SU1751805A1 - Device for calculating coordinates of the objects being mapped - Google Patents

Abstract

SUMMARY OF THE INVENTION: The device contains: two calculators, three sine-cosine converters, six memory blocks, a register, a multiplier, a counter, a decoder, two clock generators, two comparison blocks, two triggers, four delay elements, 13 blocks of elements AND, five elements AND, four blocks of elements OR, four elements OR. 26-3-44-8-33-46-13-36-12-1-45-7-32-46, 27-4- 45, 29-19-49-10-46, 49-20-26, 20-29-6-31-46, 20-27, 20-43-49, 20-30-18-18-1-144, 21-39-48- 14-14-15-20, 15-14, 16-42,21-40-22-48,30-47-13, 15-50-35-47, 15-31, 15-32, 15-33, 15-34, 20-40, 20-28- 5-2-9-34-46, 13-38-11-37-10, 50-25, 50-51-13, 50-25-38, 17-41-51, 41-24-36, 11- 2, 15-2, 11-35,15-6,15-7, 15-8, 15-9,21-18, 21-27,21-26. 1 il.

Description

The invention relates to automation and computing and can be used in the development of coordinate display devices for automated control systems and automatic design systems.

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

The drawing shows a functional diagram.

The device contains the first 1 and second 2 calculators, the first 3, the second 4 and the third 5 sine-cosine transducers, from the first to the sixth blocks of 6-11 memory, register 12, multiplier 13, counter 14, decoder 15, first 16 and second 17 clock generators, first 18 and second 19 comparison blocks, first 20 and second 21 triggers, first to fourth delay elements 22-25, first to thirteenth blocks 26-38 And elements, first to fifth elements 39-43 And , first through fourth blocks 44-47 elements OR, first through fourth elements 48-51 OR.

The positions 52–57 denote the first to the sixth information inputs, respectively, the first to the third control inputs, from 58–60, the first and third control inputs, 61 and 62, and 63, the information output of the device.

The calculator 1 is designed to calculate the sin and cos angles of rotation of the images around the X and Z axes in tracking mode using the formulas given in the description of the prototype device.

Computing unit 2 is designed to calculate the sin and cc values of the angle of rotation of the image around the axis in accordance with the following expressions

cos / - cos a cos pv - sin a sin #v,

sin / - cos a sin v - sin a cos #v, where

-S31

cos a - -VSSi + Sib

SL

with

Vj ate

00

about

SL

slna --Ј

5зз

 + s33

where Sij are the elements of the resulting matrix S: sin (and cos py are the corresponding trigonometric functions determined by the controlled value of the angle of rotation around the Y axis, which enters the input of the device 54.

The calculators 1 and 2 can be implemented in the form of microprocessors that programmatically perform data conversion data or special calculators for the hardware implementation of the specified mathematical relationships.

The multiplier 13 is designed to perform the operation of multiplying matrices and multiplying the matrix by a vector.

Sine-cosine information transducers 3-5 are designed to calculate the sin and cos values from the incoming value of the angle p,

Blocks 6-11 of memory are intended for the orderly storage of values of matrix elements 4x4 in size. In the initial state, the values of unit matrixes are stored in the memory blocks.

The device works as follows.

In the initial state, in the memory blocks 6-9, the elements of the unit matrices are stored, and in the memory blocks 10, 11, the elements of the resulting transformation matrix, obtained in the previous observation angle change cycle or at the initial angle setting, are stored. The triggers 20 and 21 are in the zero state and a single signal from the inverse output of the trigger 20 permits the passage of information about the current coordinates (X) i of the displayed objects through the block 30 of the elements AND and the block 47 of the elements OR to the first information input of the multiplier 13. The same the signal from the inverse output of the trigger 20 permits the reception of the control signal of the beginning of the installation of a new viewing angle to the input 60 and the passage of the clock pulses from the generator 17 output through the elements AND 41 and OR 51 to the control input of the multiplier 13. Pulses from the generator ora 17 determined the frequency of the multiplication of the incoming vector X | to the resultant matrix Sp stored in memory block 10 connected to the second information input of multiplier 13 via the block of elements 46 OR. In this case, the pulse frequency from the output of the generator 17 must be matched with the frequency of information on the current xT coordinates.

The result of the multiplication of lH Sp arrives in register 12 through a block of 36 elements

I. The permission to output the result of the multiplication into the register 12 is the signal of the generator 17, delayed by the delay element 24 by the multiplication time of the operands in the multiplier 13. The output of the register 12 is directly connected to the information output of the device 63.

When the observation angle changes, information inputs 52-55 arrive

respectively, the values of p, fy,, D (Dx, Dy, Dz), which determine the parameters of the new viewing angle. The specified data can be received, for example, from the operator's information input console. The installation process of the new view starts after the control signal enters the device 60 , By this signal, the trigger 20 through the element 43 AND and the element 49 OR is set to one. Thereby, the passage of information through the block 30 of the elements And and the element 41 of the And, and the issuance of information about the values of p, p / through the blocks 26, 27, 28 of the elements of And, respectively, is permitted

The inputs of sine-cosine transducers 3, 4, and 5, and the information about the value of the shift values D, through the block 29 of the elements AND to the input of the block 6 of the memory. In addition, the signal from the output of element 49 OR clears the registers of the memory block 10 and issues an information signal to the output 62 of the device. The values of TT are written to the corresponding cells (registers) of memory block 6 in such a way that

form matrix is formed

1000

Ao 0 1 00

0010

-Dx Dy-Dz 1

At the outputs of sine-cosine transducers 3-5, the sin and cos values of the corresponding arguments are formed. The values obtained from the outputs of the converters 3 and 4 are fed to the information inputs of memory blocks 7 and 8 through the corresponding blocks 44 and 45 elements. As a result, the following matrices will be formed in blocks 7 and 8 of the memory, respectively, 0, ОО

Az 0 01 P0

About 0 01

100O

0 slnpx o

Ah 0 cospx About 0001

A single trigger signal 20 through element 39 AND (opened with a single signal from the inverse output of trigger 21), element 48 OR permits the passage of clock pulses from the generator 16 through element 42 AND to the counter input of counter 14. At the outputs of the decoder 15, depending on the state of counter 14, single signals controlling the operation of the device in the mode of calculating the values of the resulting transformation matrix Sp.

The first signal of the decoder 15 is allowed to pass information from the memory block to the first information input of the multiplier 13 (through the block 46 of OR elements). The same signal from the decoder allows the input to the second information input of the multiplier of elements of the resulting matrix Sp stored in memory block 11 (through block 35 of AND elements and block 47 of OR elements). In addition, the same signal of the decoder is a control signal that initiates the start of operation of the multiplier 13 (through the elements 50 and 51 OR). The result of multiplying Sp AO from the multiplier output via the element block 38, opened by the signal from the first output of the decoder 15 delayed by the delay element 25, is recorded in the memory block 11. Upon receipt of the signals from the second and third outputs of the decoder 15, the same information transformations are performed, which will result in the memory block 11 forming the result of the multiplication Sp AD AZ Ah.

The signal from the fourth output of the decoder initiates the operation of calculator 2, the first information input of which receives the values of sin ru and cos py from the output of converter 5, and the second information input of calculator 2 receives the values 5з1, 5з of the resulting matrix from memory block 11. As a result of the operation of the calculator 2 in the memory block 9, a matrix of the form

cos / u o -slnfi o

O 1 O O

sin / 3

About cos / 3

ABOUT

LTD

one

where sin /, cos ft is calculated by the formulas given in the description of the designation of calculator 2.

The signal from the fifth output of the decoder 15 opens the block 34 of the elements AND, and the multiplication of the matrices is allowed to be performed by the multiplier 13 in the same way as described above from the signals from the first, second and third outputs of the decryption 5 10

15 20 25 30

50

five

0

five

RATOR 15. As a result, the result of multiplication Sp AD Az Ah Ay Ay will be formed in memory block 11. The contents of the memory blocks 11 represent the new value of the resulting information transformation matrix Sp.

The signal from the sixth output of the decoder 15 is used to erase the information in memory blocks 6–9 and form single matrices in them. The signal from the seventh output of the decoder is allowed to write the contents of memory block 11 to memory block 10 through block 37 elements I. The same signal from the decoder causes the counter 14 and trigger 20 to be reset. Thus, the generator 16 is allowed to pass the coordinates of X image objects through the block 30 of the elements I. In addition, the passage of the clock pulses of the generator 17 through the element 41 AND and the element 51 OR is allowed as control signals (trigger) by the multiplier 13. Thus The device is again switched to the transformation mode Sp of the current X coordinates in accordance with the parameters set by the newly calculated resulting transformation matrix.

When a single signal arrives at control input 58 (signal that the device is switched to tracking mode), the flip-flop 21 is set to one. A single signal from the direct output of the trigger 21 allows the unit 18 to perform a comparison operation of the reference attributes FЈT of the tracking object (point) with the attributes of the RI objects received at the information input 56 of the device. Such attributes can be either object numbers, or their coordinates, or both. When the device continues to transform the current coordinates) Gu according to the parameters given by the resulting transformation matrix Sp. At the same time, the zero signal from the inverted output of the trigger 21 blocks the change of the PX, information. , arriving at information inputs 52 and 53. Thus, after selecting a tracking point, the operator is deprived of the opportunity to scan by the line of sight at angles p and pz, which excludes the possibility of his visual loss of the selected tracking point before the device is finally put into tracking mode.

When the information about the object (point) from Net - RI arrives at the input of the S, from the output of block 18, a single signal is taken, which is fed to the control output 61 of the device. The same signal through the delay element 23 allows the operation of the calculator 1. The information inputs of the calculator receive the values of the displacement values D and the values of the new vector of the coordinates of the tracking object Xc, obtained by multiplying the input coordinates of the tracking object Xc by the resulting transformation matrix Sp. The delay time of propagation of the signal on element 23 is determined by the multiplication time Xc Sp in the multiplier 13 and the result is written to the register 12.

The calculator 1 calculates the sin values ($.

cozy

applicants for

storing in block 7, and sin values {%,,

cos ($., received for storage in block 8 (respectively, through blocks 45 and 44 of the OR elements). Information of sin

{Ј ,, (f%,, entering the inputs of block 19, is used to determine the need to adjust the resulting matrix of the coordinate transformation in

tracking So, if sin /%,, 0, then the tracking point has not changed its position and there is no need for correction. Otherwise, a single signal coming through element 49 OR to the setup input of the trigger 20 is removed from the output of block 19 and converts it to a single condition. The device is switched to the change mode (adjustment) of the resulting Sp transformation matrix. At the same time, incoming information is not allowed to be received via block 30 of elements AND, which is reported by a single signal to control output 62.

The tracking mode is reset by applying a single signal to the control input 59 of the device.

Thus, the device in the coordinate transformation mode X carries out their recalculation in accordance with the parameters set by the resulting transformation matrix Sp. The transformation parameters can be changed recurrently as with manual change of the angle parameters during manual observation, specified by the shift values of the observation point along the corresponding coordinate axes and image rotations around the X, Y, Z axes, and automatically when the device is translated into a special tracking mode for a given (arbitrary) point of the displayed process. In this case, the device automatically compensates for the uncontrolled rotation of the image around the Y axis.

The device possesses wide functional capabilities and at the same time provides high accuracy of recalculation of coordinates of displayed objects due to

eliminating the possibility of uncontrolled rotation of the displayed objects around the axis, i.e. eliminating the parasitic tilt of the image, which leads to an increase in the quality of the information represented by

operator, which leads them to make better and more informed decisions. The scope of such a device for calculating coordinates is practically unlimited in terms of its use.

Claims (1)

means of displaying information in the ACS of various purposes. The greatest effect from the introduction of such a device can be obtained in the ACS, where the algorithm of the work of the operator of such an ACS depends on the quality of the displayed information and the possibilities for its presentation. Apparatus of the Invention: A device for calculating the coordinates of displayed objects containing first to fifth blocks of memory, first to third sine-cosine transducers, first to eleventh blocks of AND elements, first and second blocks of OR elements, first to fourth elements AND, The first and second elements OR, the first and second clock generators, the first and second triggers, the register, the first to third delay elements, the first and second comparison blocks and the first calculator, the first inputs of the first to fourth blocks of AND, respectively, are from the first to the fourth information inputs of the device, and the second inputs are connected to the direct output of the first trigger, connected to the first inputs of the first and second elements And, the inverse output of the first trigger is connected to the first inputs of the third element And the fifth block of elements And, the second input of which is the fifth the information input of the device, the sixth information input of which is the first information input of the first comparison unit, the second information input of which is connected to the direct the output of the second trigger connected to the first input of the second element I, the output of which through the first delay element is connected to the first input of the first element OR, the second input of which is connected to the output of the first element And, the second input of which is connected to the inverse output of the second trigger connected to the third inputs of the first and second blocks of elements And whose outputs are connected respectively to the inputs of the first and second sine-cosine converter whose outputs are connected to the first inputs of the first and second blocks of the OR elements, respectively, the second inputs of which are connected respectively to the first and second outputs of the first calculator, which are connected to the inputs of the second comparison block whose output is connected to the first input of the second OR element, the output of which is connected to the setup input of the first trigger, the reset input of which is connected to the first output of the decoder connected to the reset input of the counter, the counting input of which is connected the output of the fourth element And, the first input of which is connected to the output of the first clock pulse generator, and the second input - to the output of the first element OR, the output of the counter is connected to the input of the decoder, the output of the fourth block of elements I - with the first information input of the first calculator, the control input of which connected via a second delay element to the output of the first comparison unit, which is the first controlling output of the device, the second information input of the first calculator is connected to the output of the register, the address input The first and address inputs of the second and third memory blocks are connected respectively to the outputs of the second and first blocks of the OR elements, the outputs of the first to fourth memory blocks are connected to the first inputs of the sixth to ninth blocks of the And elements, respectively; the output of the second clock generator is connected to the second the input of the third element is And, the output of the third block of elements And is connected to the input of the third sine-cosine converter, the setup input and the reset input of the second trigger are the first and second control inputs The device, the control input of the first comparison unit, is connected to the output of the fifth AND unit block, characterized in that, in order to improve the accuracy of the device, it contains the second calculator, the sixth memory block, the twelfth and thirteenth blocks of the AND elements, the third and fourth blocks elements OR, the fourth delay element, the fifth element AND, the third and fourth elements OR, the output of the third sine-cosine converter is connected to the first information input of the second calculator, the output of which is connected to the address input four the second memory block, the second - fifth outputs of the decoder are connected to the second inputs from the sixth to the ninth blocks of AND elements and inputs 5 of the third OR element, the output of which is connected to the first inputs of the tenth block of AND elements and the fourth OR element, the output of which is connected to the control input of the multiplier, the first and second informational inputs of which are connected respectively to the outputs of the fourth and third blocks of the OR elements, the output of the multiplier to the first inputs of the eleventh and thirteenth blocks of elements And, the second 5 inputs of which are connected respectively to the output of the third element AND connected to the second input of the fourth element OR, and the output of the third element OR, the output of the thirteenth block of elements AND connected to the input of the sixth memory block, the output of which is connected to the second input of the tenth block of elements AND The first input of the twelfth block of the AND elements and the second information input of the second computed 5 bodies, the second input of the twelfth block of the AND elements is connected to the first output of the decoder, the sixth output of which is connected to the control input first through fourth blocks of memory, and the seventh exit 0 - to the control input of the second compute-, l, the output of the eleventh block of elements AND is connected to the input of the register, the output of which is the information output of the device, the output of the fifth block of elements AND 5 is connected to the first input of the fourth block of OR elements, the second input of which is connected to the output of the tenth block of AND elements, the first input of the fifth AND element is connected to the inverse output of the first trigger, 0, the second input is the third control input of the device, the output of the fifth element AND is connected to the second input of the second element OR, the output of which is connected to the address input of the fifth memory block, the fifth equalizing input of which is connected to the output of the twelfth block of elements AND, output The fifth memory block is connected to the first input of the third block of OR elements, the second - to the fifth inputs of which are connected to The 0 outputs, respectively, from the sixth through the ninth blocks of the AND elements, the inverse output of the first trigger, is the second control output of the device. 55