SU1529261A1 - Device for centering images of objects - Google Patents

Abstract

The invention relates to automation and computing and can be used in pattern recognition systems, aircraft guidance systems and eye-to-arm robotic systems. The aim of the invention is to improve the accuracy of the device for centering images of objects. The goal is achieved by introducing a device containing a photodetector 12, a photodetector movement unit 10, keys 4-7, a comparator 2, adders 8 and 9, and a synchronization unit 1, element 3 and element OR 11, with corresponding connections. 1 hp f-ly, 6 ill.

Description

ate

tsD

WITH

to

Od

31

The invention relates to automation and computer technology and can be used in pattern recognition systems, aircraft anapravment guidance systems, and eye-to-arm robotic systems.

The aim of the invention is to improve the accuracy of the device.

FIG. 1 is a block diagram of the device; FIG. 2 is a block diagram of a photodetector; in fig. 3 is a block diagram of adders and a photodetector movement unit i in FIG. 4 is a block diagram of a synchronization unit; FIG. 5 is a conventional representation of an object relative to the center of the optical unit of the photodetector before the process of centering the image} in FIG. 6 - time diagrams of the device operation.

A device for centering images of objects contains (Fig. 1) synchronization unit 1, comparator 2, element 3, a group of four cells 4-7, first 8 and second 9 adders, unit 10 moving the photoreception. nickname, element OR NOT 11, photoreceptive 12, input 13 for setting the device threshold, inputs 14 Start and 15 Reset, and information output 16.

The photodetector 12 (figure 2) contain tl. shaper 17, matrix of 18 photocells, optical unit 19, generator of 20 pulses, video amplifier 21, third 22, first 23, second 24 and four 25 outputs.

Each of the adders 8 and 9 contains (fig.Z) a reversible binary counter, 26 pulses, an OR element 27, a trigger 28, two elements AND 29, 30, and the second adder 9 additionally contains an AND-NE element 31. In addition, adders 8 and 9 have a subtractive input 32, a summing input 33, a clock input 34 and outputs 35.

 The photodetector movement unit -10 contains (Fig; 3) a group of four elements AND 36, a group of four drivers 37, a group of four executive motors 38 and a synchronizing input 39.

The synchronization unit 1 (FIG. 4) contains a HE 40 element, three pulse formers 41–43, the first and second delay elements 44, 45, the first through fourth triggers 46–49, the first through the third OR elements 50-52

the first 53 and second 54 elements AND, element OR-NOT 55, the third delay element 56, inputs 14 Start and 15 Reset, blocking input 16, personnel 23 and extinguishing 24 clock inputs, setting 34 and executive 39 outputs, first 57 and the second 59 control outputs, the second 59 and the first 60 gate outputs, as well as the third 61 and fourth 62 control inputs,

The device works as follows.

In the initial state, the binary counters 26 and the triggers 28, 46-49 are set to the state O (a low voltage level at the information outputs). At the same time, the output signal of the And 3 will hold the signal O, since A signal O is received at its second input from the output 60 of the Second element AND 54. The signal O is output. The output 59 of the first element OR 50 has a signal 1. At the executive input 39 of the synchronization unit 1, the signal o is held, since At input 15, the device has an O signal, and the signal from the second driver 42 holds signal 1. Thus, the counting pulses are not received at the inputs of adders 8 and 9, and signals O are held at their output 35, and the actuators 38 of the photodetector displacement unit 10 are de-energized .

At the third output 22 of the photodetector 1 2, pulsed sequences are formed, according to which information is output by element at the fourth exit 25. At the first exit 23, standard ones are formed. personnel extinguishing pulses (OIG), and at the second output 24, standard impulse-damping receiver signals (SHGs) are formed. The shape of the generated pulses at the outputs 22-25 is shown in timing diagrams (Fig.6).

Before the device starts operating, a threshold is set in advance at the input 13 for setting the threshold for the comparator 2, the presence of which allows the image of an object to be distinguished from its surrounding background.

Dp of starting the device at its input 14. A start is applied to a single pulse at time t (Fig. 6),

a signal is set at its output

ttl h

from which the second flip-flop 47 overturns and at its output, a signal 1 is set. When the first shaper 41 appears at the output, a short pulse that is formed when the signal at the output of the element HE is 40 from O to 1, the third trigger 48 tilts and w

From the first output 23 of the photodetector 12, the pulses arrive at the input of the NOT element 40 of the synchronization unit I. At the moment the signal drops at the output of the element 40, the HE 40 from the level O to the level 1 at the input 34 of the first pulse shaper 41 appears a short pulse that arrives at the sync circuit. the inputs 34 of the adders 8, 9 and the first installation input of the first trigger 46, the output 1 sets the signal 1. At the simultaneous presence of the signal O at the outputs 23 and 24 of the extinguishing sync pulse, the signal 1 appears also p is at the output 60 of the second element And 54. At the time the signal drops at the output of the element OR-NOT 55 from the level O to level 1, a short pulse appears at the output of the third pulse shaper 43, which is fed to the first setup input of the fourth trigger 49, the output 61 of which is set to signal 1.,

If the amplitude of the signal at the fourth output 25 of the photodetector 12 is not less than the lower and not more than the upper thresholds, trigger comparator 2 and

at its output 60 gating im.et- 11 It

with signal

, then the signal 1 is formed at the output of the comparator 2, and when a clock pulse arrives from the third output 22 of the photodetector 12 to the third input of element I. 3, a single impulse appears at the output of the last, since the second input element And 3 receives the signal 1 from the output 60 of the second element And 54 (6). .

From the output of the AND 3 element, the pulses arrive at the information inputs of a group of keys 4-7, which are implemented on the elements of NAND, and the outputs of the first 4 and third 6 keys appear pulses, and at the outputs of the second 5 and fourth 7 keys there will be

hold signals 1, since On the first 57 and third 61 synchronization outputs of the synchronization unit I, there are signals 1.

The pulses from the outputs of the first 4 and third 6 keys are fed to the subtractive inputs of 32 adders 8 and 9, respectively. If, before the process of centering the projection of the image of the object on the plane XOY, it is positioned relative to the optical unit 19, the optical unit of which coincides with the axis OZ, as

shown, for example, in FIG. 5, the center of gravity 0 of the object image is in the first quadrant of the XOY coordinate system.

A pulse from the output of the third form; the pulse rotator 43 is also fed to the input of the second delay element 45, at the output of which, after a period of half the duration of the pause between two successive damping GPS pulses at the output 24, a short single pulse is formed and at the inverse output 62 the fourth trigger 49 sets signal 1, i.e. the pulses from the output of the element 3 through the fourth key 7 will be sent to the summing input 332 of the second adder 9.

35

If the contents of binary counter 26, the second adder 9 will become

equal to n, where n is the capacity of the counter, then at its output overflow a signal O is set, which

Q overturns fifth trigger 28 and

Signal 1 is set at its output. Since the fourth trigger 49, after a time interval equal to the half-line duration of the image,

If it sequentially switches from state 1 to state O and vice versa, then the second adder 9 successively sums up or subtracts incoming inputs to its inputs 32-2 and pulses. If, in the subtraction mode in the second adder 9, the contents of the counter 26 become zero, O will appear at its output zero.

signal

and at the output of the element

The NE-31 sets the signal I, which is fed to the second setup input of the trigger 28, and the signal 1 is set at the ei o inverse output.

i Thus, the subtractive input | 32, j of the second adder 9 successively receives the number of pulses; K IY and K | , directly proportional to the area of the centered image of the object, respectively, on the Thursday and the third quadrants of the XOY coordinate system, and the summing input 3/2 of the second adder 9 consistently receives the number of pulses Kj and K and is directly proportional to the areas of the centered image of the object respectively in the first and second quadrants of the coordinate system KOY (fg.5).

The field of the matrix of 18 photo patterns is divided into quadrants (the following way. The duration of the impulses generated at the outputs of the south-south trigger 46 is equal to the duration of the upper and lower half-frames of the image, and the duration of the impulses formed at the outputs of the fourth trigger The period 49 is equal to the duration of the left and one half-lines of the image, and by logical multiplication of the corresponding pulses of the half-lines and half-frames, the division is obtained at the time of the first field of the image into quadrants. For example, if multiply the duration of the pulse of the upper half-frame by the duration of the pulse of the left half-line, then select the pulse signal, the duration and temporary position of which correspond to the duration and temporary position of the fourth quadrant of the image. And pulse signals for other quadrants are formed taxically. Therefore, impulses from the output of the And 3 element, carrying information about the video image, arrive at the corresponding counting inputs of adders 8 and 9 during the duration of the upper half frame The images, first, from the fourth quadrant of the razor field and then from the first quadrant of the image field, and during the duration of the lower half-frame, the pulses to the inputs of adders 8 and 9 first come from the third quadrant field of the image and then from the second quadrant image floor.

The capacity n of each counter 26 is chosen larger than the maximum possible of the numbers K, i.e. the resulting number of pulses M, for

c

p 5 Q,. . „

five

0

fixed by the second adder 9, is equal to:

m, (k,) - (k,., + k, -)

Moreover, if the center of gravity 0 of the image of the object is in the first or second quadrants, then the trigger 282. The second adder 9 will be at time t (Fig. 6) in one state and the output of the element And 29g of the second adder 9 will be 1. If the center of gravity is O, the image of the object is in the second or fourth quadrants, then the trigger 28 will be at time t.-, in the zero state and the output of the AND element 30-g of the second adder 9 will be a signal one.

Similarly, a pulse from the output of the first pulse driver 41 also arrives at the input of the first delay element 44, at the output of which, after a period equal to half, the length of the pause between two successive personnel damping pulses at the input 23, a short single pulse is formed and on the inverse output 58 of the first flip-flop 46 sets signal 1, i.e. pulses from the output of the element I 3 through the second 5 key arrive at the summing input 33 of the first adder 8. If the contents of the binary counter 26 of the first adder B become equal to n, then an O signal will be set at its overflow output, which will overturn the trigger 28; | and a signal is set at its output. Since the first trigger 46, after a time interval equal to the duration of 1 image half-frame, sequentially switches from 1 to O and vice versa, the first adder 8 successively sums up or subtracts the pulses received at its inputs 32 and 33. Thus, the subtractive input 32- | The first adder 8 successively receives the number of pulses K and Kj, directly proportional to the areas of the centered image of the object, respectively, in the fourth and first quadrants of the XOY coordinate system, and the sum of the impulses K and K | are directly received at the summing input 33 of the first adder 8, directly proportional to The areas of the centered image of the object, respectively, in the third and second quadrants of the XOY coordinate system (Fig. 5), i.e. the resulting number of pulses M, recorded by the first adder 8, is equal to:

+ K,) - (K- + kr.

m, (k.,

Moreover, if the center of the tin, Oh. image of the object is in the first or fourth quadrants, then the trigger 28 of the first adder 8 is at time t, (FIG. 6) in the zero state and at the input of the element And 30 7 of the first adder 8 there will be a signal 1. If O, the image of the object is in the second or third quadrants, then the trigger 28 is at the time t, the unit state and at the output of the element And 29, the first sum of the attorney 8 will be signal 1.

If there is a signal at the moment

t time

the output element is NOT

40 at the output of the first element OR

50 also sets the signal O, which through the third 56 delay element 56 and through the second element OR

51 enters the input of the second pulse driver 42, which causes the O signal to be set at its output, the duration of which is determined by the time required for the executive motor 38 to move the photodetector 12 by a specified amount along the OX or OY axes. The pulse delay time by the third delay element 56 is selected longer than the pulse transmission time by the element OR NOT 11.

Since the center of gravity 0 of the image of the object is in the first quadrant (Fig. 5), then at outputs 35 of adders 8 and 9, on the output of the AND 30 element, the first adder 8 and the output of the And 29 element of the second adder 9 are signals 1, therefore The output 16 of the element OR NOT 11 has a signal O at time t, and the output 39 of the third element OR 52 is set to signal 1, which is fed to the clock input 39 of the moving unit of the photodetector 10.

When the signal drops from O to 1 at the outputs of the second 36 and third Zb elements And groups at the outputs of the second 37 and third 37e drivers

0

five

0

five

the groups are set to the signals of the specified duration and amplitude, which start the second 38 third 38 executive engines of the group, moving the photoreceivers 12 in the positive directions of the axes OY and OX, respectively. Similarly, the first 38 and fourth 38 executive motors of the group are started when the photodetector 12 needs to be moved in the negative directions of the axes OY and OX, respectively. After the elementary displacement of the photodetector 12 is completed, the signal J is set at the time t (6) at the output of the second generator 42, the signal J is set at the output of the third element OR 52, which blocks the elements AND 36 of the group . When the first shaper 41 arrives at the first input of the first element I 53 of a single pulse, the third trigger 48 overturns and a signal 1 is set at its output, which allows the arrival of pulses from the output 60 of the second element 54 to the second input of element 3. The single pulse from input 34 The first driver 41 also enters the synchronization input of adders 8 and 9, the contents of which are zeroed.

Next, the next process of calculating the numbers M and N by adders 8 and 9, respectively, begins, as described above for the points in time

from t to

t,. If the image is

the center is centered, then at the end of the MM calculation process, and at time td, when signal 1 appears at the input 23 of the frame sync pulse, signal 1 is also set at output 16 of the element OR NOT 11, since On all inputs of the element OR NOT 11 there are signals O. The presence of signal 1 at the information output 16 of the device indicates that the process of centering the image of the object is completed. To stop the operation of the device, for example, at the end of the centering process, it is necessary to send its input 15 A single impulse, which the second 47 and then the third 48 flip-flops overturn, and signals 1 are set up on its inverse outputs, and at the output 60 of the second element

II 54 sets the signal O, which blocks the operation of the element I 3, I whose output also sets the i-signal O.

Claims (2)

1. A device for centering images of objects comprising a photodetector mechanically associated with a photodetector moving unit, keys, comparator, adders and a synchronization unit, one of the outputs of which is connected to the synchronizing inputs of the keys, adders and photodetector moving unit, characterized in that the purpose of improving the accuracy of the device, it contains an AND element and an OR-NOT element whose output is an information output of the device and is connected to the lock input of the synchronization block, the frame sync inputs pulse, and damping sync pulse of which is connected respectively to the first and second outputs of the photodetector, other outputs of the synchronization unit to the subarate respectively to the comparator building input connected to the second input of the AND element, and the third input of the OR-NOT element, the first and the second inputs of which are connected to one of the outputs of adders, the other outputs of which are connected to the control- ing inputs of the transfer unit of the photo-receiver I, the output of the comparator is connected to the first input of the element I, the third input of which is connected to The photo output of the photoreceiver, and the output to the corresponding inputs of the I, the outputs of which are connected respectively to the subtractive and summing inputs of the adders, the fourth | output of the photoreceiver is connected to the information input of the comparator, the control input of which the device triggers the input, the inputs Start and Reset, which are the respective: sync block inputs. ; 2. The device according to claim 1, which is: - the synchronization block contains the element NOT, three | pulse makers, three delay elements, four triggers, three OR elements, two AND element and the OR-NOT element, the first input of which, connected to the input element NO, is the input of the frame sync pulse of the block, the second input is the input of the block sync pulse, and the output is connected to the second input The second element And to the input of the third pulse driver, the output of which is connected to the input of the second delay element and the first installation input of the fourth trigger, the second installation input of which connected to the output of the second element. the delays, the first and second setup inputs of the second trigger, are respectively the start inputs and Resetting the block, the first input of the first element I is connected to the output of the first pulse shaper and the input of the first delay element, the output of which is connected to the second setting element. the first input of the first trigger, the first setup input of which is connected to the output of the first pulse shaper, the input of which is connected to the output of the element NOT and the first input,  the first OR element, the second input of which is connected to the inverse output of the third trigger, and the output to the input of the third delay element, the output of which is connected to the first L The input of the second element is OR, the second, whose input is the blocking input of the block, and the output is connected to the input of the second pulse former, the output of which is connected to the first the input of the third element OR and the third input of the first element AND, the second input of which is connected to the output of the second trigger, and the output to the first installation input of the third trigger, the second installation input of which is connected to the output of the third element OR, and the output to the first input of the second element And, the second input of the third element OR is connected to the second the setup input of the second trigger, the outputs of the first pulse generator, the first and third elements OR, the second element AND, the first and fourth triggers are the outputs of the block. 25 hch Fie.2 Fig.Z F F Phie: 5 FIG. J2 th F Bbuadss Exit gz Output 2A Zt output input hi bybod Outputs Exit Edenaz BtiifodJSi Exit 9JieneHfna30i Exit 35 byx (element Z9i Output 3ii output 57 output 6} Output 60 Output s / p g Output of fiQ Output elmem / pa 55 Element's output a Element's benefits Element's output 65 to tz FIG. 6