An anti-collision device and anti-collision method for a dome

Abstract

The present invention discloses an anti-collision device and an anti-collision method for a dome. The device includes a metal contact head and a metal member with a circumferential span. One of the metal member and the metal contact head is arranged on a rotating shaft, and the other is arranged on a shaft sleeve. The dome has a dome controller and a dome control power supply. The anti-collision device is installed on an indoor instrument and has no physical connection with the dome. However, the power supply of the anti-collision device is provided by the dome control power supply, and the signal of the anti-collision device is detected by the dome controller. The dome controller controls whether the dome can be opened / closed based on the contact states of the metal members and the metal contact heads on all the rotating shafts. By using the present invention, even in the case of power failure of the indoor instrument or communication failure between the indoor instrument controller and the dome controller, the dome can still accurately detect the relative position between the indoor instrument and the dome to ensure that the dome does not collide with the indoor instrument.

Description

Technical Field

[0001] The present invention relates to an anti-collision device and method for a dome (also including movable and openable roofs for protecting other various types of instruments, such as protective roofs for antennas, radars, meteorological instruments, etc., including fixed domes, vehicle-mounted domes, ship-mounted domes, etc.), and this device and method are particularly suitable for application in the field of astronomical instruments. Background Art

[0002] Many large-scale instruments need to be placed in a room with a movable top. This building or structure can be made into various shapes such as a square top, a rectangular top, a hemispherical shape, etc., and is generally collectively referred to as a dome. When the instrument is working, the dome is opened in various ways such as translation, up and down movement, and flipping, so that the instrument can work facing the external space. For example, astronomical telescopes, microwave antennas, radars, meteorological instruments, etc.

[0003] In some cases, the internal space of the dome is small, while the outer contour of instruments such as telescopes inside the dome is large. Especially in the case of limited building sites, vehicle-mounted domes, ship-mounted domes, etc., the three-dimensional dimensions of the dome are strictly limited. At this time, a layout as compact as possible is often adopted inside the dome, and instruments such as telescopes can be placed inside the dome. However, the dome can only be opened and closed when the telescope is in certain postures. If the dome is opened or closed in other states, the dome will collide with the telescope.

[0004] To prevent collisions, generally, operating procedures for the dome and the telescope are formulated, and operations are carried out according to certain standard processes, which can prevent collision accidents to a certain extent. However, this method highly depends on the operator. Once there is negligence, or unauthorized operation by untrained personnel, a collision accident will occur, resulting in serious consequences such as damage to the instrument or the dome.

[0005] Currently, the common anti-collision devices are divided into two categories. The first category is based on the outer contour of the instrument, and a photoelectric detection device is set. When the instrument does not block the optical signal, the dome can be opened, otherwise it cannot be opened. However, due to the extremely complex outer contour of the instrument, the outer contours of different instruments vary greatly, and it is extremely difficult to design such anti-collision devices. Moreover, they are greatly affected by ambient light, other moving objects, etc., and the reliability is not high. The second category is to install an angle sensor on the rotating shaft of instruments such as telescopes. The telescope control system reads the information of this angle sensor and sends it to the dome, and the dome judges whether the angle can be opened. The reliability of this method is relatively good, but the implementation cost is relatively high. For a simple device like the dome, the control circuit is too complex, and once the telescope loses power or there is a communication failure between the indoor instrument (controller) and the dome (controller), the dome will be in an uncontrollable state. Summary of the Invention

[0006] In view of the above problems existing in the prior art, the present invention provides an anti-collision device and an anti-collision method for a dome, which can still play a good protective role even when the indoor instrument loses power or the communication fails.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An anti-collision device for a dome, in which an indoor instrument is arranged inside the dome. The indoor instrument has a plurality of rotating shafts, and different rotating shafts correspond to different directions of rotational freedom. The indoor instrument will collide with the closed dome within a partial rotation range. An anti-collision device is installed on each rotating shaft of the indoor instrument. The anti-collision device includes a metal contact head and a metal piece with a circumferential span. A shaft sleeve fixed relative to the rotating shaft is arranged outside each rotatable rotating shaft. One of the metal piece and the metal contact head is arranged on the rotating shaft, and the other is arranged on the shaft sleeve. Outside the angular range corresponding to the metal piece, the metal contact head and the metal piece are in a non-contact state. The dome has a dome controller and a dome control power supply. The anti-collision device is installed on the indoor instrument and has no physical connection with the dome, but the power supply of the anti-collision device is provided by the dome control power supply, and the signal of the anti-collision device is detected by the dome controller. The dome controller controls whether the dome can be opened / closed based on the contact states of the metal pieces and the metal contact heads on all the rotating shafts.

[0009] Further, when the indoor instrument loses power or when the communication between the indoor instrument (controller) and the dome (controller) fails, the anti-collision device is not affected and works normally.

[0010] Further, the metal piece is insulated and installed on the inner wall of the shaft sleeve. Within the angular range corresponding to the metal piece, the metal contact head is kept in contact with the metal piece all the time through a spring connecting rod that rotates with the rotating shaft. One end of the spring connecting rod is fixed inside the rotating shaft, and the metal contact head is installed at the other end of the spring connecting rod.

[0011] Further, the thickness of the metal piece is 1-2 mm, the width is 1.5-2 times the width of the metal contact head, and the material is copper; the metal contact head has elasticity, and its surface is copper-plated or gold-plated.

[0012] Further, the metal piece is connected to the positive or negative pole of the dome control power supply, and the metal contact head is connected to the signal detection end of the dome controller. Vice versa is also possible.

[0013] Based on the above anti-collision method of an anti-collision device for a dome, it includes:

[0014] Step 1: According to the position where the indoor instrument collides with the dome when the dome is in the closed state, determine the rotation range of each rotating axis, and accordingly determine the circumferential extension span of the metal part. The two circumferential edges of the metal part are the critical contact positions between the metal contact head and the metal part. When only one anti-collision device is provided on the circumference, the critical contact position divides the entire rotation range into a first rotation angle range and a second rotation angle range. And within one of the rotation angle ranges, the metal contact head is always in contact with the surface of the metal part, and within the other rotation angle range, the metal contact head is in a non-contact state. If a number of anti-collision devices are symmetrically arranged on the circumference as needed, the entire rotation range is divided into a number of first rotation angle ranges and a number of second rotation angle ranges.

[0015] Step 2: The dome controller controls the dome to switch between a safe state where it can be opened / closed and an unsafe state where it cannot be opened / closed according to the state change of the anti-collision device.

[0016] When the Nth rotating axis rotates into one of the first rotation angle range and the second rotation angle range, the signal detection end of the dome detects a first signal. At this time, the dome controller prohibits the opening / closing operation of the dome. When the Nth rotating axis rotates into the second rotation angle range, the signal detection end of the dome detects a second signal. At this time, the dome controller allows the opening / closing operation of the dome.

[0017] When the dome controller can detect the second signals of all the rotating axes at the same time, press the opening / closing button of the dome, and the dome can be smoothly opened or closed. Otherwise, when the second signal of the anti-collision device on any one of the rotating axes is not detected, even if the opening / closing button of the dome is pressed, the dome does not generate an opening / closing action.

[0018] Furthermore, when the opening / closing button of the dome is pressed and the dome does not generate an opening / closing action, a warning signal is generated under the control of the dome controller.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] The anti-collision device of the dome of the present invention is installed on the body of the indoor instrument and has nothing to do with the dome body. Its power supply is provided by the dome controller, and at the same time, the signal detection is also carried out by the dome controller. In this way, even in the case of power failure of the indoor instrument or communication failure between the indoor instrument (controller) and the dome (controller), the dome can still accurately detect the state of the indoor instrument at this time to ensure that the dome does not collide with the indoor instrument. In the case of a small internal space in the astronomical dome and a large outer contour of the indoor instrument, this anti-collision method and device can effectively prevent the dome from colliding with the indoor instrument when opening and closing, and can also play a good anti-collision role even in the state of power failure of the indoor instrument. At the same time, it has low cost, simple control method and reliable performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained through these drawings.

[0022] Figure 1 It is a schematic structural diagram of an anti-collision device installed on the height axis;

[0023] Figure 2 It is a schematic structural diagram of the spring link;

[0024] Figure 3 It is a schematic structural diagram of an anti-collision device installed on the azimuth axis;

[0025] Figure 4 It is a schematic diagram of different installation methods of the anti-collision device

[0026] Figure 5 It is a schematic diagram of the overall structure of the telescope in the shelter.

[0027] Markings in the figure: 1 Metal copper skin of the height axis, 2 Fixed seat of the height axis, 3 Spring link of the height axis, 4 Metal contact head of the height axis, 5 First height position of the height axis, 6 Second height position of the height axis, 7 Third height position of the height axis, 8 First contact head position of the height axis, 9 Second contact head position of the height axis, 10 Third contact head position of the height axis, 11 Upper top cover of the dome, 12 Threshold angle θ, 13 Bearing of the height axis, 14 Rotating shaft of the height axis, 15 Fixed hole of the spring link, 16 Link, 17 Spring, 18 Metal contact head, 21 Metal copper skin of the azimuth axis, 22 Fixed seat of the azimuth axis, 23 Spring link of the azimuth axis, 24 Metal contact head of the azimuth axis, 25 First height position of the azimuth axis, 26 Second height position of the azimuth axis, 27 Third height position of the azimuth axis, 28 First contact head position of the azimuth axis, 29 Second contact head position of the azimuth axis, 30 Third contact head position of the azimuth axis, 31 Threshold angle β, 32 Side cover I of the dome, 33 Side cover II of the dome, 34 Bearing of the azimuth axis, 35 Rotating shaft of the azimuth axis, 36 Vehicle-mounted 60 cm laser rangefinder telescope, 37 Escalator. DETAILED DESCRIPTION OF THE INVENTION

[0028] To further understand the content of the present invention, the following will describe the present invention in detail in combination with the embodiments and the drawings.

[0029] This embodiment mainly targets two controlled objects, namely the dome and the indoor instrument (specifically, the telescope). Generally, to ensure the reliable and absolutely safe operation of the system, the power supplies for the dome controller and the telescope control box are separated. If the power supply and signal of the anti-collision device are directly provided and detected by the telescope control box, once the telescope loses power or there is a communication failure between the indoor instrument (controller) and the dome (controller), the dome will be in an uncontrollable state, and it is easy to occur the collision event between the dome and the telescope.

[0030] Therefore, in this embodiment, anti-collision devices are installed on each rotating axis of the telescope in the dome. The rotating axes in this embodiment include the altitude axis and the azimuth axis. Among them:

[0031] Figure 1 is a schematic diagram of installing an anti-collision device on the altitude axis. A bearing generally consists of four parts: an inner ring, an outer ring, rolling elements, and a cage; the function of the inner ring is to cooperate with the altitude axis rotating shaft 14 and rotate together with the shaft; the function of the outer ring is to cooperate with the bearing base and play a supporting role; the altitude axis consists of a central rotating part (rotating shaft) and an outer fixed part (outer ring of the bearing). The anti-collision device includes an altitude axis metal contact head 4 and a metal part with a circumferential span. In this embodiment, the metal part is preferably the altitude axis metal copper strip 1. One of the altitude axis metal copper strip 1 and the altitude axis metal contact head 4 is arranged on the rotating shaft (altitude axis bearing 13), and the other is arranged on the shaft sleeve (altitude axis fixed seat 2). That is, the same object of the present invention can be achieved when the installation positions of the altitude axis metal copper strip 1 and the altitude axis metal contact head 4 are interchanged. In this embodiment, it is preferred to arrange the altitude axis metal contact head 4 on the altitude axis rotating shaft 14, and preferably install the altitude axis metal copper strip 1 on the shaft sleeve (fixed shaft base) of the altitude axis. The altitude axis metal copper strip 1 is preferably a copper strip with a thickness of 1 - 2 mm and a width that is 1.5 - 2 times the width of the altitude axis metal contact head 4. In this way, it can not only ensure maintaining a stable shape but also avoid wasting materials to prevent oxidation. Outside the angular range corresponding to the altitude axis metal copper strip 1, the altitude axis metal contact head 4 and the metal copper strip 1 are in a non-contact state. In this way, a high-level signal (or low-level signal) can be generated when the altitude axis metal contact head 4 rotates to the angular range where it contacts the altitude axis metal copper strip 1, and a low-level signal (or high-level signal) can be generated when the altitude axis metal contact head 4 rotates outside the angular range where it contacts the altitude axis metal copper strip 1. In addition, since there is a certain distance between the altitude axis rotating shaft 14 and the shaft sleeve, it is very difficult to keep the altitude axis metal contact head 4 and the altitude axis metal copper strip 1 always in contact if the altitude axis metal contact head 4 is directly installed on the outside of the altitude axis rotating shaft 14. Therefore, in this embodiment, it is preferred to install the altitude axis metal contact head 4 on the altitude axis spring link 3. In this embodiment, the structure of the spring link is as Figure 2As shown, it includes the fixed hole 15 of the spring link, the link 16, the spring 17 (compression spring), and the metal contact head 18. One end of the link 16 is fixedly installed on the shaft wall of the rotating shaft through the fixed hole 15, and the other end of the link is connected to the metal contact head 18 through the spring 17. Within the angular range corresponding to the height axis metal copper strip 1, the height axis metal contact head 4 is always in contact with the height axis metal copper strip 1 through the height axis spring link 3 that rotates with the height axis rotating shaft 14. One end of the height axis spring link 3 is fixed to the rotating part of the height axis rotating shaft 14 through a flange, and the other end of the height axis spring link 3 is connected to the height axis metal contact head 4. The height axis metal contact head 4 preferably has a certain elasticity, and it is advisable to use copper-plated or gold-plated materials sold on the market, so that it can maintain elasticity for a long time and is not easily oxidized.

[0032] Figure 1 In it, the first height position 5 of the height axis, the second height position 6 of the height axis, and the third height position 7 of the height axis represent three different elevation angle positions of the height axis. According to the dome and the actual telescope size, the second height position 6 of the height axis is taken as the telescope center position. Rotating clockwise to the third height position 7 of the height axis or counterclockwise to the first height position 5 of the height axis, both of these two rotation angles are defined as θ. Within the range of θ, the height axis will collide with the upper cover 11 of the dome; when the rotation angle is greater than the θ angle, it will not collide with the upper cover 11 of the dome. The θ angle is defined as the critical threshold angle, that is, the threshold angle θ12.

[0033] Figure 1 In it, the first contact head position 8 of the height axis, the second contact head position 9 of the height axis, and the third contact head position 10 of the height axis represent three positions where the height axis metal contact head 4 is in contact with the height axis metal copper strip 1. The second contact head position 9 of the height axis is the center position of the height axis metal contact head 4 on the height axis metal copper strip 1. The first contact head position 8 of the height axis and the third contact head position 10 of the height axis respectively represent the critical contact positions of the height axis metal contact head 4 with the height axis metal copper strip 1 in two different directions. The center position of the telescope height axis (the second height position 6 of the height axis) corresponds to the center position of the height axis spring link 3 (the second contact head position 9 of the height axis). The height axis spring link 3 drives the height axis metal contact head 4 to rotate synchronously with the height axis. That is to say, when the rotating shaft is in the area between the first height position 5 of the height axis and the third height position 7 of the height axis (the angular range where it cannot be opened / cannot be closed), through the synchronously rotating height axis spring link 3, the height axis metal contact head 4 is always in contact with the height axis metal copper strip 1; when the rotating shaft continues to rotate counterclockwise from the first height position 5 of the height axis or clockwise from the third height position 7 of the height axis to other areas (the angular range where it can be opened / can be closed), the height axis metal contact head 4 is not in contact with the height axis metal copper strip 1.

[0034] The dome controller provides power for the anti-collision device. The metal copper strip of the altitude axis is connected to the positive / negative power supply, and the metal contact head of the altitude axis is connected to the signal detection end of the dome controller. Insulating materials are added to the installation and contact parts between the metal copper strips of the altitude axis for insulation treatment. Vice versa is also applicable.

[0035] When the altitude axis of the telescope rotates to the area where it cannot be opened / cannot be closed (unsafe), the metal contact head and the metal copper strip are always in contact. The signal detection end of the dome detects a signal that does not meet the opening / closing conditions. At this time, the dome controller prohibits any operation; on the contrary, when the metal contact head and the metal copper strip are not in contact, the signal detected by the dome at this time detects a signal that meets the opening / closing conditions. At this time, the dome can perform operations such as opening / closing.

[0036] Figure 3 It is a schematic diagram of installing an anti-collision device on the azimuth axis of the telescope, mainly involving the azimuth axis fixed seat 22, the azimuth axis spring connecting rod 23, the azimuth axis metal contact head 24, the first altitude position 25 of the azimuth axis, the second altitude position 26 of the azimuth axis, the third altitude position 27 of the azimuth axis, the first contact head position 28 of the azimuth axis, the second contact head position 29 of the azimuth axis, the third contact head position 30 of the azimuth axis, the threshold angle β 31, the dome side cover I 32, the dome side cover II 33, the azimuth axis bearing 34, and the azimuth axis rotating shaft 35. The process of installing the anti-collision device on the azimuth axis of the telescope, its working principle, and the process and working principle of installing the anti-collision device on the above-mentioned altitude axis are the same, and will not be elaborated here.

[0037] When all the rotating axes of the telescope (usually 2 axes, and there are also cases of 3 axes or multiple axes) meet the opening / closing conditions, the dome can simultaneously detect the opening / closing condition signals of each axis. At this time, when the opening / closing button of the dome is pressed, the dome can be smoothly "opened / closed"; otherwise, as long as any one of the rotating axes fails to detect the opening / closing condition signal, even if the opening / closing button of the dome is pressed, the dome will not perform the opening / closing action. The dome controller can generate warning signals such as sounds and light flashes to remind the operator.

[0038] In actual engineering applications, there will be cases where the threshold angle θ is relatively large. If the above installation form is still adopted, the circumference of the metal copper strip will appear to be particularly large. To further optimize the technical solution, considering the convenience and rationality of installing the anti-collision device, if θ is greater than 45°, it can be considered that the rotation angle range where it cannot be opened / cannot be closed is large, and the rotation angle range where it can be opened / can be closed is small. At this time, the metal copper strips are symmetrically installed on both sides of the rotating shaft ( Figure 1 in the area of (90° - θ) in Figure 1Within the range of (90° - θ), the metal contact head and the metal copper strip always remain in contact; otherwise, they are not in contact. The anti-collision device and its signal detection method are similar to the above-mentioned height axis, and the anti-collision signal is detected by the dome controller.

[0039] In the above embodiment, the metal copper strip 1 is installed on the bushing, and the metal contact head 4 and the spring link are installed on the rotating shaft. However, those skilled in the art can understand that setting it the other way around can also achieve the purpose of the present invention, that is, as Figure 4 shown, the metal contact head 4 and the spring link can be installed on the bushing, and the metal copper strip 1 can be installed on the rotating shaft. Since the diameter of the rotating shaft is smaller than that of the bushing, within the same rotation range, the area of the metal copper strip installed on the rotating shaft is smaller than that installed on the bushing, which can effectively save the use of copper strip materials. In addition, in the above embodiment, the metal part is connected to the positive or negative pole of the dome control power supply, and the metal contact head is connected to the signal detection end of the dome controller. However, those skilled in the art can understand that connecting the metal contact head to the positive or negative pole of the dome control power supply and the metal part to the signal detection end of the dome controller the other way around can also achieve the purpose of the present invention, which will not be elaborated here.

[0040] Figure 5 This is the overall structure of the telescope in the cabin when the device and method of the present invention are specifically applied to the on-vehicle 60-cm laser rangefinder telescope 36. In the figure, the height axis of the telescope exceeds the safe opening / closing angle. If no anti-collision detection device is added, collisions between the rotating shaft (height axis) of the telescope and the dome will occur. In addition, since the on-vehicle telescope is a mobile device, considering the portability of movement and observation, the length, width, and height of the cabin are limited. The telescope cabin adopts a translation-up opening roof layout (the side is unfolded and flattened when opening, and the side stands up when closing). The telescope can only be opened / closed within a very small rotation angle range.

[0041] The specific installation and detection process of the anti-collision detection device are as follows:

[0042] 1. Place the vehicle body of the on-vehicle telescope in the north-south position with the front of the vehicle facing due south. Rotate the height axis of the telescope to face the sky. At this time, as the central position of the height axis of the telescope, test that the on-site height axis θ is about 55°, and at the same time test that the azimuth β is about 20°. Then, considering that the rotation angle range for opening / closing is small, symmetrically install metal copper strips on both sides of the fixed base of the height axis (rotating shaft), and install a metal copper strip at the center of the fixed base of the azimuth axis (rotating shaft). During installation, both are insulated from the fixed base part.

[0043] 2. Fix one end of each of the two spring linkages to the rotating parts of the corresponding (elevation axis and azimuth axis) rotating shafts of the telescope through flanges, and connect metal contact heads to the other ends. It is advisable to use commercially available copper-plated or gold-plated materials, and both of them are used as the signal detection ends for the opening and closing of the shelter.

[0044] 3. The shelter controller provides power. The metal copper strip is connected to the positive or negative pole of the power supply. When the azimuth axis is within the safe rotation angle range, the metal contact head of the azimuth axis contacts the metal copper strip of the azimuth axis; when the elevation axis is within the safe rotation angle range, the metal contact head of the elevation axis contacts the metal copper strip of the elevation axis. Only when both axes meet the opening / closing conditions can the dome detect the normal opening / closing condition signal. At this time, press the dome opening / closing button, and the dome can be successfully "opened / closed". Otherwise, as long as any one of the rotating shafts fails to detect the opening / closing condition signal, even if the dome opening / closing button is pressed, the dome will not perform the opening / closing action.

[0045] For a fixed 1-meter aperture satellite laser ranging telescope, since the cost of the large dome is extremely high, the dome is designed in a parallel upward-pulling layout when designing the dome. This will result in the dome being able to open or close only within a very small rotation angle range of the telescope. When the device and method of the present invention are specifically applied to a fixed 1-meter aperture satellite laser ranging telescope (parallel upward-pulling dome), the installation and detection process of the specific anti-collision detection device are as follows:

[0046] 1. Place the center position of the azimuth axis of the fixed telescope at the due north position and rotate the elevation axis towards the zenith direction. At this time, as the center positions of the azimuth axis and elevation axis of the telescope, test that the elevation axis θ on-site is about 65°, and at the same time test that the azimuth rotation angle β is about 25°. Considering that both of them are within a relatively small rotation angle range for opening / closing, metal copper strips are symmetrically installed on both sides of the fixed base of the elevation axis (rotating shaft), and a metal copper strip is installed at the center of the fixed base of the azimuth axis (rotating shaft). During installation, both are insulated from the fixed base part.

[0047] 2. Fix one end of each of the two spring linkages to the rotating parts of the corresponding (elevation axis and azimuth axis) rotating shafts of the telescope through flanges, and connect metal contact heads to the other ends. It is advisable to use commercially available copper-plated or gold-plated materials, and both of them are used as the signal detection ends for the opening and closing of the shelter.

[0048] 3. The cabin controller provides power. The metal copper strip is connected to the positive or negative pole of the power supply. When the azimuth axis is within the safe rotation angle range, the metal contact head of the azimuth axis contacts the metal copper strip of the azimuth axis; when the elevation axis is within the safe rotation angle range, the metal contact head of the elevation axis contacts the metal copper strip of the elevation axis. Only when both axes meet the opening / closing conditions can the dome detect the normal opening / closing condition signal. At this time, pressing the dome opening / closing button, the dome can be smoothly "opened / closed". Otherwise, as long as any one of the rotating axes fails to detect the opening / closing condition signal, even if the dome opening / closing button is pressed, the dome will not perform the opening / closing action.

[0049] In summary, the present invention provides an anti-collision device and method for a dome. A signal detection device is installed on the telescope rotating axis inside the dome to control the opening and closing of the astronomical dome using this device to prevent the dome from colliding with the telescope. In the case where the internal space of the astronomical dome is narrow and the outer contour of the telescope is large, this anti-collision method and device can effectively prevent the astronomical dome from colliding with the telescope during opening and closing, and can also provide good anti-collision performance even when the telescope loses power. At the same time, it has low cost, simple control method, and reliable performance.

[0050] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An anti-collision device for a dome, wherein an indoor instrument is arranged inside the dome, the indoor instrument has a plurality of rotating shafts, different rotating shafts correspond to rotating degrees of freedom in different directions, and the indoor instrument will collide with the closed dome within a partial rotation range. It is characterized in that, An anti-collision device is installed on each rotating axis of the indoor instrument. The anti-collision device includes a metal contact head and a metal piece with a circumferential span. A bushing fixed relative to the rotating axis is provided outside each rotatable rotating axis. One of the metal piece and the metal contact head is arranged on the rotating axis, and the other is arranged on the bushing. Outside the angular range corresponding to the metal piece, the metal contact head and the metal piece are in a non-contact state. A dome controller and a dome control power supply are provided on the dome. The anti-collision device is installed on the indoor instrument and has no physical connection with the dome, but the power supply of the anti-collision device is provided by the dome control power supply, and the signal of the anti-collision device is detected by the dome controller. The dome controller controls whether the dome can be opened / closed based on the contact states of the metal pieces and the metal contact heads on all the rotating axes.

2. The anti-collision device for a dome according to claim 1, characterized in that, The metal piece is insulated and installed on the inner wall of the bushing. Within the angular range corresponding to the metal piece, the metal contact head is kept in contact with the metal piece all the time through a spring connecting rod that rotates synchronously with the rotating axis. One end of the spring connecting rod is fixed inside the rotating axis, and the metal contact head is installed at the other end of the spring connecting rod.

3. The anti-collision device for a dome according to claim 1, wherein, The thickness of the metal piece is 1-2 mm, the width is 1.5-2 times the width of the metal contact head, and the material is copper; the metal contact head is elastic and its surface is copper-plated or gold-plated.

4. The anti-collision device for a dome according to claim 1, characterized in that, The metal piece is connected to the positive or negative pole of the dome control power supply, and the metal contact head is connected to the signal detection end of the dome controller. Vice versa is also possible.

5. A collision prevention method for a collision prevention device for a dome according to any one of claims 1 to 4, characterized in that, Including: Step 1: According to the position where the indoor instrument collides with the dome when the dome is in the closed state, determine the rotation range of each rotating axis, and accordingly determine the circumferential span of the metal piece. The two circumferential edges of the metal piece are the critical contact positions between the metal contact head and the metal piece; when only one anti-collision device is provided on the circumference, the critical contact positions divide the entire rotation range into a first angular range and a second angular range, and within one of the angular ranges, the metal contact head is always in contact with the surface of the metal piece, and within the other angular range, the metal contact head and the metal piece are not in contact; if a number of anti-collision devices are symmetrically provided on the circumference as needed, the entire rotation range is divided into a number of first angular ranges and a number of second angular ranges; Step 2: The dome controller controls the dome to switch between a safe state where it can be opened / closed and an unsafe state where it cannot be opened / closed according to the signal state change of the anti-collision device; When the Nth rotating axis rotates into one of the first angular range and the second angular range, the signal detection end of the dome detects a first signal. At this time, the dome controller prohibits the opening / closing operation of the dome; when the Nth rotating axis rotates into the second angular range, the signal detection end of the dome detects a second signal. At this time, the dome controller allows the opening / closing operation of the dome; When the dome controller can detect the second signals of all the rotating axes at the same time, press the opening / closing button of the dome, and the dome can be smoothly opened or closed. Otherwise, when the second signal of the anti-collision device on any one of the rotating axes is not detected, even if the opening / closing button of the dome is pressed, the dome does not generate an opening / closing action.

6. The anti-collision method according to claim 5, wherein When the open / close button of the dome is pressed but the dome does not perform the open / close action, a warning signal is generated under the control of the dome controller.

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