SU1763173A1 - Device for forming information signal of adaptive robot - Google Patents

Abstract

Usage: the invention relates to robotics and can be used to create adaptive robots. Summary of the Invention; The device contains a switch, a waiting multivibrator, an OR element, a memory unit, a comparison unit, three keys, a trigger, a timer, two delay elements, a drive, a source and a radiation detector, and an intensity meter. 3 il.

Description

This invention relates to robotics and can be used to create adaptive robots.

The purpose of the invention is to improve accuracy.

FIG. 1 is a block diagram of an apparatus for generating an adaptive robot information signal; in fig. 2 - dependence of the intensity of gamma-quanta radiation detected by the detector on the distance to the object under test; in fig. 3 - time-pulse diagram of the device.

The device contains a radiation source 1, a radiation detector 2 connected in series, an intensity meter 3, a first key 4 and a memory block 5; a series-connected comparison circuit 6, a second 7 liter third 8 key, and the inputs of the comparison circuit 6 are connected to the outputs of the intensity, pa 3 and memory block 5; timer 9, the output of which is connected to the second key of the second key 7

and to the output of the first delay device 10 connected to the output of the second delay device 11, the output of which is connected to the second input of the first key 4; elements And 12, the first inputs of which are connected to the output of the third key 8, and the outputs to the corresponding outputs of the device; sources of reference signals 13 connected to the second inputs of the elements And 12; a movable platform 14 on which the source 1 and the radiation detector 2 are located; drive 15, successively connected switch 16, standby multivibrator 17 and element OR 18, the second input of which is connected to the output of the first delay device 10, and the output to the second input of memory 5; the trigger 19, the first input of which is connected to the output of the switch 16, the second input to the output of the second key 7, and the output to the outputs of the timer 9 and the drive 15, the third key 8 being connected to the memory block 5 by the second input.

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The device operates as follows.

The gamma-ray source 1 irradiates the object being monitored with a stream of gamma quanta. Secondary radiation from an object is detected by a radiation detector 2, which converts the energy of gamma rays into electrical pulses.

The intensity of the gamma quanta detected by the radiation detector 2 depends on the distance between the radiation source and the detector, the type of material of the object, and the distance R from the radiation source (detector) to the object. When the distance x is R, commensurate with the distance between the radiation source 1 and the detector 2, the dependence of the intensity of detected gamma quanta on the distance R almost always has an inversion nature (Fig. 2): as the distance R increases, the intensity first increases, reaches its maximum value at some RMBKC, and then decreases. The Pmax distance at which the maximum intensity is observed is approximately equal to the distance from the radiation source 1 to the radiation detector 2. The Pmax distance does not depend on the type of material of the object, but depends only on the distance between the radiation source 1 and the radiation detector 2 and for given probe size is a constant value. This pattern of change in the intensity of gamma quanta detected by the detector is explained by the peculiarities of the interaction of gamma radiation with the substance. The intensity of 2 gamma quanta detected by the radiation detector at a distance of RM3KC depends only on the type of material of the object. Therefore, to determine the type of material of an object, it is sufficient to register the intensity of secondary gamma quanta by setting detector 2 and radiation source 1 to the distance Pmax from the object.

In the initial position, the movable platform is located at a distance greater than the inversion distance (the distance Ro in Fig. 2). When the switch 16 is activated, the trigger 19 changes its initial state. and a high potential level at its output includes a drive 15 and a timer 9. The voltage drop that occurs at the output of the switch starts the waiting multivibrator 17, and the resulting pulse at its output zeroes the memory block 5.

In this case, the movable platform 14 begins to descend at a constant speed V, and at the output of timer 9 through equal

time intervals At appear short pulses of duration 1i, with tM & At (Fig. 3).

The voltage from the intensity meter 3, proportional to the average frequency of the detected gamma quanta, is transmitted to the memory unit 5 at intervals of time At the outputs of the intensity meter 3 and memory unit 5, the voltage is fed to a comparison circuit 6, at the output of which only if the voltage at the output of the memory unit 5 is greater than the voltage on the intensity meter 3. While the mobile platform 14 moves in the region of increasing intensity, the gamma quanta detected by the detector (section R0 - Rn in Fig. 2), the voltage on the intensity meter 3 b detal more voltage in memory block 5, but as soon as the distance from the moving platform to the object to be monitored becomes less than the inversion distance Rn, the voltage on the intensity meter 3 becomes less than the voltage at the output of memory block 5, and at the output of the comparison circuit 6 according to the Wits signal.

A timer 9, the first 10 and second 11 delay devices are used to generate control pulses. At the end of the interval At, the pulse from timer 9 opens the second key 7 for the time tn (Fig. 3). If at this point in time at the output of the comparison circuit 6 there is no signal, then there is no signal at the output of the key 7, and the pulse from timer 9 through the first delay device 10 later time ts (t3 Ti, but t3 "At) goes to the second input of the memory block 5, wrapped its contents, and after a second delay circuit 11, after 2t3, the first key 4 opens for time Ti, so that the voltage at the output of the intensity meter 3 is currently stored by memory 5. When the next pulse arrives from timer 9, the operation of the circuit repeated if the output of the comparison circuit 6 is absent vuet signal.

However, at a distance greater than Rn (Fig. 2), which corresponds to a time longer than r3, the intensity of gamma rays, measured by the intensity meter 3, will become less than the measured intensity of gamma rays at distance Rn recorded on memory block 5, which will result in the appearance of a signal at the output of the comparison circuit 6. Another pulse from timer 9 at the time tn + i will open the second key 7, and the signal from the output of the comparison circuit 6 through the second key 7 (Fig. 3) will open the key 8 and, arriving at the second input of the trigger 19, will set at its output a low potential level that a drive to a stop timer 15 and 9. For example zheniesbloka memory Bcherez outdoor third key 8 will go to the first inputs of AND gates 12j to the second inputs are fed with the reference voltage source 13.

With equal signals on one of the elements And 12 from the output of this element And 12, a signal is taken that carries information about the type of material of the object.

The proposed device allows determining the type of material of the object under conditions when the distance to the object being monitored is variable, which is a typical case for real-world conditions, for example, when testing trolleys with tin ore. If the blocks 1 and 2 are stationary, the distance to the object may differ from the distance Pmax and the type of material of the object will be incorrectly determined. The level of ore filling in different cars varies between 40-60 cm. With the blocks 1 and 2 being stationary, it is not possible to determine the tin content in the ore. Therefore, it is necessary at each measurement to move the movable platform with blocks 1 and 2 located on it until the distance to the object is equal to Рmax.

The smaller than the prototype device is the error in determining the type of material of the object due to the fact that when using the invention this error is due only to the statistical error in determining the intensity at the inversion point and at an intensity of 104 pulses / s.

is 5–1%, which makes it possible to distinguish two objects by type of material, if the intensities of gamma-quanta detected by radiation detectors from these objects differ by more than 1%.

Claims (1)

The invention The device for generating an adaptive robot information signal, comprising a first key, a platform drive, a source and a radiation detector installed on the platform, the output of which is connected to the input of the intensity meter, and the AND elements connected by the first input to the output of the corresponding reference source and to the corresponding output of the device, characterized in that in order to improve the accuracy of the device, it contains a series-connected switch, waiting for a multivibrator, electric ment OR, memory unit, comparison unit, second key and third key, successively connected trigger, timer, first delay element and second delay element, whose input is connected to the second input of the OR element, and the output - to the first input of the first key connected by the second the input to the second input of the comparison unit and the output of the intensity meter, and the output to the second input of the memory unit, the output of which is connected to the second input of the third key connected by the output to the second input of the And elements, and the first input to the first input of the trigger, the second input to orogo connected to the output switch, the output - to the input of the drive platform and the timer output is connected to the second input of the second switch. T five An object Intensity + Y " I-, rn Fb / a.2 g, a, distance