SU1203478A1 - Device for driving vehicle - Google Patents

Description

The invention relates to robotics and can be used to create control devices for vehicles.

The purpose of the invention is to improve the accuracy of the device and expand its functionality by providing identification of objects.

FIG. 1 shows a functional diagram of the device; in fig. 2 is a diagram explaining the principle of operation of the device, FIG. 3 - location of sources and matrix.

The device contains the first 1 and second 2 radiation sources, the sensitive matrix 3, the first 4, the second 5, the third 6 and the fourth 7 transducers, the first adder 8, the first division block 9, the angle calculator 10, the angle cosine calculator 11, the second division block 12, second adder 13, filters 14, keys 15, voltage divider 16, third adders 17, reference voltage source 18, element OR 19

The device works as follows.

Matrix 3 is excited by narrowly directed beams of reference sources 1 and 2, indicating the position of the object of service and vehicle on the track and operating at different frequencies: the first sources 1 in the course of the movement of each volume work at one frequency and the second sources 2 at another. This is necessary to distinguish the outputs from the excited points of the matrix 3 in one coordinate.

If the vehicle stops at the service object exactly according to the program, then certain points (cells) of matrix 3 are always excited at a certain object, and the first sources 1 have the same position relative to their object, i.e. The coordinates of point A (Fig. 2) are constant if the means has stopped exactly according to the program, and the distance between sources 1 and 2 for each of the objects is different, which is a sign of the object that is used to identify it.

In real conditions, the vehicle at the objects does not stop exactly, really the source 1 is 203478

wakes matrix 3 at point A, and source 2 at point B. Values of the coordinates of these points are obtained at the outputs of matrix 3,

5 with the coordinates of the coordinates along the axis Y (in the form of stresses) being directed to the inputs of the first and second transf. drivers 4 and 5, each output of matrix 3 is connected to the corresponding filters 14 of the first and second converters 4 and 5. Filters 14 of the first converter 4 are all the same and tuned to the frequency of the first source 1, all filters 14 of the second converter are tuned to the frequency of the second source 2

Filters 14 of the third converter 6 are tuned to the frequency of Source 1, and filters of the fourth converter 20 of the body 7 are tuned to the frequency of source 2. Filters 14 of the third and fourth converters 6 and 7 receive signals from the excited points of matrix 3 along the X axis. Converters 4-7 are analogous 25 are structurally designed to determine the magnitude of the shift of points on the matrix 3 (at point A or B) relative to their programmatic values along a certain coordinate,

30 Thus, the filters 14 of the first converter 4 pass signals indicative of the position of point A on the matrix 3 along the Y axis. The signal from the output of one of the filters 14 is fed to the input of the corresponding switch 15, to the second input of which voltage is supplied from divider 16, Voltage the divider 16 is chosen so that each output of the matrix 3 to

The Q axis of the Y corresponds to its voltage divider 16 — in this way, the outputs of the matrix 3 get the difference from each other. From the output of the switch 15, the voltage corresponding to the position of point A is fed to the input of the corresponding adder 17. The second inputs of all adders 17 are supplied with a reference voltage from source 18. This voltage corresponds to the programmed value of point A along the Y coordinate and for all cases same,

35

50

At the output of adders 17, a difference voltage is formed corresponding to the magnitude of the shift of point A along the Y coordinate, i.e. the value of the segment A E. Next, this voltage is applied to the element ШШ 19 and from its

the output to the converter A. In the same way, the output of the converter 5 is the voltage corresponding to the value of the BD segment, the output of the converter 6 is the voltage corresponding to the value of the AE segment, and the output of the converter 7 is the voltage corresponding to the LB segment

Further, th; both determine the value of the segment ъ C, the voltage from the outputs of the first and second converters 4 and 5 are received respectively at the first and second inputs of the adder 8, which performs the subtraction operation (B D-L V) to C. From the output of the adder 8, the signal goes to block 12. The outputs of the converters 6 and 7 are connected respectively to the inputs of the adder 13, which performs the operation of subtracting AB-, i.e. realizing the projection of direct AB, which is necessary

to determine first Cs1 and then the required angle (- by the value of which the real direction of the axis of the tool is different from the software. From the output of the adder 13, the signal goes to the input of the block

12. Last-performing operation

 R g 1 /

dividing

0, the signal is fed to the transmitter 10 of the angle oL. The output of calculator 10 is the output of the device by angle) C, and also this value is used to calculate calculator 11

5 cosine angle. Next, block 9 implements the operation of dividing the segment EB by tos. At its output, an AB value is obtained.

Thus, at the outputs of the device there are all data for correcting the position of the vehicle at the service object in the horizontal plane and data for identifying the service object.

 B / identified 1 e)

(rig. 3

Editor A.Shishkin

Compiler G, Nefedova

Tehred I.Astalosh Corrector I. Muska

8415/50

about Circulation 862 VISHGSh of the USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab. 4/5

Branch ShSh Patent, Uzhgorod, st. Project, 4

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Claims (2)

1. DEVICE FOR MANAGING A VEHICLE, comprising a first adder and an angle calculator, characterized in that, in order to increase its accuracy and expand the functionality by providing recognition of objects, it contains two radiation sources located at each object, mounted on a sensitive vehicle a matrix, four converters, two division blocks, a second adder and a cosine calculator of the angle, the input of which is connected to the output of the angle calculator and the first output of the device, and in output - with the first input of the first division unit connected by the output to the second output of the device, and the second input to the output of the second adder and the first input of the second division unit, the second input of which is connected to the output of the first adder, and the output by the input of the angle calculator, the first outputs of the sensitive matrix are connected to the inputs of the first and second converters, and the second outputs to the inputs of the third and fourth converters connected by the outputs to the first and second inputs of the second adder, respectively, and the outputs of the first and second pre photoelectret connected to first and second inputs of the first adder, respectively. 2. The device according to p. 1, characterized in that each converter contains a voltage divider, a reference voltage source, an OR element, and a filter, a key and a third adder connected in series to each input, the output of each of which is connected to the corresponding input of an OR element connected by an output with the output of the converter, the inputs of which are connected to the inputs of the corresponding filters, the second input of the keys is connected to the corresponding output of the voltage divider, and the second input of the third adders is connected to the output of the source reference voltage. SU 1203478 _SH1