SU1598896A1 - Photooptical sensor for automatic direction of mobile machine movement - Google Patents

Abstract

FIELD OF THE INVENTION The invention relates to agricultural machinery. The purpose of the invention is to improve the noise immunity and accuracy of determining the direction of motion. Photo-optical sensor 1 contains a scanning node 2, a marker device 3, a photodetector 4, an amplifier 5, a threshold circuit 6, a comparison unit 8 and a delay line 9. By connecting to the output of the threshold circuit 6 of the delay line 9 and comparing the direct and delayed signals on the comparison unit, the desired effect is achieved. 3 il.

Description

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The invention relates to agricultural machinery, in particular to devices for driving tractor units.

The purpose of the invention is to improve the noise immunity and accuracy of determining the direction of motion.

 FIG. 1 shows a block diagram of a photo-optical sensor; in fig. 2 - driving process; in fig. 3 - timing charts of the device.

A photo-optical sensor 1 containing a scanning node 2, a marker device 3, a photodetector 4, is connected to the input of an amplifier 5, the output of which is connected to the input., 5 of a threshold circuit 6, the output of which is connected to the input 7 of the comparator unit 8 and the input of the delay line 9, output which is connected to the input 10 of the unit of comparison.

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When the surface is scanned by the scanning unit 2, photopulse of photopulses receives pulses of radiation of different amplitude reflected from light-contrast formations, and if they fall into the area of the emitter S together with the light-age band, they are added to the radiation flux from the light-contrast band. These pulses are amplified by amplifier 5 and fed to threshold circuit 6.

A pulse whose amplitude is greater (/, from the output of the threshold circuit is fed to the input of the comparison unit 8 and the delay line 9. The pulse delayed by time D from the output of the delay line 9 is fed to another input of the comparison unit 8. At the time t when the amplitude the pulse at the input 7 becomes smaller than the amplitude of the pulse at the input 10, and the output of the comparison unit 8 detects a signal.

 Since the excess pulse at input 10 above the pulse at input 9 indicates the beginning of the amplitude decay, the signal at the output of the comparison unit with the error D / indicates the time the contrast hit the driving machine of the mobile machine on the road is limited by the angle AB review a, and with

tG; G „T5%: ep; : c ° ° Agsg: t, c - geo, e, p n, esk i s e e tr of luck. “.

part of the road surface with a light-blue stripe NM and light-contrast formations, i-Xs.

Diagram "a shows impulses

those. the measurement error of the time interval between the pulse of the marker and the control pulse is determined by the delay value of the AL

When the surface is scanned by the scanning unit 2, photopulse of photopulses receives pulses of radiation of different amplitude reflected from light-contrast formations, and if they fall into the area of the emitter S together with the light-age band, they are added to the radiation flux from the light-contrast band. These pulses are amplified by amplifier 5 and fed to threshold circuit 6.

A pulse whose amplitude is greater (/, from the output of the threshold circuit is fed to the input of the comparison unit 8 and the delay line 9. The pulse delayed by time D from the output of the delay line 9 is fed to another input of the comparison unit 8. At the time t when the amplitude the pulse at the input 7 becomes smaller than the amplitude of the pulse at the input 10, and the output of the comparison unit 8 detects a signal.

 Since the pulse excess at input 10 above the pulse at input 9 indicates the beginning of the amplitude decay, the signal at the output of the comparison block with the error D / indicates the time of the contrast — geo, p, echo . ".

 - geo "e, p", esk "y" e "tr" of evil. “.

those. the measurement error of the time interval between the pulse of the marker and the control pulse is determined by the delay value of the AL

at the output of the amplifier from light-contrast formations A, Xz, Xs, which, during the scanning process, fall into the area of the radiator S and have an amplitude and a control pulse from the light-contrast band with an amplitude U.

Diagram b shows a control pulse at the inputs of delay line 9 and comparison unit 8.

Diagram B shows the control pulse at the output of the delay line, shifted by time At. The diagram "g" shows the signal at the output of the comparator at time t, when the amplitude of the signal at input 7 has become less than the amplitude at input 10.

The device works as follows.

Claims (1)

Invention Formula Photooptical sensor for automaton} 1 direction of mobile vehicles, including signal and marker photo cells with optical scanning mechanism, different eiA, which, in order to improve noise immunity and accuracy of determining the direction of movement, it is equipped with a measuring unit containing an amplifier, threshold circuit, block and a delay line, the output of the amplifier is connected to the input of the threshold circuit, and the output of the threshold circuit is connected to the first input of the comparison unit and the input of the delay line, the output of which oedinen to a second input of the comparator unit. M FIG. g but but J Uc U L and i