing system includes: a robot for performing a predetermined operation on a workpiece; a photographing unit for photographing the workpiece; an acquisition unit for acquiring a position of the robot; a field programmable gate array (FPGA) for reconfiguring an internal circuit configuration; a storage unit for storing area information where circuit information for implementing predetermined image processing on an image obtained from the photographing unit as information for defining the circuit configuration of the FPGA is defined for each operation area of the robot; and a reconfiguration unit for reconfiguring the circuit configuration of the FPGA with the circuit information associated with the operation area based on that a position of the robot sequentially acquired by the acquisition unit belongs to one operation area defined in the area information.