SU1344432A1 - Apparatus for recognizing articles - Google Patents

Abstract

The invention relates to robotics, can be applied to order and prepare the working environment of a robot in solving problems associated with product recognition, and allows you to expand technological capabilities by ensuring the orientation of products. The device contains triggers, a switch, a matrix of sensors, an AND circuit, a counter, registers, a comparison circuit, a reversible counter, an OR circuit, a rator, and a clock generator. 2 Il. with 4 4 4 SO Yu

Description

And; (() D) refer to 1 i-. o i rxiHiM and Mo / Ki T odiTb prnmsnek l, in the NPP lochngin and the preparation of a working c) roPog; Ii) H w- sheiii halls, sv; data from orn (M1gatsi (th and:) - L (. 1I11) () th form.

The goal of the invention is to increase the technical capacity of (c) () capabilities by providing in-product products.

FIG. I shows the fuppionalpa device; on ijiHr. 2 circuit switch.

Us1r () contains m1igger I, commutator 2, matrix 3 photosensors, circuit 4, account 1, screen 5, a) regimens 6 and 7, circuit comparison, scheme I. reversible detector K), trip 11, schemes 12 1. And, counter 14, scheme 15 I.C., scheme. Ui 1Na And, decipher () p 17, counter 18, generator 19 clock pulses and a circuit. mu 20 I.

To the input of the installation in "1 t |) I1gera I connected P1n | Form 1IonPi1 Input switch 2, Inf () |) MAI () The primary inputs of which are connected1 1 with the outputs of the matrix of 3 sensors, and the output of the hack sigpa.ch with the first input 4 of the circuit1 1 and 4, the second input) D of which connect pins with trigger output 1, and output - with a counting input of a binary counter 5, a counter 5 p 1 DK; 1K) are assigned to the corresponding nuim inputs) and D), B1) 1 inputs which are; connected to the inputs of the relay 7 and cxeMi.i 8 comparison. Outputs of reg) and 7 are also connected to the corresponding inputs of the comparison circuit 8, c1) The KOTopoii control unit is connected to the control: 1 to 1) or 1 input) of the register 7 and the first input AND) of circuit I 9.

The zeroing inputs t) of the ngger I, counter 5 and pel ister G) are supplied with a clock signal from the output of switch 2, which also switches to the niai OBoi switch of the rotary drive (register input 6) Hiii () () |) MaiuionHi iii signal: polling sensors from switch 2.

Inversn1, p1 trigger output I I connected to the third g of the course of the circuit And 4, vgor, 1m input circuit And 9 and the second input circuit And 12, ir mo | A trigger of the trigger I I with a BTopiji.M input of the circuit AND 13, a pair of inputs 1 of the circuits AND 12 and 13, is fed to the clock inara from switch 2, and nx from the switches 2. correspondingly 1GO with counting inputs of counter 14 and reversing counter I), control input K () that) og () is connected to the output of circuit AND 9, and input with corresponding (Uuni1nn B1) 1 counter inputs 14.

 but; gozhite.tg, n () T () re on; The 14-year-old gatekeeper is connected to the installation input in “1 channel 11a 1 1 yy to the first input of switch 2, the output of the gateway; yr, linear () re1G () of the terminal C) is connected to the inputs of zeroing regpstra 7, grigger II, counter 14 and the second | 1mg in the hole of commutator 2. (lglgal e denies the (I do not (1epo,: gpe counter 10 serve: acke siglga tom kopchaggi orientapni

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product and geeregn.) yes the device is in its original state. A sig1al of the device start is fed to the third input of the com switch 2.

Switch 2 (FIG. 2) contains a 19 clock and mnule generator connected to the 1st input of the AND circuit 20 output. The control sigal "Start is fed to the second input cx (M) 1 and 20, the output of which is connected to the input of the counter 18, the output of the circuit And 20 V. also for the output of the clock

0 sigla: 1a switch. The outputs of the counter 18 pod / GyuchenG) to the corresponding inputs of de-irrnifiparopa 17. The decoder 17 has n-f-l in 1) Ghodov, I de yy number opravshimyv.kh sensors matrix GG) 1. The grich (rH-1) th output is the 5th output of the Siphrosig NalA A pgagorot, and d) d, 1 hol., corresponding to the well, it does not activate, which provides for blocking the passage of the inf (.) rma-irrioiuroii) sigl1a . 1a of the zero state of the counting state 18.

Switch 2 includes And 16 diagrams for the number of OgregiG1vaih matrix sensors, ner- () DG) Г KOToprjix are connected to corresponding crgpc) ГГ1ими gn.tkhodami de 11foratora 17. ag () rg) 1st inputs are the anion inputs of the switch and are connected to the corresponding output of the matrix of 3 photodiags, the gaits of schemes AND 16 are connected to the scheme I.LI 15, the output of which is the information output of the block.

Vi TpoiicTBo for Product Recognition (Aboriginal), gel.

In pskhodgom. S (for example, all the triggers and the counter of circuit 1 are reset to zero, the signal is unpaused (not shown), the rotation drive is lost (F1grog ap, the information signal is e 5 switchboard) and 2 is absent. : a "Switch 2 start. 1 - is a 1 st. interrogative polling of the state of the sensor in the order of their placement. By the trigger - |) I and) register 6 through k () mmutat (.) p 2 begin See informational signals from the latches, ||) and mean values of “I in case of a darkened sensor, and“ O - in the case of sensor illumination. Circuit P 4 receives a clock signal of sensor polling, generated by switch 1 for each interrogation of 5 sensors.

Interrogation of sensors was degraded by switch 2 at a frequency set by the generator of 19 clock pulses during the start of the start-up signal of the clock pulse through the AND 20 circuit and counter 18, which provides division of the frequency from the generator with the division factor n + 2. g de p the number of sensors surveyed. The count from counter 18 is converted by a decryptor 5 with a torus 17 into an IGOSITION code containing “I in one bit, which is made into a humer of the dispatched sensor. The code from the depigrator 17 is fed to the P 16 circuits.

The information signal flow from the sensor through the OR circuit 15 to the switch 2 output changes. The code changes in the counter 18 cause the movement “1” at the outputs of the decoder 17, thus drying the sensor matrix from the 1st and the y. The occurrence “1 in the discharge of the de- spreader 17 causes the emergence of the tag sync signal at the output A of the switch 2, according to which the step is processed by the drive of the turning mechanism. The polling of the sensors is accompanied by a clocking signal on switch 2.

The appearance of the first logical "1 from the information output of the switch 2 at the input of the trigger 1 causes it to go to one state, the AND 4 circuit opens, the polling clock signal starts to flow to the counter S, and each signal indicating the value" 1 provides overwriting the contents of counter 5 into register 6, and after all the sensors are polled, the code in register 6 corresponds to the number of sensors placed between the first and last darkened sensors, inclusive, and does not depend on the presence of “O in the sequence of signals, h This is possible when a part of the sensors in the plane of the projection of the product turns out to be illuminated due to the inconsistency of their installation of the product configuration.

At the end of the survey of all sensors, the switch issues a sync signal A tag, but with which the central drive ensures the position of the product in the orientation plane by the increment angle of rotation. The signal A also through the AND 12 circuit, an open "1 from the inverse output of the trigger 11, arrives at the counting input of the counter 14, the number of bits of which corresponds to the number of rotational tags, thus, when the product is fully rotated, the counter 14 overflows. When the device is in operation, the current code from register b is compared with the register code 7 in comparison circuit 8, and in case of excess code from register 6, register code 7 is overwritten into register 7 on the falling edge of the excess signal from the output of comparison circuit 8. At the same time, the contents of counter 14 are overwritten into counter 10. Overflow of counter 14, meaning the product rotates 360 °, causes flip-flop 11 to one state, and on the inverse output of the latter appears "O blocking the passage of the clock signal through the AND 4 circuit, signal And through the AND 12 circuit and the output signal of the comparison circuit 8 through the AND 9 circuit. "1 from the direct output of the trigger 11 prevents the passage of the A signals from the switch 2 through the AND 13 element to the pe0

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version counter I). The product of Oripetier Routes after working through the ChPS, 1a niaroB. equal to the code recorded in counter 10, this generates a sigpal overflow of counter 10, translating trigger 11, counter 14 and register 7 to its initial state, blocking the passing of signals from the generator 19 clock emulses in switch 2 and arriving as a signal finishing work on the equipment of the complex. After this, the product can be removed and the device is ready for orientation of the next product.

Claims (1)

Invention Formula A device for recognizing products, comprising a matrix of photo sensors, a switch, a control unit and an extra mechanism, characterized in that, in order to expand technological capabilities by providing orientation of the products, the control unit contains a comparison circuit, a reversible counter, registers, counters, triggers and circuits And, moreover, the outputs of the matrix of photosensors are connected to the nerve inputs of the switch, the first output of which is connected to the first input of the first circuit AND, the second input connected to the output of the first trigger, nepBbn i in One of which is connected to the first input of the first register and to the second output of the switch, the third output connected to the second input of the first trigger, the first inputs of the first counter and the second and third And circuits, and the second input of the first register, the third inputs of which are connected to the outputs of the first counter, the second input connected to the output of the first circuit And the third input connected to the first input of the fourth circuit And to the second input of the third circuit And to the first output of the second trigger, the second output of which is connected to the second input of the second And, the output connected to the first input of the reversible counter, the second inputs of which are connected to the first outputs of the second counter, the first input connected to the output of the third And circuit, and the second output to the first input of the second trigger, the second input of which is connected to the second inputs the switch and the second counter, with the output of the reversible counter and with the nerve input of the second register, the outputs connected to the first inputs of the comparison circuit, the second inputs of which are connected to the outputs of the first register and the second inputs of the second register, The recipe input is connected to the output of the comparison circuit and to the second input of the fourth AND circuit, the input connected to the third input of the reversible counter, and the switchboard to the third output connected to the actuator. 1 Fig 2 Editor L. Veselovska Order 4562/9 Compiled by E. Khachaturova Tehred I. VeresKorrektor I. Erdeyi Circulation 538 Subscription VNPIPI State Committee C (X R) for Inventions and Discoveries 1 13035, Moscow. Zh- 35. Raushsk nab ,, l. 4/5 Production and printing enterprise, Uzhgorod, st. Design. four