SU1378086A1 - Optronic coordinator for automatic steering of mobile units - Google Patents

Abstract

The invention relates to a means of automating the driving of mobile units and provides measurement of the track coordinate on the ground relative to the unit with high measurement noise immunity. The purpose of the invention is to enhance the functionality and simplify the design. Coordinator contains a matrix

Description

cl

with

Faye. g

A photodetector 1 and output signal generator 2, made in the form of serially connected gate selector 7, addressing unit 8, current image storage unit 9, memory interrogation unit 10, track fixing unit 11, and output converter 12. In the feedback circuit between the track fixing unit 11 and the gate selector 7, the generator 13 of the gate and the control unit 14 of the gate are turned on. The coordinator also includes

one

The invention relates to the means of automating the driving of mobile units, and can be used as a navigation device for automating the driving of any ground trackless vehicles.

The aim of the invention is to expand the functionality and simplify the design of the coordinator. FIG. 1 shows the structure of the optoelectronic coordinator; FIG. 2 shows structural schemes of a video pulse former; in fig. 3 is a schematic diagram of the gate selector; FIG. 4 is a structural diagram of a track fixing unit; in fig. 5 is a block diagram of an output signal converter; Fig 6 is a structure diagram of a strobe generator; Fig. 7 is a block diagram of a strobe control unit; in fig. 8 and 9 - time diagrams of the main units of the coordinator.

FIG. 8 and 9, the following signals are accepted by designating the signals of the coordinator's blocks: (the numbers in brackets are the one-digit block number in Fig. 1) and (9) and 114 (9) are the signals of 1-4 lines arriving at block 9, while Signals that are not passed by the strobe are crossed out, the strobe is shown in a dashed line memorized in this period, the interference signals are shaded; time interval indices Tm - cycle period; T - the period of the line; Tj - frame period; i is the current index

78086

sync generator 15, synchronizing. the operation of the coordinator units, and the trace capture indicator 16. The given coordinator structural scheme allows to automate the transition from the search mode to the strobe mode of the useful signal and back, as well as to provide dynamic conversion of the output signal and simplify the design by eliminating the reference memory and duplication in the coordinate determination channels. 2 з.п, ф-л, 9 Il.

i frame period. - the last index of the row period (i, i. - the number of the interrogated row of the photoreceiver matrix - MTF); t - temporary

the shift of the useful signal relative to the end of the line; U threshold level

The optoelectronic coordinator contains a photodetector device 1 and

driver 2 output signal. The photodetector 1 is made in the form of a series-connected optical system 3, MTF 4 connected with the optical system 3 optically, block 5 of the MTF survey, and a imager 6 video pulses. The output signal generator 2 includes a strobe selector 7 connected in series, the first input of which is the input of the output signal generator 2 and is connected to the output of the video signal generator 6. addressing unit 8, memory block 9, interrogation unit 10, track fixing unit 11, Converter 12 output signal. In addition, the output driver 2 includes a strobe generator 13, a strobe control unit 14, a sync generator 15, and a wake trap indicator 16. The first inputs of the strobe generator 13 and the strobe control unit 14 are connected to the output of the fictional track unit 11. The output of the generator 13 st ba is connected to the second input of the gate selector 7, to the third input of which, as well as to the second input of the generator 13 of the gate and the signaling input

Trail capture torus 16 is connected to the output of the strobe control unit 14. The readout of the output of the synchronous generator 15 (signal Uo) is connected to the second inputs of the polling machine MTF 5, the addressing block 8 of the current image memory polling unit 10, the track fixing unit 11, the output converter 12 and the strobe control unit 14, the line output of the clock 15 (Uj signal .) is connected to the third inputs of the FPM polling unit 5, the addressing unit 8 and the second input of the imaging unit 6 video pulses, the clock output of the clock generator 15 (UT- signal) is connected to the clock inputs of the FPM polling unit 5, the addressing unit 8, the current memory polling unit 10 its image, the output converter 12 and the strobe generator 13,

Optical system 3 is made in the form of a lens, in the image plane of which MTF 4 is installed, and in the nominal position the trace image coincides with the interface of the central columns of MTF 4, MTF is a rectangular matrix containing h photosensitive elements in a row and w - in column, and the corresponding number of informational electrical outputs, Block 5 of the MTF polling can be performed, for example, in the form of a multiplex (switch) and a counter controlled by the output signals of the clock generator 15 : reading - by frames, lowercase - by the beginning of lines, clock - by raster elements of lines.

Shaper 6 video pulses (Fig. 2) contains series-connected T7 automatic gain control (AGC), differentiator 18, amplitude selector 19, pulse shaper 20, and also contains a counter 21, code comparison circuit 22 (s), pulse number adjuster 23 key 24 and integrator 25; AGC input 17 is connected to the output of the FPM polling unit 5, counting input 21 is connected to the output of generator 20, and outputs 21 and the setpoint of the number of pulses 23 to the inputs; the installation of the zero of the counter 21 is connected to the horizontal output of the clock 15, the output of the driver 20 to them

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pulses are connected via a switch 24, to the control input of which the output sec 22 is connected, to the input of the integrator 25, the output of which is connected to the input of the installation of the selection level of the amplitude selector 19.

The gate selector 7 (FIG. 3) is designed as a demultiplexer (distributor) 26, the information input of which is connected to the output of the video pulse generator 20, and the control input to the output of the strobe control unit 14. The first output of the demultiplexer 26 is connected to the first input of the first AND 27 circuit, and the second to the first input of the first SHS circuit, the output of the strobe generator 13 is connected to the second input of the first AND 27 circuit, and the output of the first AND 27 circuit is connected to the BTopbiM input of the first IPI 28 circuit The output of which is the output of the gate selector J and is connected to the information (first) input of the addressing unit 8, which can be implemented as a demultiplexer, and a counter controlled, similarly to the polling unit 5, by the clock generator 15,

Block 9 of the current image memory can be made as a set of registers having a matrix structure of elements, i.e., a row dimension (number of columns), a smaller FPM row dimension per unit, and a number of rows equal to 5 number of FSH lines},

The current image memory polling unit 10 can be executed in the form of a multiplexer and a counter controlled by the read (on the poll line) and the clock (by raster elements) output signals of the clock generator 15.

Addressing blocks, 8, memory 9, interrogation 10 can be combined in large integrated circuits and in this case are allocated for consistency, as well as due to some recording features (non-line, continuously in ticks) and read (last line of frame).

The trace fixing unit 11 (Fig 4) contains a threshold device 29, an adder 30, a first inverter 31, a first key 32, a maximum value memory 33 and a delay line 34. The output of the threshold device 29 is connected to the first input of the adder 30 and to the input of the inverter

0

0

five

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five

31. which is connected in series with the key 32 and the memory unit 1 of the maximal value, for example, made in the form of a register. The output of the maximum value memory unit 33, made, for example, in the form of a register, is connected to the second input of the adder 30, the output of which is the output of the track fixing unit 11 and connected via a delay line 34 to the control input of the first key 32. The maximum value memory unit 33 is connected to the reading output of the synchronizing generator 15.

The converter 12 of the output signal is made in the form of a second OR-35 circuit connected in series. (Fig. 5), the first input of which is the input of the output signal converter 12 and connected to the output of the adder 30, the first counter 36, the former 37 of the half code, the controlled divider 38 of the second key 39, the memory 40, made, for example, It also contains the second inverter 41. The output of the second circuit OR 35 is connected to the input of the zero setting of the first counter 36, the bit size of which must be equal to the line dimension of the current image memory block 9, i.e. n - 1. To the second input of the second circuit OR 35, the counting input of the first counter 36 and the second inverter 41 to the control input of the second key 39 are connected to the read output of the clock 15, the clock output of the clock 15 is connected to the counting input of the first counter 36 the first counter 36 is connected to the control input of the forwarder 37 half code;

Gate generator 13 is made in

in the form of serially connected second counter 42, first SSK 43, first trigger 44, third counter 45, and second circuit 46, and also contains second SSK 47, first 48, and second 49 setters of the number of pulses. The input of the zero setting of the second counter 42 is the first input of the generator 13 / strobe and is connected to the output of the track fixing unit 11. The output of the second counter 42 through the first SSK 43 is connected to the first input of the first trigger 44, the first output of which is connected to

Q

0 5 5

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0

0

the input of the resolution of the account of the third counter 45, the Output of the third counter 45 is connected to the inputs of the second circuit And 46, with the first input M of the second circuit And 46 directly, and with the second input through the second CCK 47. The overflow output of the third counter 45 is connected to the second input of the first trigger 44 The outputs of the first and second setters 48 and, 9, the number of pulses are connected to the second inputs of the first 43 and the second 47 of the second, respectively. The clock output of the clock generator 15 is connected to the counting inputs of the second 42 and third 45 counters, and the output of the strobe control unit 14 is connected to the counting resolution input of the second counter 42, The output of the second circuit 46 is the output of the strobe generator. The width of the second counter 42 should be equal to the dimension of the FPM string, i.e. p, and the third counter 45 is equal to 1.5, - 0.5 where p is the duration of the strobe in cycles, and the value is odd.

The values of n, and recorded in the first 48 and second 49 sets of pulses, the formulas for which are given, as well as the width of the counter 45 are selected based on the condition of forming the required strobe: the duration of the strobe must be equal to the predetermined number of cycles n chosen from a minimum duration (for the maximum possible elimination of interference), but sufficient to capture the useful signal in the subsequent frame with the greatest possible displacement of this signal during the cycle; the strobe must be centered in time relative to the clock along the left NIN of the useful signal in the previous frame, since the signal shift to the left or right on the ground is uniform (hence the oddness requirements P (.); the strobe generator must ensure tracking of the strobe center by the position of the useful signal - hence, the start condition of the strobe start after n - 0.5 (rp - 1) cycles after the appearance of the useful signal. One clock is the service one necessary for triggering the trigger 44,.

In this case, the indices of the parameters n to P 22 do not mean the block numbers, but the first setting device, the second setting indicator: The gate time is provided by advancing the CCK 43 relative to the overflow time

counter 42 by 1 + 0.5 (nj- - 1), and strobe duration - by delay of circuit operation AND 46 (caused by the absence of signal SCQ 47) by 0.5 (n, - 1) relative to the beginning of the count of counter 45 Therefore, the duration of the strobe is equal to the counter width of 45 (1.5 p - 0.5

minus the specified delay, i.e. 1.5p - 0; 5 - 0.5 (n - 1) - Ps.

The memory blocks 9 and the fixings 11 then perform static signal processing in the coordinator by selecting the maximum of the discrete distribution in the frame, which is equivalent to the maximum of the mutual correlation function of the current and reference trace images.

The strobe control unit 14 (FIG. 7) is designed as a second trigger 50, the first input of which is connected to the output of the track fixing unit 11, and the second input through the differentiator 51 to read the output of the clock generator 15. The output of the second trigger 50 is connected to the inputs of the third OR circuit 52, with a paired input of the third circuit OR 51 directly, and with the second input through a single vibrator 53. The output of the SHSh 52 circuit is output by the gate control unit 14.

Optoelectronic coordinator works as follows.

Before the start of automatic movement, the mobile unit is installed with manual control so that the track area (grooves grooves, a row of plants), roadblock and,) gets into the field of view of the optical system 3. Then, without turning on the controller system, the vehicle will turn on Optical Electroelectronic coordinator. The outputs of the photosensitive elements FPM 4 produce signals that are functionally related to the distribution of illumination. Field of review FPM polling unit 5 begins to read these signals line by line, spending on reading each mortar element of FPM 4 tact period T, and for polling the line - period lines T (. (T (, pT-)). To interrogate the entire MTF, the frame period or cycle is spent

T, w t nff.

The signals from block 5 of the survey are received in the imaging unit 6 video pulses.

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0

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0

ke, decreases

five

where they are normalized by the AGC circuit 17, are differentiated numerically in the differentiator 18 and are fed to the amplitude selector 19. The derivative in the differentiator 18 is calculated by subtracting the values of the signals of the adjacent elements of the MTF 4, thus the number of information signals per page

0

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unit

The number of pulses per row transmitted by the amplitude selector 19 is predetermined by entering the required number into the setpoint generator 23 of the number of pulses. The pulse shaper 20 generates pulses normalized in amplitude (the pulse width is normalized with a takt period) i.e. performs binary quantization of the signal. These pulses arrive at the counting input of the counter 21. A string pulse that is zeroed at the beginning of each line. When the number of these pulses becomes equal to the number stored in the setter 23, the FCS 22 outputs the signal that opens the key.

24, and the pulses from the output of the imaging unit 20 are fed to the integrator 25, which increases the selection level of the amplitude selector 19, thereby limiting the number of pulses at its output, and, accordingly, the entire imaging unit of the video pulses 6.

I

The level of selection determines which

the values of the input signal will be selected, passed by the amplitude selector 19. The analog integrator produces this level

25 having different characteristics of the rate of rise and fall of the signal at the output. These characteristics are determined by the values of constant time T, Tp, the recommended ratio between them is selected as follows. The dynamic characteristics of the integrator 25 must be such that, when an amplitude selector 19 passes a predetermined number of pulses, the level of selection at the end of the line remains almost constant. This can be achieved on the basis of

of time

relations T, where T ,,

Tr is the timing of the corresponding charge and discharge of the integrator 5 25; p - set (setting unit 23)

the number of pulses per line, and the value of Tp is selected from the condition of ensuring the tracking of the fall

natural illumination floor review.

Thus, at the output of the imaging unit 6 video pulses in each line, the number of information pulses is formed, which is approximately equal (given the circuit dynamics) to the specified one. This increases the noise immunity of the coordinator, as it allows to eliminate interference pulses smaller in amplitude of the useful signal, and on the other hand, to pass a useful signal smaller in amplitude than the interference, assuming its selection during further processing,

From the output of the imaging unit 6 video pulses, information signals arrive at the input of the demultiplexer 26 of the gate selector 7, In the strobe mode, if there is a signal at the output of the strobe control unit 14, information sig.-signals arrive at circuit I 27, which only in the presence of a strobe at the output of the strobe generator 13, in the search mode, there is no signal at the output of the strobe control block 14, and the demultiplexer 26 feeds all incoming signals to the OR 28 circuit, from which they are transmitted to the addressing block 8, recording them in accordance with the address determined by the output signals of the synchro-generator 15 in the cells of memory 9 of the current invention.

During the last line of the cycle, with the exception of its first cycle, the synchronous generator 15 generates a read pulse U, -, entering the polling unit 10 of the current image memory, it enables the operation of this block, and block 10 performs a polling of the contents block 9 of memory in columns, t, e. during each clock cycle, it produces a signal proportional to the number of pulses stored in each column of memory block 9, including pulses from the MTF 4 during the last row of the cycle.

The signals from the output of block 10 are fed to the input of the threshold device 29 of the block 11 of trail fixing, which carries out their amplitude selection. Through the adder 30, the signal passes only if its value exceeds the value recorded previously during the polling line in block 32 pa

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In this case, the signal from the output of the adder 30, the passage through the delay line 34, opens the key 32, and in block 33 the new maximum signal value inverted by the inverter 31 is recorded. The delay time of the delay line 34 is chosen sufficient for the operation of blocks 32 and 33, as well as those controlled by block 11, blocks 12-14, however, less than the duration of the cycle. Thus, when a signal trace greater than the previous signal appears at the input of block 11, a pulse is formed at the output of this block, the duration of which is equal to the delay time of the delay line 34, as a result of which the time of occurrence of the longest is determined (fixed) block 9 of the memory of the current image signal, i.e. Discrete distribution modes in the field of view. Taking into account that the useful signal can be represented by a single column function when the requirements of the optical system are met, the discrete distribution mode in this case can be interpreted as a maximum of the intertwined pion fukntion of the reference and current trace images.

The read pulse of the synchronizer 15 permits the operation of the counter 36 of the output signal converter 12, simultaneously flips the counter 36 through the OR circuit 35, and through the inverter 41 zagrsha key 39, disconnecting the memory. device 40 from the circuit. From this moment, the counter Zb starts counting the clock pulses of the synchronous generator 15, and if no useful signal is received from the output of the track fixing unit 11, the output signal of the counter 36 is overloaded by the overflow signal coming at the end of the read pulse or the polling string 37 half of the code to a value twice as small as its bit size (equal, as indicated, to the line width of block 9 of the memory of the current image or the duration of the read pulse in cycles), and in the controlled divider 38 to the corresponding bit its analog value. During the read pulse, one or several pulses arrive at the converter 12 from the fixing unit 11, swatting the counter 36, determined

The output value of the counter 36 to the end (of the read pulse. In this case, the half-code driver 37 does not work, performs the function of a signal transmission line to the controlled divider 38. During the first clock cycle after the termination of the matching pulse, the key 39 closes and the output signal value controlled divider 38 is rewritten there throughout the next cycle. Thus, this value is proportional to the time

137

the shift of the last information name by strobe to the specified period

25

thirty

pulse from the output of the block 11 fixing just about the end of the cycle

The falling edge of the readout pulse of the synchronizing generator 15, the memory block 9 of the current image (through addressing block 20-8) and the maximum value memory block 33 are cleared and thus the coordinator is prepared for the next cycle.

The strobe control unit 14 determines in which mode the coordinator will operate in the next cycle — in the search or gating mode of the useful signal. If during the current cycle the useful signal is not detected, not fixed by the track fixing unit 11 during the action of the read pulse of the synchro-generator 15, then in the next cycle the coordinator works in the useful signal search mode throughout the field of view. At the same time, the trigger 50, being at the beginning of the polling line of the current 1 step, is transferred by the leading edge of the pulse generator 15 using the differentiator 51 to the state in which a zero signal is formed at its output; remains in this state and during the next cycle, at the output The SHS 52 signal circuit is also zero, and the gate selector 7 transmits all pulses from the output of the video signal generator 6, realizing the search mode. If during the current cycle at the output of the track-fixing unit 11 there is at least one signal, which indicates with great probability that the track is captured, this signal, being fed to the first input of the trigger 50, puts it in the state in which logout appears

time value of the signal equal to the logical unit.

The strobe generator 13 is triggered by a pulse from the output of the track fixing unit i1, and more precisely the last of a possible series of these pulses, during the action of cr (the triggering pulse of the synchro generator 15, which zeroes the counts 42. This moment indicates the maximum of the signal distribution, i.e. On capture, the trace coordinator and denotes the cycle - the center of the string for the next cycle. At this time, the output of the strobe control block 14 is necessarily a signal (due to the same pulse train from fixation block 11), allowing the operation of the counter 42 ,. counting IR 42 starts counting the clock pulses of the synchronizer 15 arriving at its counting input. From this moment until the next pulse arrives from the fixing unit 11, the counter 42 works cyclically, and since its width is equal to the dimension of the line, it is synchronous with the first iodine lines, i.e., the signal value at its output is strictly in accordance with its position in time in the line.This is significant for the moment when the output signal of counter 42 becomes equal to the specified number of pulses 48, namely, the value of b. h -1-0.5 (ps, -1), and at the output of sec 43 a signal appears (for all

0 other values of the output signal of the counter 42, larger or smaller on the CCK 43 code, the signal is zero. This signal flips trigger 4 to the state in which its first 55.VOM output, connected to the setpoint input of the counter 45, is paired veins zero, and at the second exit, connected to the input of permission of the account

35

40

45

unit, and the selector 7, to which this unit enters through the circuit OR 52, passes only those signals from the output

6. 12

The driver 6 video pulses, which coincide in time with the strobe, implemented a gating mode. The single-oscillator 53, producing a pulse equal in duration to the read pulse of the synchronous generator 15 at the moment when the trigger 50 transitions from one to the zero state (coinciding with the moment of arrival of the read pulse), prevents strobe RIR-1a from disrupting if it occurred during the polling line, supporting at the output of block 14 control

0

time value of the signal equal to the logical unit.

The strobe generator 13 is triggered from the output of the track fixing unit i1, and more specifically the last of a possible series of these pulses, during the action of cr (the current pulse of the synchro generator 15, which flushes counter 42). the track is captured by the coordinator and denotes a cycle - the strobe center for the next cycle. At this time, the output of the strobe control block 14 is necessarily a signal (due to the same pulse train from fixation block 11), allowing the counter to work 42, the poet The counter 42 starts counting the clock pulses of the synchronous generator 15 at its counting input. From this moment until the next pulse arrives from the fixing unit 11, the counter 42 operates cyclically, and since its width is equal to, the dimension of the line, it is synchronous with the period lines, i.e. the signal value at its output is in strict accordance with its position in time in the line. This is significant for the moment when the output signal of counter 42 becomes equal to the number of pulses given by the unit 48, namely the value b . h -1-0.5 (ps, -1), and at the output of sec 43 a signal appears (for all

0 other values of the output signal of the counter 42, greater or smaller in the code of the CCK 43, the signal is zero). This signal throws the trigger 44 into the state in which its first 5, VOM output, connected to the input us. setting zero of counter 45, the signal is zero, and at the second output connected to the counting input

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13

the counter 45, a logical unit appears, and the counter 45 starts counting the clock pulses of the synchronizing generator 15 to its counting input. When the output signal of the counter 45 reaches the value recorded in the unit 49 the number of pulses, namely p 0.5 (Pr - 1), at the output of the CCK 47 a signal appears, as a result, the circuit 46 is triggered and a gate is output at its output. By the pulse overflow signal of the counter 45, on

20

25

at its output, the output signal is proportional to the static signal, equal to its size, i.e. 1.5P |. - 0.5, the trigger 44 is transferred to a state in which the signal appears on its first output, which nulls the counter 45, and on the second output the signal is zero, therefore the counter 45 is inhibited and the gate at the output of circuit 46 terminates. With such a strobe generator device, in all rows of the cycle following the current one, there appears a gate symmetrical with respect to the tact in which the useful signal was detected in the current cycle. The tracking of the strobe center behind the indicated clock is provided by triggering the FCS 43, ahead of the start of the strobe and delaying the FCM 47 by the same amount. Due to this, if in the current cycle the useful signal appears at the first clock of the strobe, and he zeroes the counter 42, this counter has time to start the strobe formation circuit by transferring trigger 44 through the CCK 43. If the useful signal appears the last gate stroke, strobe tracking for this position is provided by zeroing the counter 42 without additional difficulty.

The signal from the output of block 14, arriving at the input of the trap capture detector 16, performed, for example, in the form of a light indicator mounted on the control panel in front of the mobile unit operator, triggers the alarm transmitter. When searching for a track (at the start of work or when a track is lost), the indicator light turns on. With reliable tracking by the trace coordinator, which takes place during continuous operation in its gating mode, the alarm 16 turns off the indicator light, informing the operator that the coordinate is ready (direction finding characteristic with predatoriness to the mortar element of the MTF, Indeed, the time shift t (FIG 8) the position of the trace relative to the end of the line is proportional to the angular distance to the left of the edge of the MTF field of view, and the output signal and (12) of the converter of the 12 output signal is proportional to f. Amplitude selection, gating, stat processing by the maximum of the discrete distribution, equivalent to the maximum of the 1/1 correlator (the ionic function of the current and reference images

2Q trace, provide high interference stability of the coordinator. Automatic transition from gating mode to search mode and backward dynamic conversion of the output signal expands the functional capabilities of the coordinator, and using trace fixation along the maximum distribution limit instead of mutual correlation processing allows you to get rid of the reference memory, duplicating coordinate determination channels. , and therefore simplify the coordinates

FIG. Figures 8 and 9 show time diagrams explaining the operation of the main blocks of the coordinator with the dimension of MTF 8x4 (8 columns, 4 rows of the duration of a clock in cycles nj, FIG. B shows the work of the coordinator during the current cycle, as well as the last row of the preceding cycle

50 In FIG. 9, only the last periods of the lines of the five cycles following the cycle shown in FIG. B, i.e. polling strings. Illustrates cases of loss of track i + 1st cycle, transition to search mode in i + 2nd cycle, detected in this cycle trace, sifting by gating in i + 3 ci40

45

55

14

the torus operates in automatic mode and the operator can turn on the auto-driving system control of the mobile unit, i.e. switch from manual to automatic mode. The same task of informing the operator about the mode of operation of the coordinator can be solved by two light indicators of different colors or using audible indicators, etc. by known methods.

Thus, the proposed optical-electronic coordinator provides 20

25

 proportional static

(direction-finding characteristic with discreteness to the FPM mortar element. Indeed, the time shift t (Fig. 8) of the position of the trace relative to the end of the line is proportional to the angular distance to the left of the edge of the FPM field of view, and the output signal and (12) of the output converter 12 are proportional to f . Amplitude selection, gating, static processing on the maximum of the discrete distribution, equivalent to the maximum of the correlator 1: (ion function of the current and reference images

2Q track, provide high noise immunity of the coordinator. Automatic transition from gating mode to search mode and vice versa and dynamic conversion of the output signal expands the functionality of the coordinator, and using track fixation on the maximum distribution instead of mutual correlation processing allows you to get rid of the reference memory, duplicate coordinate determination channels, and hence, simplify the coordinator.

FIG. Figures 8 and 9 show time diagrams explaining the operation of the main blocks of the coordinator with the dimension of MTF 8x4 (8 columns, 4 rows), the duration of the timing in cycles nj, 3. FIG. B shows the operation of the coordinator during the current cycle, as well as the last row. preceding cycle.

0 FIG. 9 shows only the last periods of the rows of the five cycles following the cycle shown in FIG. B, i.e. polling strings. It illustrates cases of loss of a trace in the i + 1st cycle, transition to the search mode in the i + 2nd cycle, detection of a trace in this cycle, sifting by gating in the i + 3 rd

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adhesive interference, more intense than the useful signal.

The proposed optoelectronic coordinator can be performed in various ways. For example, polling block 5 and subsequent blocks 6-8 can work in parallel, simultaneously polling all the lines of MTF 4. This

It increases the speed, but complicates the Q addressing and the photo device to the polling unit. The memory block 9 and the output signal converter 12 can be executed both on digital (which is preferable) and on analog element base. In the proposed embodiment, the digital element base is mainly used, with the exception of the output unit 12, which is oriented towards the analogue controllers used in the automatic driving devices of mobile units. The coordinator units allow different variants of execution and their optimal performance is given in the description. Expansion of functionality due to automatic transition from the search mode to the mode of building and dynamic conversion of the output signal, as well as simplifying the device by eliminating correlation processing and duplicating the coordinate determination channels determine the advantages of the proposed optoelectronic coordinator in comparison with the prototype

Claims (3)

Invention Formula 15 20 25 thirty 35 emulator matrix, characterized in that, in order to pacify the functionality and simplify the design, the output driver is provided with a gate selector connected between the video pulse generator and the addressing unit, the interrogator, and the tracking unit, and the converter output signal, three inputs of which are connected respectively to the output of one: the ode of the track fixing unit, and to the readout and clock outputs of the synchrohecrator, with the second and third voltages of the strobe selector connected to Respectively to the outputs of the strobe generator and strobe control unit, reading the output of the synchronous generator is connected to the second inputs of the interrogator and the output signal converter, and the clock output of the synchronous generator to the clock inputs of the interrogator n. output converter. 2. The coordinator according to claim 1, that is, with the fact that the gate selector is implemented as a serially connected demultiplexer, cx AND AND the first OR circuit, the second inputs of which are connected respectively to the strobe control unit , to the strobe generator and to the second output of the demlexer. 1, Optoelectronic coordinator for automatic driving of mobile units, containing a photodetector, made in the form of a series-connected optical system, a photoreceiver matrix, a photoreceiver matrix polling unit, a video driver, and an output driver connected to the photoreceiver output and made in the form of a serially connected addressing unit, a storage unit of the current image, a track fixing unit, a strobe control unit, a signal. capture jams, and also including a strobe generator, connected by inputs to the outputs of the track fixation unit and the strobe control unit, and the sync generator, the horizontal output of which connected to a photodetector array polling unit, a video signal conditioner and an addressing unit that reads the output.– to the strobe control unit, to a track fixing unit, to the photodetector matrix polling unit and to the addressing unit, and a clock output to the strobe generator to the unit five 0 five 0 five 0 five 0 five matrix, characterized in that, in order to pacify the functionality and simplify the design, the output driver is equipped with a gate selector connected between the video pulse generator and the addressing unit, the interrogator, and on between the memory unit and the track fixation unit, and a converter of the output signal, three inputs of which are connected respectively to an output: an ode of the track fixing unit, and to the readout and clock outputs of the synchronous trigger; the second and third outputs of the strobe selector are connected ootvetstvenno to the outputs of the generator and strobe gate control unit that reads the output connected to the clock inputs of the second interrogation unit and the transducer output signal, and a clock output clock - to the clock inputs of n interrogation unit. output converter. 2. The coordinator according to claim 1, that is, with the fact that the gate selector is implemented as a series-connected demultiplexer, AND circuit and the first OR circuit, the second inputs of which are connected respectively to the strobe control unit, to the strobe generator and to the second output of the demlexer. 3. Coordinator according to claim 1, characterized in that the output signal converter is made in the form of serially connected second OR circuit, a counter, a half code generator, to the control of which its input is connected to a counter overflow output, a controlled divider, a key and a storage device, as well as an inverter connected to the control input of the key, the second input of the OR circuit, the enabling input of the counter and the input of the inverter are connected to the readout output of the synchronous generator, the clock output of which is connected to the input of the counter ka 6 CMf about With Sn. 15 from 6 / 1.1 o- off l. 13 o- Fig.d FIG 2 school 26 27 26 g to l: d Stiixod v KQOpSuHQinopa I cfffl.W FIG. five from 6 / 1.15 sy.P to 5L.7D16 , t FIG. 7 Fig.d FIG. 9