RU1172374C - Optical system of controlling moving object - Google Patents

Description

The invention relates to the area of radio technology, namely, to the devices naeeriei iMH, with the orientation and navigation not nmU1l them1: the object intended for use with the ii-iHf-ioro path is controlled by the object that moves | ; -; h, pann-yui a little bit of space, and can be used for wiring as a long one. so quickly move; ku |; 1ihs vessels on the npi fairways and in the case of an excavating docking automatic in that. including Space Lieiu, the invention is an improvement in the HOiVfi-i pointing accuracy of a moving object. From ZI |, 1 shows the functional circuit of the device,. located on the imp. object; in Fig. 2, the functional (-.:a diagram of the device, which is located at the top of the crawl; on the 3rd yen: - b; -. ;;.: Graham D | -1 |. Ci-i,.; i: -m- -1 - :: bеДеМ -1Я 1ОД .. ;; 1Г: с сЬЬЬ: it contains: it is the first and: -. р -.:, ae 35bie is the pay; and 2,, v. ,, ;, :) i;: - iyiO I; iKJC KOCi;. FOR THE EVERYTHING of j IiudUieH / isi of light rays:;:; iridt ;: ipn-g8 I and 2, respectively, "i::; , id I KO in i; ; , briOs formiroBan-1 and at the fav, -: t play beams - -l S, .juB- Xrioii about the object of a hundred juveniles: J.,; , srnsniir. / with the reception room with | LT -1Ches; - .: oi. , i v; i-KvH; 1 sospedobatepy-connection 1 neg.:; G.1s block 8 was read 11 charges from a photo: -, ;; and; &; - ,; liiKa t the first formers .iggugugsov 9, the first trigger 10, the first resolution circuit 11, connected in series the second shaper mmpupsoz 12. waiting for the cultivator 13 5pok} - with (-N- Chromy: nation J the second scheme rnzre 11eni 15. block 1b orientation for TonpiieMHiiKa, subsequently connected | - connected selector-mixer 17 reverts - :: -) c-ieT-JHK 185 second trigger 18 sequentially connected formers interval 20, key 21, account i .ii.iK. as well as a third trigger 23 and b. 2Li-motion control -f- if i: fi: i along the reference line. The first: .ai the second driver of the impulse: C,;:. and the output .with the second input of the second pulse shaper 12, and to the first input of the selector-mixer 17, and the fifth output is connected to the second input of the selector 17, the third and fourth inputs of which are respectively connected to the first and second outputs of the second pulse shaper 12, the third input of which is simultaneously connected to the first input of the third trigger 23, the second input of which is additionally connected to the second output of the second pulse shaper 12, with the first input of the shaper 20, the second and third inputs of which are respectively connected to the fourth and t |: the network inputs of the selector-mixer 17, with the second input of the first trigger 10, with the second input of the counter 22, the output of which is connected to the second input of the first resolution circuit 11, with the second input of the reverse counter l8j second the output of which is connected to the second input of the second section circuit (penalty 15. with the second input of the second rpirrepa 19, the output of which is connected to the third. input of the second resolution circuit 15 and with the second output of the synchronization unit 1, the second input icoToporo is connected to the output of the third trigger 23, and the first output of which is additionally connected to the third input of the first resolution circuit 11, the output of which is connected to the input of unit 1 (3 24 by controlling the movement of the object along the reference line, the second output of the photodetector reading unit 8 being additionally connected to the second input of the key 21, and the first output of the second pulse shaper 12 is additionally connected to the second input of the first pulse shaper 9. The first and second light masks 1 L 2, located at a certain distance to each other, contain 5 two light sources rotating towards each other , in particular laser beams. The points of space at which the light rays (laser beams) intersect form the reference plane of guidance 3. The dimensions of the reference plane of guidance 3 are determined by the directivity pattern of the light rays from the light beams. The shape and dimensions of the radiation pattern are set by the light beam forming and controlling unit 6. The same block synchronizes the antiphase rotation of the rays. A photosensitive element of the photodetector 7 with a receiving optical system can be a linear charge-coupled device (CCD) or a photodiode structure with a CCD register. Using the lens, an optical image of the first and second light masks 1 and 2 is projected onto the photosensitive surface of the CCD. The amount of charge accumulated in this CCD element is proportional to the number of photons falling into this region, i.e. its local illumination element. The charge is read out by varying the supply of the corresponding potentials to adjacent CCD electrodes from the photodetector 8 of the charge pickup. When the CCD output appears, the video signals are amplified to the value necessary for the second pulse driver 12 to operate. I The second pulse driver 12 is designed to generate service pulses from the video signals from masks 1 and 2 necessary for the operation of a number of device blocks. The standby multivibrator 13 is designed to generate a pulse, the duration of which determines the zone of operation of the object. When the pulse duration is approximately equal to half the period of rotation of the light beams 1 and 2, the orientation zone reaches an angle of 180 °. The standby multivibrator 13 can be made according to a typical single-vibrator circuit. The selector-mixer 17 is designed to control the input to the reverse counter of pulses 18 coming from block 8. The reverse counter 18 is used to determine the deviation of the center of the image of the light masks 1 and 2 and the formation of the service pulse necessary to determine the sign of the deviation of the center of the image light beams 1 and 2, supplied to the input of the second trigger 19. Reversible counter l8 may contain a counter that can be switched to a direct or inverse count, a logic circuit, a trigger. When the counters reach the zero state, the logic circuit generates a pulse that switches the trigger that controls the counter in direct or inverse counting. Before switching the trigger, the counter performed an inverse count; after switching, it performed a direct count. The counter capacity is proportional to the number of CCD elements of the receiver unit 7. The second trigger 19 is designed to determine the sign of the deviation of the center of the image of the light masks 1 and 2 and can be made on the basis of a T-trigger. The interval former 20 serves to generate a pulse whose front corresponds to the moment of occurrence of the signal from the first beacon, and the slice from the second beacon. The key 21 is designed to transmit pulses from the second output of the charge sensing unit 8 from the photodetector in the presence of a pulse at the output of the interval former 20 and may consist of circuit 2I. The counter 22 is used to determine the magnitude of the deviation of the object from the alignment and may contain counters that carry out direct counting, connected in a standard manner. The first pulse shaper 9 is designed to generate pulses controlling the operation of the first trigger 10, and may consist of several circuits 2I. The first trigger 10 is used to determine the sign of the deviation of the object from the alignment and can be performed based on the T-trigger. The first and second resolution schemes 11 and 15 transmit information about the sign and deviation of the photodetector 7 and the object, respectively, to the orientation unit of the photodetector 1b and the object movement control unit 2 along the reference line. The orientation unit 1b of the photodetector serves to orient the photodetector 7 in space by a certain image of 3Of-i and may contain, for example, poai-ia П - with a converter (DAC), ycMM-iTenb MOdiHocTM, an engine, a mechanical drive to the Lottery receiver 7. Block .24 the control is alternating1; the axis along the reference line is designed to control the movement of the vessel and Mower, for example, has a power amplifier, a motor, a drive, for example, on the steering wheels of a vessel, Optimesca system, and moving a moving object works as follows 1m, Navigation light rotation rays (and 5, forming at mutual intersection the spatial alignment region the reference plane hinged in synchronization with each other. The signals necessary for rotation of the rays and 5 from beacons 1 and 2. are generated in block 6. Therefore, the orientation of the -t beam unambiguously determines the position in beam space 5 The angles Kf. and | th at a certain point in time determine the position of both rays relative to the reference plane 3, respectively. The reference plane 3 creates an access;:; Iroky in the city center; with the navigation navigator “a) After the object in this region, on a short | x: -; os-, and the CCD of the photodetector 7 build l: d ;:. a solid image of beacons 1 n 2, if the oggical axis of the unit is photog1 :; And;: - 1 - ;;; CA 7 is aligned with the axis of the alignment. (D). The recognized poppies will be located i. symmetrically with respect to the center)) st receiver 7 When the optical axis is deflected to the right or right) from the stzor axis, the axes are s1-1 meter -1 -1 image: (shades of marks 1 and 2 will respectively shift in the CCD plane ;; , When the object deviates from the axis of the alignment, the moments (the image ratios of marks I and 2 will be separated in time by the value: y „is proportional to 0 angles of measurement -:: И10 of the object from the reference plane is connected to -1А 3. If the signal accumulation time exceeds the time multiplicity between the moments of irradiation of the photodetector 7 with rays 4 and 5, then the video signals 1 are absent during one reading period, since the accumulation time is shorter than the time interval between the moments of the payoff rays 4 and 5 of the receiver 7) o and during one i-ia periods of the removal of charge packets from the CCD there will be a signal from one of the beacons, during one of the subsequent periods - the signal of the second beacon. In this case, a signal is generated in the system that is equal to the time difference between the moments of arrival of signals from the beacons. The mismatch sign is determined by which of the navigation light beams on the (first detector 7). When the images 1 and 2 are located symmetrically with respect to the center of the photodetector, then if the first ray of light appears, the first of the signals will be in one half of the reading period, if the navigation beam 5 is the first to appear, the video signal will be in the other half of the reading period.With symmetrical arrangement of both beacons 1 and 2 relative to the axis of symmetry of the photodetector 7, the sum of the coordinates the distance of the image of mask 1 and 2, counted from any edge of the photodetector field, is equal to the size of the photodetector field 7 along this coordinate axis. Let the center of the image of the first mask be located from the edge of the K - element linear photodetector in the K1 element, and the center of the image of the second mask - in. element. The difference module K, -K determines the separation of the image of the beacons in the plane of the receiver. With a symmetrical arrangement of the image of the beacons relative to the center of the field - K, K (the number of elements of the photodetector). If the center deviates from 1mmetry of 1/13 images of the beacons from the center of the field () K. The difference module K - () - DK is proportional to the error of pointing the axis of the receiver 7, and the sign of this quantity determines the sign of the error of pointing the photo-phaser 7. I Consider the operation of the system in principle -ibix modes. The object is in the peripheral zone of the alignment. Signals from both beacons 1 and 2 are received at the photodetector unit 7, while signals from the beacons arrive at different periods of accumulation (Fig. 3a), therefore, during the output of charge packets from the CCD (Fig. 36) to the input of unit 12. First, it receives a signal from one of the ma-ho. Behind the topic one of po91

of the following periods, depending on the magnitude of the relative time delay of the moment of irradiation of the entrance pupil of the photodetector unit 7 with a light beam from the second mask, a signal characterizing the position of the image of the second mask will come from the output of the block 7 to the block It. At the same time, an impulse appears at the output of block 12 (Fig. Sv), the leading edge of which coincides with the moment of the first signal from one beacon, and its slice coincides with the moment of completion of the period of output of charge packets. The slice formation is carried out under the influence of signals (Fig. 36),

entering block 12 from block 8.

I

The pulse (b) from the output of the signal processing unit 12 enters the following blocks, into the standby multivibrator 13, which starts it, into the selector-mixer 17, which for the duration of the pulse (b) transmits pulses, (e) from the output of the block U to the input of the reverse counter l8 (Fig. 3Z). The beginning of the pulses (e) coincides with the beginning of the phase pulses controlling the operation of the CCD 7 (for example, the first phase), the pulse duration (e) is slightly less than the duration of the phase pulses and can be, for example, half the duration of the latter.

When pulses (h) are received from the output of the key selector-mixer 17, the reverse counter l8 performs a countdown, i.e. The pulses arriving at the input of the reverse counter 18 will be subtracted from the number recorded during its initial installation in the interval shaper 20 ,. transferring it from the initial zero to a single state (Fig. Zi), while passing through the key 21 to the input of the counter 22 accumulation pulses (Fig. 36 and Zk). The end of the pulse at the output of the interval shaper 20 will occur at the moment a signal from another beacon appears at the output of block 7. A pulse is generated at the output of the pulse former 9 (Fig. 3m) if the first signal from the beacon is, for example, in the second (relative to the CCD axis of symmetry) half of the Photodetector 7. The duration of the pulses coming from block 8 is equal to half the reading period, the beginning coincides with the beginning of the reading period of information from the CCD. Find 23

The sign of the course deviation 10, which is in the initial zero state, will be converted to a single state (Fig. 3m) of pulses received from the output of the former 5 (Fig. 3m).

After a certain period of time, determined by the size of the mismatch between the position of the object and the reference line of the alignment, an image of the second mask will be formed in the plane of the photodetector 7. The signal from the second beacon from the output of block 7 enters the first pulse shaper

5 to 9, which generates a pulse (Fig. Zg), the leading edge of which coincides with the moment the signal from the second beacon appears, and its slice is formed at the end of the interval.

The pulse, normalized upon receipt of the signal from the second beacon by block 12, is supplied to the input of the third trigger 23 and transfers it from the initial state to the single state. The selector-mixer 17 upon receipt of a pulse at the input (Fig. 3g) from block 12 passes clock pulses to the input of the reverse meter 18

Block 0 8. The beginning of these pulses

(Fig. 3g) coincides with the onset of phase pulses, for example, of the second phase, the pulse duration (g) is somewhat less than the duration of the phase pulses, ow, and can be, for example, by 5.

half the duration of phase pulses.

If during the counting of clock pulses the reverse counter l8 reaches the zero state, then its output shows a zeroing pulse, transferring and (the reverse counter 18 to the mode of direct counting of clock pulses and arriving at the input of the second trigger 19, translating it in a single

condition.

45:

Upon receipt of the pulse (Fig. Zg) from block 12 to the shaper interval 20, the latter goes into the original

zero state, thereby closing the key 21, which stops the transmission of accumulation pulses (Fig. 36) from the output of block 8 to the input of the counter 22. As a result,

counter 22 will record a code whose numerical value is proportional to the size of the mismatch of the position of the object relative to the reference guidance plane 3.

11 1

For a clear and synchronous operation of all units of the system, the duration of the pulses generated by the standby multivibrator 13 (yig. Zo) is selected less than half the rotation period of the beacons. At the end of the pulse from the output of the waiting multivibrator 13, the synchronization unit ik generates a synchronization pulse (Fig. 3n), the duration of which is much shorter than the period of rotation of the beacons. This pulse is generated only if the input of the synchronization block And the pulse from the third trigger 23. The synchronization pulse (FIG. 3P) allows the transfer of information from the following blocks through the second resolution circuit 15 and the first resolution circuit 11, respectively, to the orientation blocks of the photodetector 16 and the object control

from the counter 18, in which the mismatch value of the axis of the photodetector 7 is recorded; from the second trigger, the sign of the deviation of the axis of symmetry of the photodetector from the direction to the axis of symmetry of the beacons;

from counter 22 ,. carrying information about the magnitude of the mismatch of the course of the object relative to the reference guidance plane 3;

from the first trigger 10, characterizing the sign of the deviation of the course object from the reference guidance plane 3.

At the end of the synchronization pulse (FIG. 3P), the synchronization unit generates a second pulse (FIG. 3P) with a duration much shorter than the reading period, which sets the trigger 23, 10 and 19, counters 22 and 18, interval shaper 20, and second trimmer 12 to the initial state , In this state, a number equal to the number of elements of the photodetector or a number corresponding to the length of the photodetector will be recorded in the reverse counter lO. Block 12 is set to a state in which a pulse (Fig. Sv) only occurs when a signal from the beacon arrives.

Operation of the system in guidance mode with small deviations of the object relative to the reference line of the alignment.

With slight deviations of the course of the object relative to the reference

7237+

12

guidance plane 3 signals from beacons 1 and 2 arrive almost simultaneously.

Both signals are present in the same reading period (Fig. 3a). The operation of the system units will be identical to the above except that the reversible counter .18 reads the clock pulses of the first and third phases of the CCD receiver during one readout period and the units 20, 21, 22 generate a zero position error of the object when it is in the area specified by the angular the field of the navigation gauge 3 or a predetermined area of possible deviation of the trajectory of the object.

The operation of the system during the initial guidance (input) of an object on target,

In the two modes of operation discussed above, the photodetector unit 7 is oriented towards masks 1 and 2. In the case of the initial approach of the object to the alignment region, the detector 7 can be oriented so that radiation from only one and the beacons reaches it) (operating mode is FIG. 3). The operation of many blocks will be identical to the above. But since there will be no signal from another beacon, the start of the third trigger 23 will not be performed. Therefore, the synchronization unit And at the end of the pulse of the waiting multivibrator 13 produces only one pulse (FIG. 3t) of synchronization, which will set the trigger 19 and 10, counters 2 and l8 to their original position. The output of the mismatch signal of the axis of the photodetector through the second resolution circuit 15 to the orientation unit 1b is not performed. The orientation unit l6 will expand the photodetector 7 to such a position until an image from two beacons hits it. The mismatch signals are not transmitted to the system output via the first resolution circuit 11 and the course of the object remains unchanged until the optical image system of both frames is formed on the photodetector 7, i.e. before switching to I or II modes of operation of the system.