SU1167587A1 - Device for determining position of object - Google Patents

Description

The invention relates to. Instrument making and engineering and can be used to create sensitized manipulators.

A device for generating control actions is known, comprising a synchronizer connected in series, a decoder of address inputs, a matrix of sensitive elements, a matrix of sensitive elements, a level matching unit and a computer [1].

However, such a device is constructed. It is difficult to complex and with a large dimension of the matrix of sensitive elements it cannot work in real time- ¹ headquarters.

The closest to the proposed technical entity is a device containing a matrix of sensitive elements of dimension η rows into η columns, the first scan block, the first binary counter, the counting input of which is connected to the first, and the setup input to the second inputs of the first scan side, the first decoder, η of the outputs of which are connected to the corresponding outputs of the first scanner unit, and the inputs of the first decoder are connected to the corresponding outputs of the first binary counter, the second scanner unit I, the second binary counter, the counting input of which is connected to the first, and the setup input - 35 with the second input of the second scanner unit, the second decoder, η outputs of which are connected to the corresponding -g—

, 2

the second outputs of the synchronization unit are connected to the first input of the first scanner unit, the inputs of the second decoder are connected to the corresponding outputs of the second binary counter, the gate input of which is connected to the third input of the second unit scan, the synchronizer, the first input of which is connected to the third input of the second scanning unit and to the input “Erase” of the matrix of sensitive elements, and the third output - with the second inputs of the first and second blocks of the scan. first switch, η control-. The main inputs of which are connected to the corresponding outputs of the first scan block, and η signal inputs to the corresponding outputs of the matrix of sensitive elements [2 "}.

Such a device provides information about the position of the center of mass of the project; object on the matrix of sensitive elements in an implicit form, which also necessitates the inclusion of a computer at its output, which functions in accordance with the algorithm.

With a large dimension of the matrix of sensitive elements, the delay introduced into the computer system may be unacceptably large, which also excludes the possibility of operating the device in real time.

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The aim of the invention is to increase the speed of the device.

This goal is achieved by the fact that a device for determining the position of an object containing serially connected first counter 'and a decoder, the outputs of which are connected to the control inputs of the first switch, the second counter, the decoder, and the matrix of sensitive elements connected to the information inputs the first switch, the synchronizer, the first output of which is connected to the counting input of the second counter and the input of erasing the matrix of sensitive elements, the second output is connected The first output to the gate input of the second decoder is entered in series to the first and second counters, and the second switch, the first one, is connected in series. an adder, a first register and a first digital-to-analog converter, a third switch connected in series, a second adder, a second register and a second digital-to-analog converter, a third counter connected in series, a register and a digital-analog converter, And 3, a serially connected element, the first pulse generator, the first delay element and the element OR, as well as the first and second reference voltage sources, the first 35 and second division units, the first and second differential amplifiers and the multiplication unit, in ode of which are connected to the outputs of the third digital to analog converter and pervogo40 reference voltage source as well. output - to the inputs of the divider of the first and second division units, the inputs of the dividend of which are connected to the outputs of the first and second digital-analogue 45 transducers, respectively, and the outputs of the coordinate signals X,

The devices are connected respectively to the outputs of the first and second differential-> amplifiers, the inverse 50 inputs of which are connected to the output of the second reference voltage source, and the direct inputs to the outputs of the first and second division units, respectively, the first input of the I-55 unit connected to the output the senior digit of the second decoder and with the counting input of the first counter, the second input ele10

15

l- 20

25

• And is connected to the high-order output of the first decoder, the output of the first pulse shaper is connected to the gate inputs of the first, second and third registers, the second input of the OR element is connected to the second output of the synchronizer and the reset terminals of the first, second and third registers, the output of the OR element is connected to the reset inputs of the third counter, the first and second adders, the gating inputs of which are connected to the third output of the synchronizer, the threshold element is connected to the output of the first switch, and ohm - to the count input of the counter and the third control inputs of the second and third switches kotork data inputs connected to the outputs of the first and second counters respectively.

In addition, the synchronizer contains a single pulse generator and a series-connected pulse generator, a second pulse shaper and a delay element, the first synchronizer code is connected to the second pulse generator, the second output is connected to the single pulse generator output, and the third one is connected to the second pulse output. delay element.

Such a device allows real-time generation of signals proportional to the deviation of the center of “masses” of the projection of the image of an object from the center of the photodetector matrix.

The drawing shows a functional diagram of the device.

The device contains a matrix of 1 sensitive elements of dimension η rows by η columns, the first 2 and second 3 blocks of scanning, respectively, synchronizer 4, first switch 5, first 6, second 7 and third 8 binary counters, respectively, first 9 and second 10 decoders, generator 11 pulses, pulse forward driver 12, second back-end element 13, support, power source 14, single pulse former 15, threshold element 16, second 17 and third 18 switches, And 19 element, backward-edge driver 20, first Element 21 delay, element OR 22, first 23 and second 24,

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adders, first 25, second 26 and third = 27 parallel memory registers, first 28, second 29 and third 30 digital-to-analog converters, first 31 and second 32 reference voltage sources, multiplication unit 33, first 34 and second division units, the first 36 and second 37 differential amplifiers.

The output value of the first reference voltage source is determined by the formula

ten

01M

C ' ^g. -P ^C 2'

and the value of the output signal of the second source of the reference voltage according to the formula

n + 1

3

15

C · —0П2

20

where C is a constant factor.

A device for determining the position of the object works as follows.

It is known that the center of "mass" of the image of the projection of an object can be determined by the formulas

about

x>

thirty

and?

33

where and _k (and _h ) "is the coordinate of the center of mass of the image of the projection of the object along the axis x (y) '

ϋ is the projected image area of the object.

For a matrix of sensitive elements having a discrete structure,

, expressions (1) and (2) are converted 43 as follows

and.·

& £ ο4ο44.ί · ο, ₅ )

 η and

and (ψ

Δ 1X1 1 * 1 *

(I

50

55

η P

ρΣΞ ΣΖ υ (ί5)

⁶ 14 "- 1 ³ '

Μ)

where υ (ι'Ι) is the output signal from the sensing element located at the intersection of the ϊth row and the ith column of the matrix of sensitive elements;

and _х (и ^) is a signal proportional to the deviation of the center of "masses" of the image of the object projection relative to. the center of the matrix of sensing elements along the x (y) axis.

The interrogation of the elements of the matrix of sensitive elements 1 is carried out sequentially, and first the elements from the 1st to the ηth in the first column are read, then the elements from the 1st to the ηth in the second column, etc. to the n-th element in the n-th column, inclusive. Then the polling cycle repeats.

When the power source 14 is turned on, the single pulse shaper 15 generates a single pulse, under the action of which the first 6, second 7 and third 8 binary counters, first 23 and second 24 adders and first 25, second 26 and third 27>.

parallel memory registers are set to zero. At the output of the first block 2 scan set code 1,0,0, ... 0. At the same time, under the action of a pulse from the second output of synchronizer 4, the information is “erased” in the cells of the matrix of sensitive elements. cops. After a period of time determined by the amount of delay in the third delay element 13 (exposure time), a pulse appears at the first output of synchronizer 4, under the action of which a code 1.0.0, .. ,, 0 is set at the output of the second scanning unit 3 and the threshold at the output element 16 there is a signal corresponding to the voltage at the output of the first cell in the first column of the matrix of sensitive elements 1.;

If the signal at the output of the threshold element 16 exceeds the threshold level, which corresponds to the area of the projection of the object on the photosensitive surface of the matrix 1 of sensitive elements, then a pulse signal from the output of the threshold element 16 arriving at the control inputs of the second

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17 and 18 of the third switch provides writing codes corresponding to the numbers of the first row and first column in the first 23 and second 24 adders, respectively. In parallel, the 5th pulse signal; "'from the output of the threshold element 16 is written to the third 8 binary counter. Thus, after the end of the interrogation cycle, i.e. after reading information from n ² -th 10 elements of the matrix of sensitive elements 1 at the outputs of the first adder 23 , the second adder 24 and the third binary counter 8 have signals ϋ,, 1 ¾ and and _{5 of the} form 15

As a result of operations performed on analog signals 1C, ϋρ and · ₆ in multiplication unit 33, in blocks

, divisions 34 and 35 and on differential amplifiers 36 and 37 on the first and second outputs of the device, we have analog signals defined by the expression

and _x = c ₀

1 = 1

hell

and,. £. έ iyap; .

¹ Ϊ - 1 ¹

and,. £ rvd)

Se)

(6)

P)

respectively.

On the trailing edge of the n ^2- th pulse, 25 allocated to the element I 19, the driver of the impulse 20 on the rear fro-. This pulse generates a pulse, the arrival of which at the gate inputs of the first 25, second 26 and third 27 parallel-memory memory registers provides for overwriting information from the first 23 and second 24 adders and the third binary counter 8, respectively, which leads to the appearance of the first 28, second 29 and third 30 analog to digital analog voltage converters (8)

(9)

and, =

from ₀ · ^and »ί

and, "with _e and ,; and. = c,

(ten)

respectively (here _C - constant factor).

35

"at

whose structure is similar to the structure of expressions (3) and (4), respectively.

Thus, at the end of the polling cycle, signals that are proportional to the deviation of the center of mass of the object image from the center of the matrix of sensitive elements 1 appear along the x and y axes, respectively, appear on the first and second outputs, and these signals are formed in real time, which distinguishes This device is from known.

Due to the fact that the device allows you to generate signals proportional to the deviation. Center of "masses". the projection of the image of the object from the center of the photodetector matrix on two mutually orthogonal axes in real time, increases the productivity of industrial robot, which includes this device as part of sensing systems and controls. _

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Claims (2)

1. DEVICE FOR DETERMINING POSITION OF OBJECT containing serially connected first counter and decoder whose outputs are connected to control inputs of the first commutator, serially connected second counter, decoder and matrix of sensitive elements, outputs connected to information inputs of the first switch, synchronizer, first output of which is connected with a counting input of the second counter and the input of erasing the matrix of sensitive elements,. the second output is connected to the reset inputs of the first and second counters, and tr & The third output is to the gate input of the second decoder, which distinguishes it with the fact that, in order to improve device performance, the second switch, the first accumulator, the first register and the first digital-to-analog converter, the third switch connected in series, are entered into it, the second adder, the second register and the second digital-to-analog converter, the third counter connected in series ,; a register and a digital-to-analog converter, a series-connected AND element, a first pulse shaper, a first delay element and an OR element, as well as the first and second reference voltage sources, the first and second dividing units, the first and second differential amplifiers, and the multiplication unit, - the inputs of which are connected to the outputs of the third digital-to-analog converter and the first reference voltage source, and the output - to the inputs of the divider of the first and second division units, the inputs of which are divisible are connected to the outputs of the first and second digital-analog converters respectively, the outputs of the signals of the coordinates X, Y of the device are connected respectively to the outputs of the first and second differential amplifiers, the inverse inputs of which are connected to the output of the second reference voltage source, and the direct inputs are respectively to the outputs of the first and second division units, the first input of the element I is connected to the output »* of the most significant discharge and the second decoder and with the counting input of the first counter, the second input of the element And connected to the high-order output of the first decoder, the output of the first pulse shaper is connected to the gate inputs of the first, second and third registers, the second input of the OR element is connected to the second output of the synchronizer and from reset moves first, 1 ί 67587 1167587 the second and third registers, and the output of the OR element is connected to the reset inputs of the third counter, the first and second adders, the gating inputs of which are connected to the third synchronizer output, the threshold element is connected to the output of the first switch, and the output to the counting input of the third counter and the second control inputs and the third switchboard, whose information inputs are connected to the outputs of the second and first counters, respectively. 2. Device by π. 1, in which the synchronizer contains a single pulse generator and a series-connected pulse generator, a second pulse shaper and a delay element, the first synchronizer output connected to the output of the second pulse shaper, the second output from the single pulse generator output, and the third output with the release of the second element of the delay-KI. one