RU2106678C1 - Monitoring system for automatic processing equipment - Google Patents

Abstract

FIELD: automation and computer engineering, in particular, robotics. SUBSTANCE: device has inverter, adder, timer, comparator, monitoring setter, interrupter, two OR gates, two AND gates, delay line and four indicators. EFFECT: increased efficiency of operation. 1 dwg

Description

 The invention relates to the field of control and regulation and, in particular, to the field of control and management of automated complexes using electrical signals in robotic industries.

 Known control systems for movable cyclically replaced objects (working bodies), containing a control knob, apparatus for selecting coordinates of a control object (working body) of an automated robotic complex, a device for generating and transmitting commands and a control object with a drive (Vukobratovich M., Stokich D ., Kirchanski N. Non-adaptive and adaptive control of manipulation robots - M. Mir.: 1989, p. 363 Fig. 5.17 "B").

 To control control systems, control devices are used that contain indicators, adders, comparators, AND and OR elements (ed. St. USSR N 1173395 A.N. Zyuban and N.K. Terekhov Device for diagnosing an electronic object publ. 15.08 .85 cl. G 05 B 23/03).

 Collaborative control and monitoring systems are also known that have high reliability indicators (US Patent No. 3633087 Method and device for electronic task and control of the motion path of a mechanism controlled by digital commands, CL G 05 B 23/02, publication 1972, January 4, volume 894 , N 1).

 However, these systems operate with reliable communication between the control object and the equipment for selecting the coordinates of the object and are not designed to work effectively in conditions of incomplete information about the object.

 As a prototype, a control system for the mechanism of an automated complex was selected (Product 1B554. Connection diagram, inv. N 6/46, KBP, Tula, 1989), which contains a control knob, equipment for selecting the coordinates of the object, a generation device and command transmission and a control object, as well as a basic unit with a descent sensor, an automation system with a start key, an inverter, an adder, a timer, a comparator, a control dial, a chopper, the first “OR” element, the first indicator, a mechanics console, a navigation system and, and the output of the start key is connected to the second input of the coordinate allocation equipment, to the base setting and to the timer input, the first input of the coordinate allocation equipment is connected to the control object, the first, second, third and fourth inputs of the command generation and transmission device are connected to the corresponding outputs of the equipment coordinates, and the seventh, eighth and ninth inputs of this device to the first, second and third outputs of the control unit, the output of the descent sensor is connected to the sixth input of the generation and transmission device commands to the second input of the chopper, the inverter input is connected to the third output of the control unit, and the output through the first output of the adder is connected to the first input of the comparator, the second input of the comparator is connected to the control unit, and the output of the comparator is connected to the first input of the first "OR" element, the second the adder input is connected to the third output of the coordinate allocation equipment, the timer output through the first interrupter input is connected to the second input of the first OR element, the third input of the first OR element is connected to the fourth output of the rear control switch, and the output of the first element "OR" is connected to the fifth input of the device generating and transmitting commands and to the first indicator.

 Simultaneously with the management of the facility, control is carried out over the correctness of fulfilling tasks from the control master and over the operability of the facility, which is manifested in the timely disconnection of the control facility and the basic installation.

 The disadvantage of this control and monitoring system is a significant burden on the human operator to make decisions about either switching on the next cycle of the automated robotic complex with the next cyclically replaced control object, or repairing the system. In the prototype there is no signal for choosing one or another mode of further operation of the complex.

 The aim of the present invention is to increase the speed and efficiency of the automated complex system. The goal is achieved by generating a “Restart” signal and indicating it to the human operator, as well as indicating to the human operator the reasons for the termination of control in the completed work cycle. The essence of the invention lies in the fact that in the known control and monitoring system of an automated complex containing a control unit, closed-loop equipment for selecting coordinates of an object, a device for generating and transmitting commands and a control object, as well as a basic unit with an exit sensor, an automation system with a start key, an inverter, an adder, a timer, a comparator, a control dial, a chopper, the first OR element, a first indicator, and the output of the start key is connected to the second input a coordinates allocation parameters, to the basic setting and the timer input, the first input of the coordinate allocation equipment is connected to the control object, the first, second, third and fourth inputs of the command generation and transmission device are connected to the corresponding outputs of the coordinate allocation equipment, and the seventh, eighth and ninth inputs of this device - to the first, second and third outputs of the control unit, the output of the descent sensor is connected to the sixth input of the device generating and transmitting commands and to the second input of the chopper, the inverter input under it is connected to the third output of the control unit, the inverter output through the first input of the adder is connected to the first input of the comparator, the second input of the comparator is connected to the control unit, and the output of the comparator is connected to the first input of the first OR element, the second input of the adder is connected to the third output of the coordinate allocation equipment , the timer output through the first input of the chopper is connected to the second input of the first OR element, the third input of the first OR element is connected to the fourth output of the control unit, characterized in that The second, third and fourth indicators, the first and second AND elements, the second OR element, and a delay line, the first input of the first AND element connected to the output of the first OR element, and its second input to the fourth output coordinate extraction equipment, the output of the first AND element is connected to the first input of the second AND element, the second input of which is connected to the output of the comparator, and the output of the second AND element is connected to the first input of the second OR element, the second input of which is connected to breaker output, a delay line is established between the first the OR element and the fifth input of the command generation and transmission device, the output of the second OR element is connected to the first indicator, the fourth output of the control dial is connected to the second indicator, the chopper output is connected to the fourth indicator, the comparator output is connected to the third indicator.

 The advantage of the invention is the implementation of a new criterion for monitoring the functioning of the automated complex, characterizing the feasibility of including the next cycle of work with control objects.

 The drawing shows a functional diagram of a control system and control of an automated complex.

Marked here
1 - control knob,
2 - equipment for selecting the coordinates of the object,
3 - a device for generating and transmitting commands,
4 - control object,
5 - basic setting
6 - sensor descent
7 - automation system with a start button,
8 - inverter
9 - adder
10 - comparator,
11 - control dial (determines the permissible deviations of the object from the desired path),
12 - timer
13 - breaker
14 - the first element "OR",
15 - the first element "And",
16 - the second element "And",
17 - the second element "And",
18 - delay line
19,20,21,22 - the first, second, third and fourth indicators.

 The control and monitoring system has a cyclic mode of operation and operates as follows.

 In the initial position, before each cycle of operation, the control object 4 is located on the base unit 5, the descent sensor 6 is normally open. The initial action of the cycle is to close the start key in the automation system 7.

 Based on the signal from the start key, the basic unit 5 drives the control object 4 and the timer 12 is turned on. After disconnecting the basic unit 5 and the control object 4, the chip sensor 6 is activated, the signal from it passes through the sixth input to the device for generating and transmitting commands 3 and through the second the input of the chopper 13 blocks the output of the timer 12 to cancel control of the object 4.

 If the disconnection time of the control object 4 and the basic unit 5 exceeds the permissible time value, the timer 12 generates and through a normally closed chopper 13 transmits a signal to the first "OR" element (14) to reset the control of this object, from the output of the chopper 13 the signal also goes to the indicator 22 and signals the unsatisfactory operation of the control object 4, which manifested itself in the dissimilarity of the object from the basic setting.

 If the gathering of the object 4 from the basic installation 5 went fine (the time of the gathering did not exceed the permissible time indicator), the breaker 13 opens, and the device 3 starts to generate control commands and transmit them to the object 4.

 The control commands are generated according to the information received from the control unit 1, and according to the indication from the equipment 2, the coordinates of the control object are allocated.

 The control unit 1 generates the coordinates of the end point of movement of the control object 4. From the first output of the control unit, the value of the elevation angle of the point of the point is output, from the second output the value of the azimuth angle of the end point, from the third output - the distance to the end point - from the fourth output a ban can be issued complete the task. The final goal can change its coordinates in the control process. The coordinate allocation apparatus 2 fixes through the space (for example, using electromagnetic radiation) the position of the control object 4 and provides the coordinates of the object in the form from the first output of the equipment - the current value of the elevation angle of the object, one hundred and second output - the current value of the azimuth angle of the object, from the third output - range to the object, from the fourth output - a signal of the presence of sight of the object at the current time.

 The generated commands are transmitted to the control object, then they are transmitted to the drive of the control object, which causes the adjustment of the trajectory of the object 4.

 When a prohibition signal appears on the fourth output of control unit 1, it is fed to the third input of the first OR element (14); the latter generates a control reset signal, which is transmitted to the fifth input of the command generation and transmission device 3. According to the reset signal, the device 3 within, for example, 2 seconds, generates control commands to eliminate the control object 4 from the program path. At the same time, a prohibition signal from device 1 is supplied to indicator 20 and signals to the human operator the reason for the reset of control.

 The object control reset is also generated by the first OR element (14) in the following two cases.

 Firstly, when the comparator 10 is triggered when comparing the difference between the distances to the object and to the end point with an allowable difference value. The distance difference is obtained from the adder 9, the allowable difference value (excess of the distance to the object over the range to the end point) is issued by the control dial 11. Further control of the object 4 after the comparator 10 is triggered would remove the object from the end point. The signal from the output of the comparator 10 is also supplied to the indicator 21 to signal the reason for the reset control.

 Secondly, when the signal comes from the output of the chopper 13.

 The control object 4 has a drive for correcting the motion path in elevation and azimuth angles in accordance with the control commands, the speed of the object’s movement, as a rule, is unregulated, gets the maximum value after the initial impulse, and then decreases during the movement of the object 4. A feature of object 4 is the possibility of its sight by equipment 2 only while maintaining the operability of the object 4.

 After the end of the current cycle of functioning of the automated complex, the next cycle of functioning is being prepared.

 The second element "OR" (17) produces a signal "Restart", which is fed to the indicator 19, and in the automatic mode of the complex can be used to generate a signal "Start" of the next cycle.

 The second OR element (17) is triggered in two cases. Firstly, when the signal about the unsatisfactory functioning of the object 4 on the base unit 5 appears at the output of the chopper 13, and, secondly, while a normally functioning object 4 is simultaneously sighted by the coordinate allocation equipment 2, there is a signal from the output of the first "OR" element (14 ) and the presence of a signal from the output of comparator 10 i.e. while triggering the first element "AND" (15) and the second element "OR" (16).

 The delay line 18 provides synchronization of the control processes of the system.

 After working out the control reset commands, the basic setting switches to the next control object 4, and the system is restored to its initial state before starting.

 The feasibility of the control and monitoring system follows from the fact that a number of devices included in the system are implemented and work as part of the prototype, and newly introduced elements are implemented on the basis of mass-produced products with standard characteristics. These elements and devices are also described in the following materials.

 The principles of construction and the main reins and characteristics of the control unit 1 are described, for example, in the book of V. Demidov. and Kutyeva N.Sh. "Management of anti-aircraft packages" - M., Military Publishing, 1989, pp. 85-174, 294-300. The fundamentals of the construction and operation of such control objects 4 are given in the same book on pages 40-41. Common types of coordinate allocation equipment 2 are described in the same book on pages 175-195. The fundamentals of the construction and operation of devices for generating and transmitting commands 3 are given in the same book on pages 234-282.

 The basics of building a basic unit 5 with a descent sensor 6 are given in table. 6 on page 115 of the article by E. Shechwitz "Control systems and drive mechanisms for" periodic movements in automatic machines "in the book" Theory of automatic-action machines and accuracy theory in mechanical engineering and instrumentation "- M., Mashgiz, 1960. In the same place, page 110 describes the design of an automation system.

 Indicators 19-22 can be implemented, for example, on LEDs of the AL 307 type with the corresponding switching circuit.

 The timer 12 is based on, for example, the microcircuit K1006VI1 (see the book "Microcircuits for household radio equipment" Reference I.V. Bludov, A.V. Yurovsky - M .: Radio and communications, 1989.).

 The chopper 13 is performed on the basis of, for example, the KR162KT1 microcircuit (see p. 414 of the book "Integrated microcircuits" Reference // Edited by B.V. Tarabrin. - M .: Radio and communications. 1984).

 Inverter 8 can be made on the basis of the KR140UD1A microcircuit, and adder 9 can be made on the basis of the K14OUD8A microcircuit (see pages 398-399 of the book "Integrated Circuits" // Edited by B.V. Tarabrin - M .: Radio and Communication, 1984 )

 The comparator 10 is performed, for example, on the basis of the K554CA3 chip (see page 362 of the book "Digital and analog integrated circuits: Reference // Edited by S.V. Yakubovsky - M .: Radio and communications, 1990). The setter 11 is implemented as a voltage divider.

 The OR elements 14 and 17 are implemented, for example, in the form of K555LL1 microcircuit (see page 48 of the book "Digital and analog integrated circuits // Edited by S.V. Yakubovsky - M .: Radio and communications, 1990), and "And" elements 15 and 16 - in the form of a chip K555LI1 (see page 47 of the same book).

 Thus, the proposed technical solution is characterized by novelty, practical feasibility and provides the system with enhanced functionality to improve performance and increase the efficiency of management and control, as well as increase the speed and efficiency of the automated complex as a whole in a cyclic mode of operation.

Claims (1)

 A control and monitoring system comprising a control unit, an object coordinate allocation equipment, a command generation and transmission device and a control object, as well as a basic unit with an exit sensor and an automation system with a start key, characterized in that it is equipped with an inverter, adder, timer, comparator , a control unit, a chopper, two OR elements, two AND elements, a delay line and four indicators, the first input of the coordinate allocation equipment being connected to the control object, the first, second, tr the th and fourth inputs of the command generation and transmission device are connected to the corresponding outputs of the coordinate allocation equipment, and the seventh, eighth and ninth inputs of this device are connected to the first, second and third outputs of the control unit, the output of the command generation and transmission device is connected to the control object, the key output start-up is connected to the second input of the coordinate allocation equipment, to the basic setting and to the timer input, the output of the descent sensor is connected to the sixth input of the command generation and transmission device and to the second input of the inverter input is connected to the third output of the control unit, and the inverter output is connected to the first input of the adder, the output of which is connected to the first input of the comparator, the second input of the comparator is connected to the control unit, and the output of the comparator to the first input of the first element OR, the second input of the adder connected to the third output of the coordinate allocation equipment, the timer output is connected to the first input of the chopper, the output of which is connected to the second input of the first OR element, the third input of the first OR element is connected to the fourth output of the control unit, the first input of the first AND element is connected to the output of the first OR element, and its second input is connected to the fourth output of the coordinate extraction equipment, the output of the first AND element is connected to the first input of the second AND element, the second input of which is connected to the output of the comparator, and the output of the second AND element - with the first input of the second OR element, the second input of which is connected to the output of the chopper, the output of the first OR element through the delay line is connected to the fifth input of the command generation and transmission device, output the second OR element is connected to the first indicator, the fourth output of the control switch is to the second indicator, the chopper output is to the fourth indicator, the comparator output is to the third indicator.