SU1215116A1 - Device for determining shortest path of independent transporting robot - Google Patents

Abstract

The invention relates to the field of computing and can be used to find the shortest paths in graphs that do not have two or more shortest paths. The purpose of the image; Retention is to increase speed and enhance functionality by identifying the shortest path. The device contains a matrix (1 -) (hl) of arc models (b is the number of graph vertices, each of the KOTopbfic consists of a counter and a trigger, a group of elements AND, a first group of elements OR, a element NOT, a generator of clock pulses, an input I of the device’s launch, a second group AND elements, the second group of OR elements. Improving the speed and expanding the functionality of the device is provided by reducing the number of stages for finding the shortest way and identifying its arc. 2 ill. L

Description

The invention relates to computing and can be applied in control systems of robots and manipulators for solving the problems of finding the shortest path between the initial and the vertex vertices of the graphs which are known to be that they do not have two or more shortest paths.

The purpose of the invention is to increase the speed and enhance the functionality of the device by identifying the shortest path between the initial and final vertices of the graph.

FIG. 1 and 2 shows a block diagram of the device.

The device contains a matrix (I -1) x X (h -1) of models 1 arcs (h is the number of graph vertices), each of which consists of counter 2 and trigger 3, group of elements AND 4, first group of elements OR 5, element NOT 6, the clock generator 7, the device start input 8, the second group of elements AND 9 and the second group of elements OR 10.

Initially, counters 2 record the number of pulses corresponding to the weights of the arcs of the graph, and the triggers 3 are set in one state and, if there is an arc from the 1st vertex in o-sh ,.

The device works as follows.,

After the signal is fed to the input 8, the generator pulses 7 pass through the element 4 and the subtractive inputs of counters 2 of the first row of the matrix of models I of arcs. Then, the device operates according to the following algorithm: at overflow (zeroing) of any Ij th counter 2, the logical element 1 appears at the output of the element OR 5, resetting the triggers, h-1) to O, which ensures the blocking of the counting on the counters 2 j -th the column of the matrix of models I arcs simultaneously with the output of the element OR 5j allows the passage of clock pulses through the element AND 4 j to the counters 2 J and the rows of the matrix of models 1 arc; The counters of the 2 unlocked rows of the matrix receive clock pulses that ensure the counting of counters 2, with the exception of those belonging to the locked columns.

So, gdrodol before any counter 2 of the last column of the matrix of models of 1 arcs overflows, at the same time logical 1 appears at the output of the element OR 5, dropping the triggers of the first matrix of the matrix of the first models and 4 at the second input is O, prohibiting the arrival of pulses from the generator 7 to the counters 2. At the same time, on the outputs of a row of counters 2 there will be an overflow signal, which is fixed in the Process of the device.

The shortest read path code is generated when a single signal appears at the output of the element OR 5f, from the outputs of the AND 9 elements, while the output of the AND 9ij element is logical 1 from the output of the 2 IJ counter, if the corresponding arc belongs to the shortest path, and O is otherwise case. The shortest path code is generated as follows. A single signal from the output of the element OR 5b is fed to the inputs of the elements AND 9ts ((, h -l), while the output of the element And 9 (s, the corresponding overflowed counter 2jY ,, appears logical G, at the outputs of the remaining elements .I9, there is a logical 1 from the output of the element AND arrives at the corresponding input of the element OR I O ,; whose output also appears 1, allowing to identify the next arc belonging to the shortest path, while the output of the element I9c, it appears 1 (Ki is the index of the overflowed column 2 counter), etc. to occurrence of logical 1 at the output of any element (f 2, h) corresponding to the counter of the first row of the matrix model of 1 arcs, which completes the formation of the shortest path code and serves as a sign of the end of the device operation.

Formula

and 3

gaining

A device for determining the shortest path of an autonomous transport robot containing a matrix (H-l) "(wl) of arc models (h is the number of vertices of the graph consisting of each counter and a trigger, the first group of elements OR, the element NOT, the first group And -2 elements of AND, a clock pulse generator and an And element, the first input of which is the device start input, and the second input is connected to the output of the clock generator, the output of the AND element is connected to the first inputs of the AND elements of the first group, characterized in that aim fast action and expansion of functionality, by identifying the shortest path arcs, the device has the second group of elements AND by the number of models of arcs and the second group of elements OR, in each model of arcs the trigger output is connected to the clock input of the counter, the element output is NOT connected to the third element input And, the output of which is connected to the counting inputs of the arc model counters of the first row of the matrix of arc models, the outputs of the OR elements of the first group are connected to the zero inputs of the trigger models of the arc of the corresponding matrix columns Circuit Models and Arcs

the second inputs of the corresponding elements AND of the first group, the outputs of which are connected to the subtractive inputs of the arc model counters are appropriate: rows of the matrix of models of the arcs, starting with the second, the outputs of the counters of each arc model in the columns are connected to the same input of the corresponding element OR of the first group and the first input of the corresponding element AND the second group, the output and, the -th element OR of the first group is connected to the input of the element NOT and to the second inputs of the corresponding elements AND the second group, the outputs of the elements I.PI of the second group connected to the second inputs of the corresponding elements AND of the second group, c1) The junction of the .J -th element AND of the second group (i 1, L -1, j 27) is the ij -th output of the device — and is connected to the J input of the -th element OR the second groups.

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Claims (3)

Claim An apparatus for determining a shortest path autonomous transport robot comprising an array of (N-1) * k (m - 1) arcs models (h - the number of vertices .grafa, "each consisting of ⁷ Single counters and flip-flop, a first OR element group, the element is NOT, the first group of H -2 AND elements, the clock generator and the AND element, the first input of which is the start of the device and the second input is connected to the output of the clock generator, the output of the AND element is connected to the first inputs of the AND elements of the first group, I am distinguished by the fact that, in order to increase actions and expanding functionality by identifying the shortest path arcs, the second group of AND elements is introduced into the device according to the number of arc models and the second group of OR elements, in each arc model the trigger output is connected to the clock input of the counter, the element output is NOT connected to the third input of the AND element whose output is connected to the counting inputs of the counters of the arc models of the first row of the matrix of arc models, the outputs of the OR elements of the first group are connected to the zero inputs of the triggers of the models of arcs of the corresponding matrix columns arc models and the second inputs of the corresponding elements of the first group, the outputs of which are connected to the subtracting inputs of the counters of the arc models, respectively: 5 rows of the matrix of models of arcs, starting from the second, the outputs of the counters of each arc model in the columns are connected to the inputs of the same OR element of the first group and the first 10 by the input of the corresponding AND element of the second group, the output of the ith OR element of the first group is connected to the input of the NOT element and to the second inputs of the corresponding elements AND the second corpus, the outputs of the OR elements of the second group are connected to the second inputs of the corresponding elements AND of the second group, the output 'J of the And element of the second group (i = 1, h-j, j = 2, b) is the ^20th ij-th output of the device · and is connected to the J-th input of the ϊ-th element OR of the second group. Figure 2