SU1585020A1 - Apparatus for orienting articles - Google Patents

Abstract

The invention relates to robotics and can be used in control systems of robotic complexes and adaptive robots as a sensor device when operating in real time. The purpose of the invention is to improve the orientation accuracy. The device contains two lines of positional optical sensors, each of which is directed at a given angle α relative to each other, a pulse generator and a signal extraction circuit that counts the pulses from each of the sensors in the corresponding counter during the passage of an object in the working area of the sensor. The number of pulses depends on the location of the product on the conveyor and coincides with the specified reference size only in that sensor, the angle of the beam direction relative to the direction of the conveyor movement coincides with the orientation angle of the object on the conveyor. The code generated by the corresponding counter is decrypted into control signals to the actuator of the orientation device. 2 Il.

Description

one

(21) 4485660 / 31-12

(22) September 20; 88

(46) 15.08.90. Bgol. No. 30

(71) Kiev Polytechnic Institute. 50th anniversary of the Great Oct. Brno socialist revolution

(72) V. B. Bragin, I. G. Nikolska, S. M. Akhtarova and A. M. Vashchenko

(53) 681.185 (088.8)

(56) USSR Author's Certificate P 1344432, cl. B 07 C 5/10, 1987.

(54) DEVICE FOR ORIENTATION OF PRODUCTS

(57) The invention relates to robotics and can be used in control systems of robotic complexes and adaptive robots as a sensor device when operating in real time. The purpose of the invention is to increase

orientation accuracy. The device contains two lines of positional optical sensors, each of which is directed at a predetermined angle relative to each other, a pulse generator and a signal extraction circuit that provides counting of pulses coming from each of the sensors in the corresponding counter during the passage of an object in the working area of the sensor. . The number of pulses depends on the location of the product on the conveyor and coincides with the specified reference dimension, only in the sensor, the angle of the beam with respect to the direction of movement of the conveyor coincides with the orientation angle of the object on the conveyor. The code generated by the corresponding counter is decrypted into control signals to the actuator of the orientation device. 2 Il.

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The invention relates to robotics and can be used to order and prepare the working environment of a robot in solving problems associated with the orientation of products of various shapes.

The purpose of the invention is to improve the orientation accuracy.

FIG. 1 shows a functional diagram of the proposed device; in fig. 2 shows the layout of positional photosensor rulers.

The device contains a clock generator 1, a matrix of photo sensors, made in the form of lines 2 and 3,

elements OR 4, elements AND 5, counters 6, decoder 7, circuits AND 8, circuits 9 and 10 comparisons, setting devices 11 and 12, elements OR-NOT 13 and 14, element AND-15, trigger 16, register 17, element And 18, register 19, comparison circuit 20, circuits AND 21, actuators 22, counter 23, element AND 24, trigger 25, delay element 26, element OR 27.

The device can be executed on standard microcircuits. As block 1, any generator of rectangular pulses with the required duty cycle can be used.

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and as block 26, an RC chain with predetermined parameters, chosen so that the time delayed was longer than the comparison time of the codes. The sensors located one behind the other, based on PPS-2A photoresistors, can be used as photocell lines. ICOS of the K155 series can be used; 1K-triggers can be used as quality triggers.

The device works as follows

At the initial moment of time, all counters contain O. The pulses from the generator of 1 clock pulses are blocked by zero signals from the sensors, the output signals of the device are zero, both triggers 25 and 16 are in the zero state. When appearing 1 at the output of sensor 2.1 of the first line 2 due to the moving object in its area of operation, the OR 4.1 circuit allocates this signal, which is fed to the second input of the first group of n And 5.1 circuits, allowing the passage of pulses to counter 6.1, which counts pulses during the darkening of the first sensor. The scheme And the second group of the schemes AND 8.1 is blocked by the zero signal of the decoder 7. As it moves, the object enters the field of the sensor 2.2 of the ruler 2, 1 from its output through the scheme OR 4.2 Pa solves the passage of pulses from the generator 1 of clock pulses through the scheme 5.2 of the first group n circuits AND to counter 6.2 until the output signal of the object is not at the output of the second sensor. The object enters the zone of action of the 3rd sensor, etc. to the n-th sensor. As the object passes the sensors, the counters 6 form the code of each sensor of the ruler 2. At the time the object leaves the sensor beam 2.N of the line 2, the signal from the sensor 2.N through the (n + 1) th circuit OR 27 flips the first trigger 25 into a single state, allowing the passage of pulses to (n + 1) -th counter 23 connected to the decoder 7, which provides a signal from counter 6.i in the parallel code to the circuits 9.1 and 10.1 comparing the first and second groups n comparing circuits in

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according to the i-th code (p + 1) of the counter 23. The second inputs 9 and 10 of the comparison of both groups (control inputs 11 and 12, respectively) are supplied with two reference codes corresponding to the front and side projections of the object to be oriented. When the code of the 1st sensor coincides with the reference at the output of the corresponding comparison circuit, 1 time delay element 26 shifts the pulse train by an amount necessary for the comparison of codes. When using the comparator K555SP1, this value should not be less than 24 n. Thus, (n + 1) -th counter 23 through the decoder 7 sequentially connects all the n sensors to the comparison circuits of the two groups of n circuits 9 and 10, after which the overflow signal of the decoder 7 zeroes all the counters. The overflow output of the decoder 7 is the (n + 1) -th output corresponding to the overflow output of the n-bit counter, where the number n is determined by the number of sensors (in line 2 or 3. You can instead use the overflow output directly (n + 1) counter 23. Rulers 2 and 3 of sensors contain n sensors each. The sensors have a fan orientation, the angle between any two corresponding sensors of the rulers is the same and d. The distance between the rulers 2 and 3 is such that during the time the object passes from the sensor 2. N line 2 to the sensor 3.1 lin An ike 3 is compared with the standards of n counters 6, containing information from ruler 2. When the device is implemented on K155 microcircuits, the distance between the sensor lines is determined by the time of the signal from the clock generator 1 in the chain: delay element 26 - (п + 1) -а circuit AND 24 - (n + 1) -th counter 23 - decoder 7 - circuit of the second group of n circuits AND 8 - the comparison element of the group of circuits 9 and 10 of the comparison - the first circuit of the IPI-NOT 13 - the second circuit OR-NOT 14, which is about 200.p not (188 not). Thus, the time to move an object from the last sensor of the ruler 2 to the first ruler 3 should not be less than 200, n not. Similar to the first measure, hit

object into the zone of action of the sensor 3.1 of the ruler 3 leads to the fact that a single signal from its output through the OR 4.1 and AND 5.1 circuits of the first group of the AND schemes will allow the counting, pulse 6.1 count. As soon as the object leaves the field of the last sensor, the zero signal through (n + 1) -th circuit OR 27 and the second trigger 16 allows the passage through (n + 1) of the circuit AND 24 pulses to (n + 1) -th counter 23. The comparison is made similarly. When, by sequential enumeration of counters containing information about the sensors of the first array of matrix 2, 1 appears at the output of one of the comparison circuit of both groups n comparison circuits 9.1 or 10.1, it allows recording through the second OR-NOT circuit 14 and AND-NOT circuit 15 in the first register 17 of the contents of the decoder 7 corresponding to the sensor number i. Since there has not yet been an overflow of the decoder 7, through the second trigger 16 to the second input of the second circuit OR NOT 14 a zero signal is supplied, which ensures writing only to the first register 17, blocking simultaneously (n + 1) -th circuit AND 18 writing to the second register 19. When comparing the information from the sensors of the ruler 3, the second trigger 16 will already be transferred to one state (the overflow signal of the decoder 7 was already) and through the second OR-NOT 14 scheme blocks the first register 17, resolves through (n + 1) -th scheme And 1 8 write the contents of the decoder 7 in the second register 19 in the presence of a signal of equality of the sensor code 3.1 line 3 with the standard. The contents of the first and second registers 17 and 19 are compared in (2п + 1) -th comparison circuit 20 and in case of equality, a unit in bit 22.1 is set through the circuit of the third group of n schemes AND 21 at the outputs of device 22.1-22.N, where 1 - the number of the sensor for which a match with the reference was obtained, and, accordingly, the orientation angle of which is equal to the orientation angle of the object. The resulting orientation angle of the object is then processed by the actuator.

Claims (1)

Invention Formula A device for orientation of products containing a matrix of photo sensors, a unit for estimating the orientation of products, which contains the setters, a clock pulse generator associated with the first the inputs of the first elements And, the element OR, the output connected to the first input of the first trigger, the output of which is connected to the first input of the second element And, the output of the counter is connected to the input of the decoder, the first outputs of which are connected to the first inputs of the third elements And, the second trigger, output connected to the first input of the fourth element And, 5 registers, outputs connected to the corresponding inputs of the comparison circuit, and actuators, which is so that, in order to improve the orientation accuracy, it contains an additional matrix of photosensors, and the orientation estimation block additionally contains the elements OR NOT, the AND element -NON, delay element and additional elements And, counters of the comparison circuit and elements And, the outputs associated with the corresponding actuators, the outputs of all bits of the photosensor matrices are connected to the corresponding inputs of the additional parameters itelnyh OR elements, the outputs associated with the first series-connected element and additional counters, and second elements and the first additional comparator circuits, first inputs of which are combined with the first inputs of the second additional comparator circuits, wherein the outputs of all other circuits 0 comparisons are connected to the inputs of the first element OR — NOT, the output connected to the first inputs of the second element OR — NOT and the element NAND, the output connected to the second input 5 of the fourth AND element, the output associated with the first input of the first register, the outputs of which are additionally associated with the first inputs of the additional AND elements, and the output 0 of the comparison circuit is connected to the second inputs of the AND elements, the output of the last bit of the first photosensor array is additionally connected to the first input of the OR element, The last bit output of the second matrix of photo sensors is additionally connected with the second input of the OR element and with the first input of the second trigger, the output of the additionally connected five with the second input of the second element OR NOT, the output of which is connected to the first input of the second register, the output of the clock generator is additionally connected directly to the second input of the NAND element, through the delay element to the second input of the element of the second element AND, the output connected to the first the counter input, the first outputs of the decoder are additionally connected to the second inputs of the registers, and the second output of the decoder is connected to the second inputs of the trigger and the second inputs of all counters, with the outputs of the sensors connected to the second inputs of the corresponding additional comparison circuits. eleven 12 1 Light receivers one J Sources of Receiver 2 Sources of light l R P one 2 l