SU1740150A1 - Device for determining coordinates of manipulated object in working zone of robot - Google Patents

Abstract

Usage: when creating devices designed to generate visual information of the robot. SUMMARY OF THE INVENTION: In an apparatus comprising a current image sensor, a communication unit, an information storage device, a corrector, a reference image, a read unit, a scanner unit, a maximum extraction unit, an angular coordinate estimation unit, a synchronizer, a changer, an extrapolator is added. , scheme of organization of the internal cycle, calculator of coordinates of the center of tin of the current image, calculator of the linear-increasing function, memory block, calculator of angles, additional storage of information and subtractor unit. 1 il. yo

Description

The invention relates to mechanical engineering and can be used to create devices for generating visual information of a robot.

The aim of the invention is to increase the speed of operation of the device while improving the accuracy of determining the coordinates.

The drawing shows a functional diagram of the device.

The first and second information outputs of the current image sensor 1 (DTI) are connected to the first and second information inputs of the extrapolator 2 direct (EP). Control output DTI 1 is connected to the first control input of circuit 3 of the organization of the internal cycle (COW C). The first and second information outputs of the DTI 1 are also connected to the first and second information inputs of the calculator 4 coordinates of the image center of gravity (CSTI). The OWP C 3 clock output is connected to separate clock inputs of DTI 1, VL 2, VKSTI 4, calculator 5 of the linearly increasing function (VLVF), block 6 of the operational memory (BOP), calculator 7 nodes (VU).

The communication unit 8 is connected to the unit 6, which is connected to the additional storage unit 9 of information (ONE). Information output COW Ts 3 connected to the information input of the ICF 5 and a separate address |

О About

sl o

the first input of the BOP 6. The first control output of the PWS-C 3 is connected to the first control input of the WKTCI 4 and the separate control input of the synchronizer 10, and the second control output of the SOVTSZ to the second control input of the WKTI-4, the control input of the WLWF 5, the control input BOP and control input DAYS 9. The first information output of VC 2 is connected to the information input of WU 7, and the second information output of VC is the 2nd information input of SCTs 3. The information output of VU 7 is connected to the information input of DAYS 9. The third information input WKSTI-4 is connected to the first information output of the VLVF 5. whose second information output is connected to the first information input of the subtracting unit 11 (BV). The information output of DNI 9 is connected to the second information input of BS 11, the information output of which is connected to the information input of BOP 6. The first control output of synchronizer 10 is connected to the control input of DTI 1 and the second control input of SCOVT 3. The address output of synchronizer 10 is connected to the address input of the communication unit 8 (BS) and a separate address input of the BOP 6, the information output of which is connected to the information input of the aircraft 8. Two information outputs of the aircraft 8 are connected to the individual inputs of the information storage 12 (NI), which It is optically coupled through the correlator 13 with a readout unit 14 (BSN).

The BSP information information output is connected to the information input of the maximum allocation unit 15 (BVM), the control output of which is connected to the control inputs of the synchronizer 10, the angular coordinate estimation unit 16 (BOUK) and the shift mechanism 17 (MC). The relay 13 is mechanically connected to the MS 17, the control output of which is connected to the second control input of the synchronizer 10, the clock output of which is connected to the clock input of the sweep unit 18 (BR). Four control-BSP 14 inputs are connected to four BR 18 control outputs, whose information output is connected to the information input of BOUK 16.

The second and third control outputs of the synchronizer 10 are connected to the first and second control inputs of the BCM 15, respectively. The first and second information outputs of the WCCTI 4 are the first and second information outputs of the device, 8 the information output is BOUK 16

is the third information output of the device.

The device operates cyclically. At the next cycle of the device DTI 1

perceives the image of the scene, selects the image of the object of manipulation (OM) and begins tracking its contour. At the same time, the Start signal arriving from synchronizer 10 resets the corresponding DTI-1 counters. With DTI 1, the Readiness signal is removed, indicating the start of tracking the loop (video signal of a certain amplitude). Sync

The operation of DTI 1 is provided with a clock pulse arriving at a separate input from SCTSC 3. With DTI 1, signals Xi, V | are taken, characterizing the position of the 1st element of the OM image contour. Signals

Xi, U are received at VKKTI 4, whose operation is described by the following expressions

Hs

one

2 N

2 (2УГ1), Us i 1

one

N

ZC2XMH1)

where Xc. Us - coordinates of the image center of the image limited by the contour, Xi, Y | - coordinates of the 1st contour element in the rectangular coordinate system associated with TI (column and row numbers of the image matrix),

N is the number of elements (discretes) in the contour.

A signal proportional to the number N,

removed from the calculator of a linearly increasing function 5.

When the reading beam (cell) approaches the edge of the image, the OM sensor 1 issues a readiness signal to the SOVTSZ and goes into tracking mode with synchronization from the SOWC 3. This synchronization is performed by clock pulses. At the output of DTI 1, with each clock pulse,

coordinates Xi, Y | the next point of the contour, coming to the extrapolator of 2 straight lines, which ensures the construction of straight lines. The operation of the extrapolator 2 direct is described by the following expression

50

UE V n + m

Xn X n + m

(2)

where K is the slope of the straight line; Xn. Xn + m, UG. Yn + m are the coordinates of the points of the contour in the rectangular coordinate system associated with the plane of the information storage;

n - current contour element (current contour discrete);

m is a constant number of contour elements (discretes).

Thus, Extrapolator 2 performs the following operations: storing the coordinates Xn, Xn + m. Up. Yn + m. contour points; the construction of straight lines drawn through the points with coordinates Xn and Xn + m, Un and UNN-n.

From the output of the extrapolator 2, a signal proportional to the straight slope coefficient is fed to the calculator 7 angles. From the output of the extrapolator 2, the signals characterizing the initial (initial) coordinates of the loop traversal are also sent to SCREW 3. The angle calculator 7 determines the angle between the previous and current straight lines. The operation of the calculator 7 nodes is described by the following expression

$ arctg

K2-Ki 1 + Ki Ka

where ft is the angle between the previous and current straight lines;

Ki and K2 are the coefficients determined by formula (2), with Ki characterizing the slope of the previous straight line and Ka characterizing the current straight line.

A signal proportional to the angle $ is fed to an additional storage 9 of information, which adds up the values as follows.

0 (n) Z0.

i 1

where / 3 (p) is the resultant function;

n is the number of angles p.

At the output of accumulator 9, a discrete signal is formed during the bypass process, describing a circular i loop traversal and proportional to a function that is the sum of a linearly increasing function and a function characterizing the deviations of the given OM contour image from the circle contour image.

During the second circuit traversal of the OM image, the calculator 5 of the linearly increasing function builds a linearly increasing function in the following form

Kn-i- Kj + M 360 N

1 0, 1.2N (5)

For the operation of the calculator 5, information is used with the EEC 3 (the signal characterizing the contour element number, the Reset signal and the clock pulse).

After that, subtraction unit 11 subtracts a linearly increasing function KI + I (5) from the resulting function ft O1) (4). As a result of this operation, at the 5 output of the subtracting unit 11, there will be a signal characterizing the informative part / (n) of the resultant function C (n). The necessity of the subtraction operation is caused by the fact that during the loop traversal, at the output of the additional information accumulator 9, a signal is generated as a discrete function, which is the sum of a linearly increasing function and a function characterizing the deviation of this spin of the image contour of the circle OM. The last part of the function f (n) is informational, and the function Cc-1 is not informative. Thus, the subtraction unit 11 performs the following operation.

) No.) -Km. (6)

A signal proportional to the function f (n) is recorded in the BEP 6. The Record in the BOP 6 is performed using

25 control signals from the ACEI 3 (clock and control pulses, a signal characterizing the number of the element in the circuit). Readout of the BOP 6 information is performed by a signal from the SPEI

30 3 at the address from the synchronizer 10. At the same time, the signal from the BOP 6 (i.e., the digital video signal) is supplied to the communication unit 8, which forms the current implementation information in the drive 12. As a source of information 12, you can use different memory devices (for example, registers or ZELT). Using the correlator 13, the mutually correlation function of the current implementation (i.e., the current image (TI) and the reference implementation (i.e., the reference image of the HI) is formed. The reference implementation is made in the form of two serially connected informative parts of the resulting functions

45 / (p), i.e.

 / (n) + No.). (7)

The use of AE in this form provides for the submission of additional information necessary for a correct estimation of the angle G) (i.e. an estimate of the current implementation offset relative to the reference implementation). HEY is made in the form of an optical image (for example, a positive photo).

55 as a correlator of a torus 13, a modified correl - Mayer-Eppler mountains (optical) can be used.

The readout unit 14 using the scanner unit 18 provides for the reading of the image of the CCF and outputting to the allocation unit 45 a maximum of the video signal characterizing the CCF. The maximum extraction unit 15, comparing the current and subsequent video signals, outputs a comparison signal when the input video signals are equal (with permissible accuracy). According to the comparison signal, BOUK 16 removes from the block of 18 sweeps a signal characterizing the angular coordinate s.

Thus, the angle a is estimated by analyzing the following expression

l (a) / Ј (n) Ј (n + Ј) dЈ

(eight)

The comparison signal, by means of the shift mechanism 17, is used to change the HI. This completes one cycle of operation of the device. The next cycle starts at a signal from the synchronizer 10.

Claims (1)

The invention The device for determining the coordinates of the object of manipulation in the working area of the robot, contains a current image sensor, a communication unit, two information outputs connected to two information inputs of an information storage device optically connected to a correlator that is optically connected to the reader unit input inputs connected to the four control outputs of the scanner, and information output connected to the information input of the maximum allocation unit connected to a control output with a control input of an angular coordinate estimation unit, a synchronizer, a clock output connected to a clock input of a scanner unit, and an address output with a first address input of a communication unit, a change mechanism mechanically connected with a correlator, characterized in that In order to improve the speed of the device while improving the accuracy of determining the coordinates, it additionally introduces a direct drive, the first information output connected to the information input of the angle calculator, and the second information output connected to the information input of the internal cycle organization circuit, the clock output connected to the individual clock inputs of the direct extrapolator, the calculator of the linearly increasing function, the RAM unit, the angle calculator, the additional information accumulator, the calculator of the image center center of the current image and current image sensor, the first information output connected to the first information input of the extrapolator direct and the first information output at the input of the calculator, the coordinates of the center of gravity of the current image, and the second information output - to the second information input of the extrapolator direct and the second information input of the calculator of the coordinates of the center of gravity of the current image, the third information input of which is linearly increasing function and the first control input, combined with 5 is a separate control input of the synchronizer, connected to the first control output of the internal cycle organization circuit, and the second control input combined with the control input of a linearly increasing function calculator that controls the input of the additional memory accumulator , is connected to the second control output of the internal loop organization circuit, the first and second information outputs of the calculator of the center of gravity of the current image are the first and the second information output device, 0 a subtraction unit, the first and second information inputs connected respectively to the second information output of the calculator of the linearly increasing function and to the information output of the additional information storage device, and the information output connected to the information input of the RAM, information output connected to the information input 0 of the communication unit, the first address input combined with the corresponding address input of the communication unit connected to the corresponding address output of the synchronizer, and the second address input is entered, 5 combined with the information input of the calculator a linearly increasing function connected to the information output of the internal cycle organization circuit, the first control input connected to the control output of the current image sensor, and the second control input combined with the control input of the current image sensor and connected to first 5 control output of the synchronizer, the second and third control outputs, connected respectively to the first and second control inputs of the maximum allocation unit, a separate control input connected to the control the output of the changer, a separate control input combined with said control input of the evaluation unit of the angular coordinates and with the control input of the shift mechanism connected with the corresponding control output of the maximum allocation unit, angle calculator, information output which is connected to the information input of the additional information accumulator, and the information output of the scanner unit is connected to the information input of the angular coordinate estimation unit, the information output of which is the third information output of the device. . 1c one