How teleobiettivi

 

(57) Abstract:

The invention relates to laser technology and is intended for the formation of the information field systems telecontrol moving objects. Technical result achieved - increased mobility of teleobiettivi by reducing basic time scans the laser beam in the formation of the information field. The method is based on the sequential formation of two rectangular orthogonal solutions progressive direct and counter scanning of the laser beam with the duplication of the reverse, between which stand in each row specified time delay when the radiation damping. Line-by-step interlocked in cycles, which in turn slip on the line width and the step is chosen equal to the length of the raster, is related to the number of rows in a loop, and the duplication of the reverse of the laser beam produced by the first raster, and between the rasters establish a temporary pause. 3 Il.

The invention relates to laser technology and is intended for the formation of the information field for teleobiettivi, navigation and optical communication in control systems automatic mobile devices. The invention may samanalagama shells and rockets pilotage of vessels by challenging fairways, remote control robotic devices.

From the patent literature known methods of forming the information field, based on the use of modulating raster [1] or by scanning a laser beam using a mechanical mirror oscillations [2], which, however, are characterized by low speed and energy potential, which limits the range of control.

More perfect is the way [3], in which the laser beam performs a reciprocating scanning first one coordinate with a discrete transition in the orthogonal coordinate after each reciprocating motion of the laser beam, and then after filling in a rectangular raster scan direction is changed to orthogonal. The selection of the coordinates of a managed object in the information field of a laser system teleobiettivi based on based on these coordinates, the duration of the time interval between two adjacent received laser signals arising from the reciprocating scanning of the laser beam.

However, this method requires additional C the ku between cycles of the reciprocating scanning of the laser beam on the lines introduced time delays characteristic coordinates, exceeding the working time.

Additionally, the method has low immunity from random noise and interference pulses, which can get into the large intervals between emitted pulses of coordinates, which leads to disruptions in the determination of the coordinates of a managed object and its possible disruption with the desired trajectory.

Noted shortcomings in the method of formation of the information field of the laser system teleobiettivi selected by the authors as a prototype to the technical essence and the number of matching characteristics [4]. The method is based on the sequential formation of two rectangular laser raster size m lxl formed by scanning the laser beam in each raster of N rows and deployed around a common center relative to each other on the 90o. The peculiarity of this method is the formation of rows in the raster cycles of M rows in a loop with discrete transitions of the laser beam between adjacent rows of loop value = L/M, and each row is formed through at least three cycles of scanning with scan time quantum Tcand timed delay between ticks, and only two neighboring quantum in each row have a counter direction skanera the Oia receives information about its spatial position in two orthogonal coordinates relative to the center of the two sequentially generated laser beam raster forming the frame. The frame duration is determined by the number and duration (Tc) scan cycles and the number (N) of rows in the sum of all delays (Td1and Td2) entered between the bars of the scanning during the formation of each line.

When the forward scanning and reverse scanning and duplicating the last laser beam passes three times in one line, and then move to the step cycle (L/M) and repeat the operation on this line. This is achieved by removing the control signals (representing groups of three pulses) on the two adjacent lines of the raster, which eliminates erroneous identification of these groups and, accordingly, the error of the control pulses. Next, form the next cycle, shifting the scanning of the laser beam on the width of the line relative to the first line of the previous cycle to fill the raster. The control object anywhere within the information field, with the passage through it of the laser beam registers, the at least three pulses in each raster. In this case, the interval between the first and second pulses depends on the removal of the photodetecting device object from the beginning of the string, and the interval between the second and

Locking rows in cycles provides, firstly, the identification of registered groups of three pulses due to the fact that the interval between the "Troika" of the pulses of the two neighboring rows will be significantly more acceptable values of the intervals between the pulses within each group, and, secondly, eliminate the possibility of false coordinates accidental omission of pulses in groups at the position of the object between adjacent rows of the information field.

The membership card to the corresponding raster in the X and Y coordinates recorded different values of the time interval between the second quantum scan (reverse of the laser beam) and the third quantum - duplication reverse, i.e., the time delay Td2on each line, during which the laser radiation is suppressed.

However, the known method has a number of shortcomings that reduce its functional reliability.

The frequency of formation of the information field is limited by the necessity of implementing the three cycles of scanning for each line of each raster, which reduces the mobility and accuracy of control actions to adjust the trajectory of the controlled object. The third stage is scanning the laser beam on each of the C two orthogonal images. Therefore, defining the coordinate belonging to the first of the "Troika" of pulses for a given value of the delay Td2no need for this operation on the second raster, as rasters are formed sequentially.

The known method is the lack of robustness in sequential transition of the scanning laser beam from one coordinate of a raster to another. In cases where the control object is located in one of the generated orthogonal crossing the scanning rasters of the corners of the information field, possibly erroneous combination of pulses of different rasters in a false Troika because of the comparability of the time intervals between rasters and between pulses in a single raster or accidentally passes signals in the pulse sequence. When this identification is useful groups of pulses is difficult or impossible, as the control object, in the information field, operates asynchronously with the system of forming images and it does not have the temporal reference. False management team leads to the disruption of the object with the given path.

Given that the raster can be formed by a small number of rows, the land area of the ring road is open to high risk of false control commands object.

The objective of the invention is to eliminate these shortcomings, resulting in increased functional reliability of the method teleobiettivi.

The required technical result is achieved by the fact that in the known method of teleobiettivi moving objects using information field by sequential formation of two rectangular orthogonal raster flowing direct and counter reverse scanning of the laser beam with duplication reverse scan, between which stand in each row specified time delay when the radiation damping, and line step-by-step sblokirovannye in cycles, which in turn slip on the line width and the step is chosen equal to the length of the raster, is related to the number of rows in a loop according to the invention, by the authors ' proposal, the duplication of the reverse of the laser beam is carried out only on the first raster, and after forming each raster take a pause with a duration of not less than

Tc+Td2+Tc/N,

where

Tc- the duration of a scan line;

Td2- delay after reverse scans;

N is the number of rows in the raster.

Distinctive features in conjunction with and the scanning of the laser beam during the formation of the information field, that improves the performance of the correction of the trajectory of a moving object, and increasing the functional reliability of the method, so as to prevent the passage of a false control commands by ensuring the identification of groups of useful signals arising from the formation of an orthogonal raster.

Duplication of reverse scanning of the laser beam (i.e., the formation of the "Troika" of pulses) only on the first raster allows us to distinguish one of the two coordinate frame, which automatically detects the following two useful signals to another raster scanning of the laser beam. This saves time orientation of the object coordinate frame, excluding on the second raster operation duplication of scanning.

In order not decreased immunity, between rasters installed a temporary pause, obviously exceeding the maximum time between any two bars of the scanning line at the time of passage of the beam a distance equal to the width of the line that is guaranteed isolates "three" and "two" pulses of two orthogonal raster for any position of the control object in the information field. When eudaemonic signs in itself known, but together create novelty quality, so the effect of the amount and not the amount of effects. Each of the essential features separately required, and together they are sufficient to define the invention in that quality, which manifests itself in a positive technical result in hardware implementation.

The proposed invention is unknown from available sources of information, is not obvious from the prior art and is industrially applicable to teleobiettivi moving objects in the formation of the information field through laser technology to achieve a qualitatively new technical result, that is, meets the criteria of patentability.

In Fig.1 schematically shows a scanning laser beam separately for rasters (conditionally) to the left on the drawing - the X-coordinate, to the right of the Y-coordinate of Fig.2 - two options for the location of a managed object: E and D in the information field (frame) in terms of combining it rasters in space; Fig. 3 is a plot of the coordinates of the laser beam in the formation of images provided by them dotted line coordinates of points E and D and plots pulses UDand UErecorded about Loginova method performed with the same initial values of time intervals, described in the prototype: Tc= 100 µs, Td1= 10 µs, Td2= 10 µs.

It is well known that the formation of the information field are committed to reducing the duration of all pauses (delays), because doing so increases the frequency of formation personnel and, ultimately, the controllability of the object teleobiettivi. Therefore, the delay Td1between forward and reverse scans, and Td3when moving from string to string, required mainly for damping of the beam are selected minimum within the capabilities of the equipment, and the delay Td2between reverse scanning and duplication reverse can be equal to them or to take large values, if necessary, for transmission to the control object additional information (which is noted in the prototype).

In accordance with the method according to this invention the information field form a sequential line-by-line scanning of the laser beam in two square (m lxl) orthogonal rasters, forming the frame, and when the delay of the laser beam between the bars of the scanning lines and raster radiation extinguish.

Managed object receives information about the two X and Y coordinates relative to znakov and lines together with all the input delay Td1- Td4determine the frame duration Tk.

The laser beam first scans of the X-coordinate (Fig.1), passing three times through each line, and then move a step equal to the size of the raster L, divided by the number of rows in a loop M (i.e. when the size of the raster in the zone of location of the object, for example, L=10 m and the number of rows in a loop M=2 step will be 5 m), then the scanning order is repeated in this line cycle.

Then the next cycle is obtained by shifting the laser beam width of the first line of the previous cycle and repeat three scan cycles beginning on the first line of a new cycle, then shifted her 5 m of the second line.

So I repeat the operation to fill the raster, which will occur when the total number of rows will be equal to N, since the width of the beam, defining a transverse row size is set (optical or electronic) is equal to L/N, i.e., in the example, when N=6 width of the beam or line will be about 1.7 m

The described procedure for forming raster enables a separation of "triples" of pulses registered by the control object twice in the same raster (in the case of its location near the boundary between SOS is more valid values for the intervals between pulses inside the "threes", therefore, reliable their identification and eliminates the mixing of pulses of different groups.

The intervals between registered by the photodetector of the controlled object by passing it the laser beam three pulses (Fig.3) depending on the distance from the start of the line scan can take values in the ranges:

between the first and second pulses from the Td1to Td1+2Twith, i.e., 10 - 210 µs;

between the second and third pulses is constant and independent of the coordinates equal to Td2+Tc=115 ISS.

Thus, by registering a group of three pulses with the specified intervals, the control object uniquely identifies the fact of reception of X - coordinates and determines a numerical value.

Upon completion of the formation of the first raster paused Td4the duration of Tc+Td2+Tc+/N132 MS, after which the laser beam form the second raster of the Y-coordinate, orthogonal to the first raster, the same algorithm cycles, but with only two beats scan each row in opposite directions (Fig.1 and 3).

As a result, the control object will register a group of two and is based on Y-coordinates, remote from a group of three pulses obtained previously in the formation of the first raster, no more than the frame duration Tkwhich in this example is about 3.5 MS, which is sufficient to identify pairs of pulses as the Y - coordinate. This is possible with sequential formation of the X, and then Y-coordinate, that is, the first image having a horizontal and then vertical scanning of the laser beam, embedded in the algorithm of formation of the information field, similar to the algorithm for identifying the coordinates of the control object.

The presence of delay Td4duration 132 ISS between the first and second rasters provides, when the object at any point in the information field, the interval between the last pulse in the group of three X-pulse and the first pulse in the group of two Y-pulses not less than Td2+2Tc=215 µs (Fig. 3), that is guaranteed greater than the maximum interval between any two adjacent pulses in any group of pulses of X - and Y-rasters. This, in turn, provides reliable and correct identification of the defining groups of pulses corresponding to the true coordinates of the control object in the information field.

That casapulla, with an interval between them, corresponding to the possible interval for the Y-coordinate (210 μs in this example), the probability of such events is so small, it may not have practical significance. So, for example, when the threshold level 5 - 7 RMS noise level, typical detection systems, and bandwidth reception path of the order of 105Hz (it is determined by the duration of the signal, which practically amounts to about 10 μs), the probability of occurrence of pairs of noise pulses separated by intervals within 210 μs, will not exceed 10-6(Miroshnikov M. M. Theoretical foundations of opto-electronic devices. Leningrad: Mashinostroenie, 1977, S. 550 - 554).

Similarly, the generated delay of the same duration Td4between the Y-raster and the next X-pattern of the second frame (Fig.3)

Thus, the exclusion of the third iterate through each row in the second of the two orthogonal raster does not lead to loss of information about what exactly coordinate is transmitted, and the time required for the formation of the second raster is reduced by 30% compared to the prototype. This substantially increases the frame rate, i.e. the frequency with which the coordinate information of the object panel is Menno, increases the mobility of teleobiettivi and productivity.

Further the invention is to improve the accuracy of the orientation of the controlled object and, most importantly, reliable operation. So, giving the advantage compared with the known method according to the transmission speed information, the proposed method is superior in noise immunity. Indeed, as noted above, the introduction of additional delay specified duration between rasters guarantees the separation of groups of pulses related to the X - and Y-coordinates (even if the Y-coordinate, too, would be formed for three passes at the line), when the object at any point in the information field. This division not only provides identification of the coordinates, but also eliminates especially dangerous to control the appearance of false coordinates, possible in a known way if you miss one or two pulses in the recorded sequence.

If the object is in the lower right corner of the information field, at the point E (Fig.2), he will get a sequence of pulses shown in Fig.3, where three pulses registered by the object during the formation of the first X-raster, and the two pulses is nulls, the other two from this group in conjunction with the first Y-pulse will not be perceived object as the "Troika" of pulses (with false X-coordinates), since the interval of the second and third pulses of this "Troika" due to the launch delay Td4will not be less than: Td4+Tc-Tc/N= 215 μs, i.e. greater than the maximum interval between any two neighboring pulses in the set by way of a sequence of pulses in groups. For this reason, false "Troika" of the pulse is not formed from the last pulse X-band and two of the following Y-pulses at random skip the first two X-pulses. Therefore, any incomplete group X-pulses will be treated as a nuisance and false management team if this is not produced.

Similarly describes the object located at the point D of the image (Fig.2), will register a sequence of pulses (Fig.3), where the first two of the pulse is related to the Y-raster, and next to the "Troika" of pulses to the X-raster of the next frame.

The mixing of adjacent pulses of adjacent rasters in the wrong groups of twos or threes" can't be due to the introduced delay Td4between rasters, providing an increase in the interval between S="ptx2">

In all these situations, the method of forming the raster declared in the prototype, would have led to the emergence of false coordinates. As for random check of disturbances pulses is possible in real conditions of noise and interference, the proposed method is somewhat more stable because the loss of information will lead to almost only the interfering pulses, which will be within any group of pulses, as in the proposed method, the length of the Y groups of two pulses, of course, a half to two times shorter than the duration of the corresponding Y-groups in the prototype, and therefore the likelihood of interference in this shorter interval is also less.

The invention provides a selection of useful signals in two orthogonal coordinates with an increased frequency of formation of the laser system frame information field, which increases the accuracy of the orientation of a moving object and functional reliability of the control and correction of the trajectory.

The sources of information.

1. U.S. patent N 4111385, F 42 B 13/30.

2. Author's certificate N 558247, G 02 F 1/29.

3. The UK patent N 8330302 published 24.07.84, F 41 G 7/00, G 01 S 1/70.


Twith+ Td2+ Twith/N,

where Twith- the duration of a scan line;

Td2- delay after reverse scans;

N is the number of rows in the raster.

 

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