SU1602948A1 - Photo-detecting device for checking position od earth-moving machine - Google Patents

Abstract

This invention relates to the automatic control of moving mechanisms, such as land reclamation, construction and other earth-moving machines. The purpose of the invention is to improve the accuracy of controlling the position of the earth-moving machine. The device consists of series-connected lasers, a collimator 2, a scanner 3 and a four-channel photodetector 4. The latter contains four photocells (PV) 5-8, each of which is connected respectively to a photoamplifier (FU) 9-12. The outputs of the FU 9 and 11 are connected respectively to the inputs of the formers 13 and 14 of the command (FC) "Up" and "Down". The outputs of the FC 13 and 14 are connected to the Executive system of the mechanism. The outputs of the FU 10 and 11 are connected respectively to the inputs of the elements AND 15 and OR 16, the outputs of which, respectively, through the indicator 17 and the switching element 18 are connected to the third inputs of the FC 13 and 14. The dead zone is determined by the distance between the FE 6 and 7, the laser beam diameter and the gain of the FU 10 and 11. When the laser beam is illuminated by any of the FE 6 or 7, the signal of the logical "I" of the outputs of the FU 10 and 11 triggers through the OR element 16 and the element 18 indicator 17, blocking the passage of control commands from FC 13 and 14. way the expansion zone is nothing vstvitelnosti. 1 hp f-ly, 2 ill.

Description

) h (1) the decree relates to automation and can be used to create devices for controlling movable mechanisms, for example, solar, building and other earth-moving machines.

The 11th invention is an increase in the accuracy of control I,

Fig about 1 shows the functional diagram of the device; in fig. 2 - execution of the Former for the command Down, Up.,

The device consists of a laser 1, a collimator 2, a scanner 3 and a four-channel photodetector 4.

The photodetector contains consistently connected photosensitive elements 5-8 and photoamplifiers 9-12. Photo amplifiers 9 and 12 are connected to the first inputs of the Up 13 and the Down 14 commands, respectively. The outputs of the Forward 13 and 14 Up and Down commands, respectively, are connected to the actuating system of the mechanism. Output photo amplifier 10 is connected to. the second input of the Up 13 command and the first inputs of the AND 15 element and the OR 16. The amplifier 10 output is connected to the second input of the Down command 14 and the second inputs of the 15 element and the OR 16 element “The first input of the indicator 17 is connected to the output of the AND element 15. The switching element 18 is connected between the output of the element OR 16 and the second input of the indicator 17. The outputs of the indicator 17 are connected to the third inputs of the drivers of commands Up 13 and Down 14.

The operation of the device is as follows.

The laser beam, having passed through the collimator 2, falls on the scanner 3, which forms in the space of the laser reference plane of control,

In the case of the absence of light laser lights on photocells 5-8, there are no control commands at the outputs of the shaper 13 and 14, which ensures the shutdown of the executive system of the machine. During the movement of the machine, the laser radiation can illuminate the photocells 5-8. With simultaneous illumination of the photocells 6 and 7 at the output of an effort5

0

50

five

Telephones 10 and 11 appear to be pulsed signals of level 1. When these signals coincide in the element 15, a signal appears at its output 1. triggering indicator 17, indicating that the working element is at a predetermined depth. There are no control commands from the outputs of the formers 13 and 14, since the indicator 17 sends a prohibition signal to their inputs. As the earthmoving machine moves, there may be a displacement of the working element, for example, upwards with a depth specified by a laser beam. The photodetector also moves up, the laser beam comes off the photocell 6, and there is no signal from the output of the amplifier 10. At the output of the element 15, a level O appears, which turns off the indicator 17 and the prohibition signal is removed, which is supplied from it to the command conditioners 13 and 14. Signal 1 from the output of amplifier 11 starts the down command generator 14, the signal from which is fed to the actuator , ensuring the lowering of the working body to a predetermined depth. The photodetector also moves downward relative to the laser beam until the photocell 6 illuminates, causing signal 1 at the output of the amplifier Yu and the prohibition signal appears at the outputs of the indicator 17, removing 2; its control command is from the driver 14. So the process occurs. control working body height (digging depth). The control accuracy will be determined by the magnitude of the dead zone — the magnitude of the cyclic movement of the photodetector, within which the laser beam, simultaneously illuminating the photocells 6 and 7, simultaneously

The presence of T signals at the output of the And 15 element and the absence of control commands. The dead zone will be determined by the distance between the photocells 6 and 7, the laser beam diameter and the amplification factor of the amplifiers 10 and 11. In this case, the switching element 18 is open and the OR 16 element does not affect the operation mode of the indicator 17 and the value of the dead zone.

Such a mode is the most optimal for d; n control of low-speed, inertial mechanisms - plowing machines, asphalt paving and concrete paving.

Although the size of the dead zone is usually 7-10 mm in this mode, the number of attacks (control commands) per unit of time does not reach a critical value (40-60 slabs / min), at which the occurrence of self-oscillations and control failure is possible, since the speed of testing the mismatch by the executive systems of these machines is insignificant. When controlling high-speed, low-inertia scraping machines, high-speed bulldozers

bench press Due to this, the device achieves reliability of operation of the device with the entire range of earth-moving and construction equipment.

Claims (2)

1. Photodetector for controlling the position of the earthmoving machine, including four photocells connected to photo amplifiers, in-. a speaker, characterized by that. what, with the purpose of increasing accuracy mining speed, the mode described above, 5 controls, it is equipped with a driver control with a small value of the insensitivity zone is no longer optimal, since an increase in the number of attempts of the executive system of these majevins can lead to self-oscillations. To eliminate this phenomenon, it is necessary to expand the dead zone of the system. This is achieved by switching the switching element 18 to a closed state, in which the output of the OR 16 element is connected to the input of the 17o indicator. Now when any of the photo cells 6 or 7 is illuminated by the laser beam, the signal 1 from the outputs of the amplifiers 10 and 11 of these channels triggers the OR 16 element and the switching element 18 indicator 17, blocking the passage of control commands from the formers 13 and 14. Thus, the dead band will be expanded, which in this mode will depend on the geometric dimensions along the vertical Cells 6 and 7. By choosing the geometrical dimensions of these photo cells, an optimal deadband value (40-50 mm) is obtained for high-speed planning machines, providing a stable mode of switching control commands, which excludes the possibility of the control system switching to auto-oscillatory recommand Up, using the Down command generator. , an AND element, an OR element and a switching element, the output of the first amplifier being connected 20 with the first input of the Up command, the output of the second amplifier is connected to the second input of the Up command and the first inputs of the AND and HJiM elements, the third output of its 25 amplifier is connected to the second inputs of the AND and OR elements and the first input of the Down command, to the second input which is connected to the output of the fourth amplifier output 30 of the AND element is connected to the first input of the indicator, the output of the OR element is connected via a switching element to the second input of the indicator, two outputs of which are connected respectively to the third input of the drivers  Up and Down commands. 40 45 2. The device according to claim 1, dated from the fact that the drivers of the Up and Down commands each contain an OR connection, a one-shot, an AND element and an output key, and the two inputs of the OR element are the first and second inputs, and the other input of the AND element is the third input of the drivers of the Up and Down commands, and the output of the output key is their output. bench press Due to this, the device achieves reliability of operation of the device with the entire range of earth-moving and construction equipment. Invention Formula 1. Photodetector for controlling the position of the earthmoving machine, including four photocells connected to photo amplifiers, in-. a speaker, characterized by that. what, with the purpose of increasing accuracy control, it is equipped with a driver control, it is equipped with a driver Up commands, down command driver, AND element, OR element and switching element, with the output of the first amplifier connected with the first input of the Up command, the output of the second amplifier is connected to the second input of the Up command and with the first inputs of the AND and HJiM elements, the output of the third amplifier is connected with the second inputs of the AND and OR elements and the first input of the Down command, which is connected to the second input output of the fourth amplifier output element AND is connected to the first input of the indicator, the output of the element OR is connected via a switching element to the second input of the indicator, two outputs of which are connected respectively to the third input of the drivers Command Up and Down. 2. The device according to claim 1, dated from the fact that the drivers of the Up and Down commands each contain an OR connection, a one-shot, an AND element and an output key, and the two inputs of the OR element are the first and second inputs, and the other input of the AND element is the third input of the drivers of the Up and Down commands, and the output of the output key is their output. .. K 5