Design and Implementation of Real-Time Collision Detection ASIC for Machine Tools

Abstract

With the rapid development of technology, mechanical automatic anti-collision systems have become more important. Whether in self-driving vehicles, precision instruments, robots or machine tools‥etc, will have to use this technology. Instant collision detection technology requires complex structures and algorithms to handle large data operations. Previous collision detection was limited by the execution speed of the CPU and was pre-simulated. It takes a lot of time and it is difficult to achieve instant detection. In this paper, the collision detection algorithm is used to implement the triangle collision detection block in the anti-collision detection system that requires a lot of operations on the integrated circuit. The goal of collision detection is to determine whether the two objects in the three-dimensional space intersect. It will effectively reduce the operation of the entire collision detection system to achieve instant collision detection system. In order to improve the computation time of the hardware, this paper simplifies the projection theorem, and the selection strategy of the separation axis will effectively reduce the computation time of the hardware part. The VLSI implementation result under TSMC TN40G CMOS technology reveal that our architecture requires 1961.386K gates while operating at freqency 400MHz.