基于SoC FPGA异构平台的魔方快速还原系统设计与实现

A fast Rubik

摘要:

本设计基于SoC FPGA异构平台,充分利用FPGA和HPS各自的优势,实现了一套高性能的魔方快速还原系统。系统由开发板,魔方还原机械结构,CCD摄像头以及VGA显示器组成。FPGA端实现摄像头图像采集和魔方色块RGB值的获取；HPS端完成颜色识别,运用二阶段算法还原魔方,然后将还原步骤编码之后回传给FPGA,由FPGA中的并行舵机控制模块实现对魔方还原机械结构精准快速的控制,从而完成实体魔方的还原。测试结果表明,对于任意随机打乱的三阶魔方,整个识别以及还原过程在一分钟内完成。

Abstract:

This design realized a fast Rubik"s Cube solving system with high performance based on SoC FPGA heterogeneous platform. The system is consist of a development board, a Rubik"s Cube reduction machine structure, a CCD camera and a VGA display. To make full use of the advantages of each other, FPGA and HPS have different work. Firstly, the FPGA captures the image from CCD camera and gets the RGB values of each face of the Rubik"s Cube. The HPS obtains all the RGB values of all six faces, then recognizes the color to know the initial state of the Rubik"s cube. Finally, to solute the Rubik"s Cube by using the two-stage reduction algorithm. After the solution steps code is passed back to the FPGA, the parallel servo control module in FPGA completes the restoration of the real Rubik"s Cube reduction by controlling the machine structure precisely. The test results show that for any three-order Rubik"s Cube, the whole recognition and restoration process is completed in one minute.