SU1233074A1 - Arrangement for recording moving objects - Google Patents

Abstract

The invention relates to means of control, rotation and control, and can be used to activate the actuating devices of industrial robots when a part appears in the working area of the manipulation. The purpose of the invention is to increase the sensitivity and reliability. The device contains a generator, a first receiving antenna, a transmitting antenna, a first detector, a threshold device and an actuator, the first and second frequency dividers, the first and second attenuators, an adder, a second receiving antenna, the first and second selective amplifiers, the second detector, the first, second and the third subtractive device, the first and second low pass filter x 1. Series-connected frequency dividers and attenuators are connected between the output of the generator and the inputs of the adder, to the output of which a transmitting antenna is connected. Both receiving antennas are connected via: consequently connected selective amplifiers and detectors are connected to the inputs of the first and second reading devices of the same name, the opposite inputs of which are connected to each other, and the outputs are connected to the inputs of the third growing device and through low frequency to the control inputs of the attenuators, the output of the third subtractive device is connected to the input of the threshold device, 4 Il. (L with

Description

The invention relates to monitoring and control devices and can be used to turn on actuators of industrial robots when a part appears in a working manipulation area, as a sensor for object counting devices, as a burglar alarm device, and the like.

The purpose of the invention is to increase the sensitivity and reliability of the device by increasing the spatial selectivity by forming a narrow directivity pattern of the receiving part and introducing an automatic adjustment of the controlled parameter of the floor and extending the functionality by providing the possibility of determining the dimensions and direction of movement of the object.

FIG. 1 shows a block diagram of the device; in fig. 2-4 diagrams, which show the operation of the device.

A device for the registration of moving objects (Fig. 1) contains a generator 1, first 2 and second 3 frequency dividers, first and second 5 attenuators, adder 6, transmitting antenna 7, first 8 and second 9 receiving antennas, first 10 and second 11 selective amplifiers , the first 12 and second 13 detectors, the first 14, the second 15 and the third 16 subtractive devices, the threshold device 17, the actuator 18, the first 19 and second 20 low-pass filters.

The generator 1 is connected to the inputs of dividers 2 and 3 frequencies, the outputs of which through attenuators 5 and 4 are connected to the inputs

adder 6, the output of which is connected to the transmitting antenna 7. Receiving antennas 8 and 9 through the serially connected selective amplifiers 10 and 11, the detectors 12 and 13 are connected to the same inputs

subtractive devices 14 and 15, the opposite inputs of which are interconnected. The outputs of the reading devices 14 and 15 are connected to the inputs of the reading device 16 and through filters 19 and 20 low frequencies to the controls of the inputs of attenuators 4 and 5, respectively. The output of the subtracting device 16 through the threshold device 17 is connected to the actuating device 18.

The device works as follows.

Generator 1 generates a variable voltage with frequency ij (for example, 100 kg 1 which is fed to the inputs of frequency dividers 2 and 3 with division factors of type (for example, 8 and 10), respectively. For example

with frequencies o1gl and io / p (respectively 12.5 and 10 kHz) are fed to the inputs of attenuators 4 and 5 and then to the inputs

adder 6. A dual-frequency signal on the adder output is fed to a transmitting antenna 7, which creates in the surrounding space an alternating electric field, which is the sum of two fields with the same structure and different frequencies. On the antenna antennas 8 and 9, emfs are induced with frequencies ω1 and и /,, which are fed to the inputs of the selective amplifiers 10 and 11 that carry out frequency selection signals. The first detectors 12 and 13 select the oscillation envelopes to the inputs (cc b of subtractive devices 14 and 15 so that the outputs of the subtractive devices form 1frames that are proportional to the difference in the levels of the envelopes in both cannons

. U ,,,,, k (U, -Uj; - .i5 MU2-U ,,

where K - transfer coefficients of detractors.

These voltages, in turn, are fed to the inputs of the subtractor 16, where the voltage is generated.

vj ,, .. 1.- 8 of 2- | Lee, s,),

where the transfer coefficient of the subtractive device 16.

Since the receiving antennas are located symmetrically with respect to the transmitting one, the signal levels in both channels are the same and the voltages at the outputs of the subtractive devices are zero. If this condition is violated due to the slow destabilizing factors of the single field due to the broken symmetry of the field structure due to the presence of stationary scattered mismatch voltages near the antennas, the outputs of the subtractors 14 and 15 are fed to controllers The inputs of attenuators 4 and 5 change the levels of the field components in the control zone so as to restore the equality of signals in both channels.

When approaching the object to the control zone formed by the device’s antennas, the capacitances between the transmitting and receiving antennas change. The distance between the receiving antennas is chosen by us less than the characteristic dimensions of the object. At the same time, as long as the distance from the object to the oscillation symmetry of the antenna system is larger than the object, its effect on the magnitude of the capacitance between the transmitting and receiving antennas of both channels is the same. An intersection of the object of the control zone is changing

3

The signal level in channel I, then in channel 11. Voltage plots at the outputs of detectors 12 and 13 for this case are shown in diagrams a, b (Fig. 2). The time shift ui between the stress extremes in channels 1 and 11 is determined by the speed of the object.

When subtracting the voltages generated by the detectors 12 and 13, the outputs of the subtractive devices 14 and 15 are formed by

voltage drops (diagrams c and j, fig. 2), while the amplitudes of positive and negative emissions do not depend on the speed of the object. At the output of the subtracting device 16, a bipolar voltage drop is formed with a doubled emission amplitude (plot e, fig. 2), which will try to sensitivity the device to small and dielectric objects that are weaker than the electric field parameters.

The threshold device 17 forms bipolar rectangular pulses arriving at the actuator. With the opposite direction of movement of the object, the sign of the voltage drop at the output of the subtracting device 16 changes, which makes it possible to unambiguously register the direction of movement of the object.

When moving an extended object, the shape of the voltages at the outputs of the detectors 12 and 13 has the form shown in the diagrams a, b (Fig. 3). The shape of the voltages at the outputs of the subtractive devices 14-16 and the threshold device 17 corresponds to the diagrams c, d, e, f (Fig. 3). The time interval between extremes of voltage surges at the outputs of subtractive devices 14-16 at a known speed of the object is uniquely related to its size in the direction of movement.

FIG. 4 illustrates the formation of a narrow radiation pattern of the proposed device. The face of the control system, consisting of the transmitting and receiving antennas, form an ellipse, at the intersection of which the object changes the parameters

j

fg

20

25

Jq.

five

0

30744

the field in the area of the location of an antenna exceeds a predetermined threshold. The dimensions of this ellipse are determined by the size of the object and the threshold; the smaller the threshold and the larger the size of the object, the greater the distance the object triggers.

In the proposed device, due to differential signal processing, the triggering occurs only when the object intersects a relatively long zone located along the axis of symmetry, and the dimensions of this zone are much less dependent on the size and physical properties of the object.

Claims (1)

Invention Formula A device for registering moving objects, comprising a generator, a first receiving antenna, a transmitting antenna, a first detector, a threshold device and an executive device, the output of the threshold device is connected to an actuator, in order to improve sensitivity and reliability. the first and second frequency dividers, the first and second attenuators, the adder, the second receiving antenna, the first and second selective amplifiers, the second detector, the first, second and third subtractive devices were introduced WA, first and second low-pass filters, with serially connected frequency dividers and attenuators connected between the generator output and the inputs of the adder, to the output of which the transmitting antenna is connected, both receiving antennas through serially connected selective amplifiers and detectors connected to the same inputs of the first and second subtractive devices, the opposite inputs of which are interconnected, and the outputs are connected to the inputs of the third subtractive device and through low-pass filters to the control m inputs of the attenuators, the output of the third subtracter is coupled to the input of the threshold device. At: f and f Ivx Fmg.1 l i s  Uch / t R and Editor Fr. Golovach Compiled by I. Abrshlova Tehred O. Gortvay Order 2765/47 Circulation 728 VNIIPI State Committee of the USSR for inventions and discoveries 113035, Moscow, F-E5, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4 FIG. four Proofreader M. Maksimishinets Undersize