DE2026784C - Automatic curve tracking system - Google Patents

Description

3 4

repeated repetitive position, the scanner 20 generates information again

the same curve branches and thus to a signal about the position of the curve or the image,

Drive disruption of the NachfahrsystcTis could result in this work cycle is constantly repeated with the

easily avoided with certainty. automatic tracking of the curve. That with everyone

In a further advantageous embodiment, the digital signal generated by the scanning process can reach a

Detector during the scanning eiue not shown electronic computer or the like.

go through a closed search line and the blocking level.

until that scanning process is switched on.

ben, in which the number of detectors determined by the scanner 20 has the detector 21, dei

ten curve crossings is less than three; this io color values or brightness values of the image surface in

results in a particularly favorable, structurally simple electrical signal converts, as well as a work stage 22

Control of the locking level. for processing the output signals of the detection

Expediently, an integration gate 21 is also provided. The detector 21 is, for example, a photostage, which is the distance between the electrical detector at which a light beam is thrown outwards from the junction and the respective setting 15 of a light source and this position the vectors representing the detector are summed; Light beam through the image area to a photodies allows with extremely low construction costs the electrical converter is thrown back, which returns the detector to the branch point, and. converts it into an electrical signal,
at the same time shows a zero crossing of the vector sum The working stage 22 converts the waveform of the following one branch of the curve that an "o output signal of the photoelectric converter becomes a closed branch of the curve, that is, a curve evaluation of" white "or" black "in such a way that loop, has been passed through, whereupon a memory that a binary output signal "1" or "0" clears the data set for the second time, where z. B. a binary one a white level reached branch point and thus a repeated and a binary zero corresponds to a black level. Following the same curve branch prevents as The drive 30 has the two step motors. ren 31 and 32 and a step circuit 33, the

In a further advantageous embodiment, these motors contain depending on an output

Evaluation stage controls a memory for storing the signal from the computing device; the engine 31

Location of the branch point and the direction which is still used for gradual shifting in the .Y direction

curve branches to be followed; this allows 3 <> and moves a piece of paper that forms the picture surface

the number of times to save the data set over strips with the image to be traced or dei

the junction required storage spaces very traced curve over a drum. Dei

keep it low. The evaluation stage motor 32 is preferably used for the gradual shift in

equipped for storing several data sets, da- F-direction and moves the detector 21 parallel to i

with also curves with a large number of junction points 35 drum axis, the detector 21 so arranged

len can be processed. is that its light beam aperture is on the axis dei

The invention will now be based on an off-drum. Each of the motors 31 management example in connection with the drawing and 32 moves by a certain Winkelgen explained in more detail. It shows step further when he receives an impulse from the step

F i g. 1 is a block diagram of a 4 ° circuit 33 according to the invention, whereby a relative movement

formed curve tracking system, between the paper strip and the detector 21

F i g. 2 a diagram for explaining the scanning over a certain path, which a *

Process of the detector as well as the Detek step of the engine, z. B. 0.1 mm, corresponds to

tor output information signals, the computing device 10 of Fig. 1 contains the

3 shows an example of a representation of a plurality of memories for storing the data for the system Fixed reference directions for determining the operating program required afterwards, the decoding direction of travel of the detector, device 12 for reading out the program

FIG. 4 shows a diagram similar to FIG.

However, the curve has a branch point, the output signals of the decoding input

Fig. 5 is a block diagram of an assembly, the 5 ° direction 12 working sequence control 13 zui

different work stages of the system of Fig. 1 Control of the work sequence of different next-

forms, based on the construction stages described, and finally one

F i g. 6 shows the schematic structure of the data record group of registers 14, which are composed of a number before

Memory according to FIG. 5, consists of shift registers connected in series. the

Fig. 7 is a diagram for explaining the working 55 most registers are used for temporary storage

wise the tracking system in tracking a signal that the input-output circuit If

Curve that has several branch points. is entered or submitted by her, while the

The system of FIG. 1 has the arithmetic unit other shift register constants, operating modes device 10, the scanner 20 and the drive 30. The memory addresses and return addresses store the scanner 20 generates information ^{signals about the position 6o} actuated. Furthermore, it is for a driving curve and transmits this information - the execution of arithmetic operations - a resign to the arithmetic unit 10, which it is provided in circuit 16, which is suitably processed by output signals and controlled in digital signals from registers 14. The choice is yours. The drive 30 is operated as a function of the ⁶ 5 operating mode by an output signal dei the digital signals and adjusts the scanning sequence control 13. The computing device 10 contains stcr 20 in a certain Nachfahrrichtimg and also the control counter 17. the one address de; via a certain follow-up step. In the new memory if determined. With the nintiabe issue

5 6

circuit 15, the control panel 18 is also shifted, when using reference directions

The switches and display devices for control are correct. In Fig. 3, there are eight reference directions

connected to the system. set in clockwise order as "1", "2" ...

The system of Fig. 1 operates as follows: "8" are coded. Assume that the point Pn represents

When the slide pocket 5, not shown, is depressed, the initially determined follow-up direction is shown, so on the control panel 18 various devices begin to work with the reference direction "1" assigned to this direction. Thus, the detector 21 begins the down and thus a button 20 corresponding to direction "1" will follow a curve or an image according to the program stored in the output signal of the register 14 via the input memory 11. Output circuit 15 is transferred to the step-keeping 33 of the drive 30. The location information of the way on a closed search line along the point P _x - is stored in the registers 14; since the circumference of an essentially square area, according to FIG. 2, forty search points are scanned on which the curve to be traced lies. This scanning process, each of which is assigned a code number, is controlled by the step circuit 33 through the code number of the point Pn , and corresponding control of the stepper motors 31 and 15 this information is used in the subsequent scanning 32 of the drive 30. The number of search points F i g to be scanned in the process as the preceding follow-up direction, a scanning process. 4 shows a diagram to explain that any selection can be made on the control panel 18. In the follow-up process, if the curve 47 has a branch example in FIG. 2, there are 10 search points in place in the form of the fork 48. In this the A 'direction and 10 in the y direction, so that ao case, information signals are generated which, in themselves, have a total of forty search points to be scanned for each scan that the curve is located on the search points P35, / '36, process results. P37 as well as Pu, Pn, P \ s and P ₇ , Pb, P? located. Like in

The operation of the various cases of FIG. 2 determines the computing device 10

Nen construction stages when following a characteristic one belonging to the points P35, Pn and Pe

see curve described on the paper strip, »s signals as the mean value signals of the signal groups,

According to FIG. 2, the detector 21 scans during one and these mean value signals are

Scanning process the search points Pi, Pg ... / Nn des tion over the previous tracking direction

Strip of paper. The in F i g. 2 drawn in to determine the new follow-up direction,

ßen or black dots indicate that the Ar- Then a signal is sent to the drive 30 for through-

at the individual search points a guide of the follow-up process in the new one

binary one or zero generated. According to Fig. 2 follow-up direction are transferred. In that case, get

the points P ^, Pn and Pia as well as P35, Pu and P37 on one besides the information about the descendant

the character to be followed or the direction to be followed and the previous follow-up direction

the curve 47. The curve 47 is also information about the point Px. This shows,

from those from these two point groups as well as from 35 that a curve fork or intersection is present

In- received from the previous scanning process, whereby the computing device 10 is caused

formations tracked. The two groups carry out a modified work cycle at the same time. Wenr

of the following binary signals, which follow a curve over-

The direction of travel can be reached from work level 22 using a direction code »2, 2, 1

is identified via the input-output circuit 15 of the arithmetic 40 3, 1 ... «, then these put In ·

device 10 to the register 14 and there are formation signals representing the shape of the curve when the

saved. The follow-up steps stored in these registers are kept constant.

Information is processed according to the predetermined procedure described above

The program is now processed by the computing circuit 16 on the basis of the block diagram of FIG

and processed. From these two signal groups * 5 explained in more detail.

In Fig. 5, the light source of the detector 21 is ai

Curve 47 located points Pn and P-.m determined. the power source 221 of the work stage 22 is connected

For this purpose, the middle between sen. The work stage 22 contains the same chip

of the maximum and minimum characteristic number lying voltage amplifier 222 and that of the amplifier output

Characteristic number of each group of curve points 50 controlled discriminator 223 for evaluating voi

to be determined. The key figure obtained in this way will be in white and black. As described above, lie

saved in the registers. The points Py and Pm at the output of the discriminator 223 have a signal "1"

represent the direction in which the curve 47 leads when the search point is white, during the off

runs, and one of them results in the new follow-up aisle signal “0” when the search point

direction. To determine which one on the 55 is black. The output signal of the Diskrimina

Points lying in the middle of the curve, the new trailing gate 223 arrives at the memory 101 of the rake

direction, the message will be correct in the 10th direction that is used to store the previous one!

Registers 14 stored and that which serves on the information signal. The output signal ge

The points lying in the middle of the curve, the preceding one, also reaches the comparison stage 102, where it is compared with the

the follow-up direction comes closest to the 60 output signal of the memory 101 compared wire

averaging of the new follow-up direction is used. The comparison stage 102 produces an output

During the next scanning process, this “1” signal is fed into line 103 if di

treatment is treated as the previous follow-up direction. Information changes from white to black, and de

In the same way, a follow-up blocking line 104 is supplied when the information vo direction is traversed. In general, deT is mean- ⁶ 5 black to white changes,

point of the search surface on curve 47. The output signal "1" in line 103 becomes

How the memory 105 is stored will now be described with reference to FIG. 3. At the same time spcichei

the tracking direction in which the detector 21 moves the memory 105 also that of the pin counter 10

■ >>

7 8

transmitted position information of the detector 21. This a scanning process detected a junction

corresponds e.g. B. the operating state in which is. First, it is assumed that the surface 51

the detector 21 from point P ″ to point Pi which is scanned at a certain time and which

Fig. 4 is moved. Point α, from the curve points a, and a ₂ for the

When the detector 21 moves on and the 5 new tracking direction is determined. The curve comparison stage 102 a change from black to tracking runs in the direction of the arrow 52, and white detects that an output signal "1" arrives over the next scan on the surface 53. Now the line 104 to the mean value circuit 107. These are the Curve point c & ,, b ₂ and b ₃ sampled, corresponds to z. B. the movement of the detector thus increases the number of the determined curve point Ρ »to point Pw in Fig. 4. Thereupon be ίο crossings from two to three. In addition, the correct circuit 107 selects the mean value between curve point fc to determine the new direction of travel stored in memory 105 and the corresponding position information and the current position information are stored in memory 124 during the mation of the Detector 21. In this way, the curve point b _{2 represents} the new follow-up blocking direction, position information of the 15 located near the center of the curve, and the corresponding information is determined at the point. This point corresponds to example memory 125 is stored. The information about as Pa in Fig. 4. The mean value signal is in the third curve point b. \ Arrives in the memory of the memories 108 to 111, e.g. B. in 108 stored rather 126.

chert. If further mean value signals are during the The output signal of the memory 124 is the

of a scanning process, they are fed to ao circuit 131 , which receives the output signal of the

further memories, e.g. B. 109, 110, stored. Memory 124 either directly or with the help

Some of the mean value signals arrive at the predetermined eight reference directions in FIG. 3 equalization stage 112, where it with information from the Re- to determine the new follow-up direction discarded register 113 for the previous follow-up direction and emits a corresponding output signal in and of the register 114 for the previous line 132. If a follow-up blocking direction is compared, as assumed above, and the branch point is present, the corresponding comparison result is successively sent to the storage signal via lines 133 and 150 to 115 to 118 for the deviations from storage in the branch-off data record storage prior to the follow-up device as well as to the 134. The information memory 119 to 122 stored in the memory 134 for the deviations from the 30 tion gives both the location of the junction and the previous follow-up blocking direction transmit the direction of the branching curve. This and stored there. The information at the memories 115 to 118 is required by the detector to return to the transmitted signals arrive at the minimum value junction when the end of the detector 123 currently being pursued, which determines its minimum value. The curve branch is reached. For this purpose, the information of the corresponding signal, which results in the minimum value, represents the coordinate differences between the speaking memory 108 to 111 is thus assigned to the current position of the detector and the position of the curve crossing that the previous branch point represents, with this signal at comes closest to any trailing direction. Is corrected in the follow-up process. In the same way, the minimum value detector 123 establishes information about the branch of the curve to be followed. The mini-40 stored in the memories 119 to 122 is determined by the direction signal represented by the detector during the sampling value, around the branching direction determined for this minimum value process The memory 108 to 111 is then selected from the scanning process. These direction signals arrive at the surface 53 in a shifted manner onto the surface 54. As with the memory 124 for the new tracking direction and area 53, when the area 54 is scanned, three memories 125 for the new tracking blocking direction. 45 curve points recorded. In this case, however, dei information about other directions reach at point C3 the other branch curve 55 is such that further storage 126 and 127. The output signal is zusätzdes upon a consideration of the point Cs memory 124 is z. B. on line 128 borrowed to point 63 a double detection of Aban the input-output circuit 15 of FIG. 1 branch would result. For this reason isi transferred. The output signal of the input-output 5 ° to the output line 103 of the comparison stage 102 output circuit 15 passes via the line 19 to the block counter 136 for counting the number of an external circuit (not shown) as well as to the step circuit 33 of the scanned during a scanning process Drive 30 connected to one or crossings. The output dei causing both step motors 31 and 32 to the block counter 136 is used to switch the lock continue to rotate by one step and thus the disassembly stage 55 137; when counting more than two curves detector 21 and / or the paper strip to cross one, the locking step 137 arrives in the one step to move on. In each scanning operation switched state, and succeeded in their output signal the information change in the registers 113 over line 151 to the record memory 13 'and 114. For the continuous tracking of the curve and thereby it is for another, nochma the operation described above is as - ^6o- lige data record storage of the circuit 131 ge erholt blocks as long as during the subsequent scan

If during a scanning process a fork will process more than two curve crossings

or intersection is detected, the detector will be checked.

Tracking of one branch of the curve to the junction If with repeated scanning and tracking

returned to a new ^{follow-up process 6} S processes the block counter 136 determines that di

to begin in the direction in which the branching number of the detected in a scanning process »

Curve branch runs. On the basis of FIG. 7 curve crossings are now reduced from three to two

explains how the system works when while has such. B. when scanning the surface 56, so gelanjj

ίο

the Soerr circuit 137 can be started again in the starting position. If the direction of the gate ^P s when a new junction or intersection occurred were not again only a one-time storage of the train in the data record memory 134, the detector could not allow the determination of sentences in the memory 134. On the basis of which the curve to be traced is 2 way, it is ensured that each branch 5 is only processed once when it is returned to the branch point. The reason for this is that the data record of the branch point can be passed over: a branch point is the current and the previous one.

1 unm "Star after the first scanning process, stored in the going follow-up direction and. So that when more than two curve crossings are counted, the direction of the branching curve can be determined, whereupon the data record storage can be blocked, while the D remains when the Number of curve crossings determined during the scanning at a branch point with the aid of the coordinate processes, two data values kernels · I “formats, one over ge. - .., ^{B b} . “ Current and previous next admission passes; . ^b °

2 at the point in time at which the number lies.

_{the course S} determined during a scanning process drops back to two at the beginning of the tracing of the branching curve crossing; venastes in F, g. 7 is the intersection or

3 if the center of the scanning area is the fork point within the scanning area. According to ... ah> »nd dr 7 * i * in which the detector is in F i g. 7 Zionnnkt is at the beginning of the curve tracing in Ricnr "verifiable 3 branch point is, the true waste processing of the arrow 57 examines the scanning 54th" _approaches ao The points c and α been processed

Well ended the persecution of one cure. For this reason, the blocking stage 137 gives an issue in the event of a return branch, the detector is returned to one of the branches of the detector to a branch point, the values of which were stored in the data record input signal via the line 151 to the data record reader 34. The return memory 134, by which the data record memory 134 takes place due to the a ₅ stored in the memory 134, is prevented from data record storage until information. gen scanning surface has been moved, which this

No longer contained after the detector has been returned to a junction. This is e.g. B. the Bifurcation or intersection necessarily becomes a scanning surface 58 of FIG. 7

The section of curve 30 containing the branch point. In this way, curve branch 55 is examined. To understand this process, the process is followed, and when the scanning surface 59 contains the structure and mode of operation of the data record store, another branch point 60 is checked 134 described in detail below. processing of the junction as in a normal To follow a curve with N forks or follow-up operation, and the values of the junction! described working method is also!

th X and Y for storing the relative position between can be used for intersections. When scanning the current position of the detector intersection point, its two directions and a branch point, the units Bi and B _{2 are} stored, and when the detector has been returned to the intersection to store the direction of the point to be followed, the curve π will send curve branches of the junction that follows one of the two directions. Now S is now used to indicate whether these memory units are empty, the remaining direction in the data record memory 134 is occupied or whether a fork or a fork is stored. If the detector is stored in it a second time at the intersection, and the memory is returned to the intersection point, the control C is followed to select free units around the other curve. In addition, every time required information is stored in it or when the detector returns to the crossing point, unneeded information is deleted, the is being guided and the curve tracing begins, a part of all memory units in the memory control is information about the fact that the detector is the th common control circuit is. Follow-up process from a crossing point au;

If the detector has started in the manner described above, stored in the locking stage 137 , is returned to a junction Storage units X and Y delete the value stored in the locking stage 137 via the line 139 to the circuit 131. On the other hand, when it is detected, ie the locking stage 137 arrives at the shutdown of a fork or an intersection, an infer- stance.

mation over the next scanning process If part of a curve or the whole curve

determined follow-up direction is closed by one of the eight, can be displayed during a follow-up voi zuesrichtuneen, and this direction is added to an already processed branch point next to the storage units X and Y , by which one can be reached. Therefore, two-dimensional, two-dimensional direction from the fork or ⁶ ° nale vectors, which correct the distance between a crossing point. Junction point and the respective setting position of the De

Thus, if the detector is after the end of the tektors, it is stored in those memory units that trace the one branch of the curve to a branch of the data record memory 134 that is returned to this branch, that are contained in the branch and that a "S unit B _x and B _{2" is present} the Datensatzspei- 65, closed curve appears when di! £ ni34 "stored information is for investigative vector sum Nuu. Does the detector arrive at Γ Z? Piner Gabelune or junction at this point Veifolgeri a self-contained curve to the Al (KSeig S ii F i g. 7), so that their tracing branch back, so delete the blocking step 137 the ii

Record memory 134 stored information about the junction.

Although the detector 21 is a light-optical detector in the exemplary embodiment, others can also be used Types of detectors including magnetic or electrical detectors depending on the type of image and the writing ink.

To simplify the structure of the drive, the photoelectric converter and the light source held at a point distant from the display head moved across the screen

and connected to the head by fiber optic light pipes.

When using a single detector as described above, this must be during of the scanning process can be moved along the entire search line. However, it can also be done mechanically advantageously several detectors arranged one after the other, each arranged on one side of the square operate. In addition, the scanning surface ίο can also be different, for. B. rectangular, hexagonal, octagonal or circular, shaped.

For this purpose 2 sheets of drawings

Claims (5)

ι 2 a surface patent claims containing the curve to be followed: area investigated and responding when crossing the curve, one connected to the detector 1. Automatic curve tracking system with its own computing device, which is based on the information of its adjustable detector, which derives information- 5 signals control signals, which are the tracking signals reports about its position and after a direction and route to which the detector predetermined scanning pattern one to be followed after completion of the scanning process by one The surface area containing the curve is continued under follow-up step, whereupon he asks and when overcoming the curve begins again with a scanning process, an appraisal, an io processing stage connected to the detector, which detects the presence of a Computing device that responds from the information branch point (fork or junction) Signals derives control signals that direct the follow-up and thereby from the rest position into the working position and distance to represent the de- lang in which she determined a data record about the tektor after the end of the scanning process to branch point stores, and a control stage that a follow-up step is advanced, whereupon the detector after tracing one curve twice he starts again with a scanning process, tot and return to the branch point on a club Assessment calls that indicate the existence of another branch of the curve in the branch a branch point (fork or cross point reversed. tongue) responds and thereby from the rest position into the case of a known follow-up system of this type Working situation arrives in which she has a data record 20 (British patent specification 1 097 998, USA.-Patent über saves the determined junction and writes 3 050 581) after the detection of a a control stage, which the detector after tracing the junction point, their coordinates and the direction of the one branch of the curve and return to the branch of the curve still to be followed saved, Branch on one chase of another and first is chase of one curve branch the junction changes direction, g e - »5 branches added. Keeping track of the saved marked by a with the curve branches is after return of the detector to Warrungsstufe (126 to 136) coupled storage junction added, either Locking stage (137), which after the return of the Detek- if the detector in pursuit of a curve second (21) finds its way back to the branch point up to that tot again to the branch point, sample scanning process (58) assumes its on position, 30 wise when driving through a loop, or after in which the evaluation stage (126-136) the detector reaches the end of the curve branch for the first time after taking up the pursuit of the other cure, whereupon he with the help of the stored data branch (55) reaches the rest position, with the sentence being returned to the branch point and with the blocking stage (137) begins with the pursuit of another branch of the curve in the switched-on state, repeated data storage is prevented. 35 In this known system, however, there is the 2. Curve tracking system according to claim 1, driving faulty processing of the branch as a result characterized in that the detector (21) is located, in particular after the tracking has been started during the scanning process one in itself becomes the other branch of the curve. A closed search line runs through and the blocking It should therefore create a curve tracking system stage (137) up to that scanning process 4 ° in which an incorrect processing of a remains switched on, in which the number of the branch point avoided and in particular in a detector determined curve crossings in a small way a correct storage of the Abner than is three. two-part relevant data record is reached. 3. Curve tracking system according to one of the preceding For this purpose, the invention creates an auto-originating Claims, characterized by 45 matic curve tracking system of the input ereine Integration level, which the two imagined the distance, which is characterized by a with storage blocking stage coupled between the branch point and the respective evaluation stage, The vector representing the setting position of the detector (21) after the detector has returned to the branch point goals summed up. their switch-on position up to that scanning process 4. Curve tracking system according to one of the preceding 5 ° assumes, in which the evaluation stage for the first time according to the preceding claims, characterized in that the evaluation stage (126 to 136) receives a trace of the other Kurvenzweidaß a memory in the rest position, the locking stage in rather (134) to store the position of the switched-off state one repeated data storage branch and the direction of the still to be pursued prevented. lowing curve branches (55) contains. 55 In the case of the curve follower according to the invention 5. Curve tracking system after one of the previous systems, there is no further data storage going claims, characterized marked- not only when the detector on return net that the evaluation level (126 to 136) to the branch point with the pursuit of the other Storage of multiple data sets is equipped. The branch of the curve begins, but the evaluation level ⁶⁰ remains selected for data record storage. rend subsequent scanning processes in which the Detector has already followed the other branch of the curve, locked as long as the detector is still in the area this junction is located, d. H. until the application The invention relates to an automatic 65 processing stage for the first time no longer on the existing curve tracking system responds with an adjustable de- be the branch point. Thus, with the ktor, the information signals about its position invention a multiple data record storage > eibt and according to a given scanning pattern and the same branch point, which leads to a multiple