A control method and control system for a telescope follow-up dome capable of offset rotation

Abstract

The present invention relates to the technical field of follow-up dome control, and specifically provides a control method and control system for a telescope follow-up dome that can be displaced and rotated. The main control system calculates the angle between the telescope and the sun according to the target pointing and the sun pointing, and selects the working mode of the follow-up dome according to the angle. When the follow-up dome is in the observation mode, the follow-up dome rotates with the telescope to observe the target, and the telescope collects the target image. When the follow-up dome is in the protection mode, the follow-up dome rotates in the opposite direction of the azimuth rotation direction of the telescope by 50 degrees to quickly block the telescope for protection, and the telescope stops collecting the target image. The follow-up dome control method provided by the present invention controls the follow-up dome to rotate by reverse dislocation, can quickly realize telescope protection, and does not need to consider the size relationship between the azimuth angle and the pitch angle between the telescope and the sun, and can realize effective telescope protection.

Description

Technical Field

[0001] The invention relates to the technical field of follow-up dome control, and in particular provides a control method and a control system for a follow-up dome of a telescope capable of offset rotation. Background Art

[0002] In recent years, telescopes based on infrared bands and used for daytime observation have gradually become the focus of research by scientific research institutions at home and abroad. For daytime observation telescopes, when the angle between the telescope and the sun is greater than a certain angle, the detection capability of traditional telescopes at night can reach more than 90%. For such telescopes with daytime observation capabilities, a follow-up dome is needed to protect them. Unlike traditional telescope protection domes, the skylight of the follow-up dome can only be opened to a smaller angle. The follow-up dome rotates synchronously with the change of the telescope's azimuth angle, so that the telescope can always observe the target during the rotation process.

[0003] As we all know, telescopes should avoid pointing directly at the sun during use, otherwise it will cause irreversible damage to its optical system. When the angle between the telescope and the sun is less than a certain angle, the quality of the target image will decrease significantly, and the damage of sunlight to the telescope's optical system will increase significantly. Therefore, when using a telescope to observe a target during the day, measures should be taken to protect the telescope from the sun. This will prevent damage to the telescope's optical system and increase the proportion of effective image data.

[0004] The Chinese patent publication number is CN117193392A, and the publication date is December 8, 2023. The invention patent application with the patent name "Follow-up dome intelligent control system and control method thereof" proposes a follow-up dome control scheme that sets the size of the skylight slit by the angle between the telescope and the sun. When the angle between the telescope and the sun is less than 40°, the main control system protects the telescope from being directly exposed to the sun by reducing the slit of the follow-up dome skylight. When the angle between the telescope and the sun is less than 15°, the main control system controls the follow-up dome skylight to be completely closed. The problem with this scheme is that the angle between the telescope and the sun has two components, azimuth and pitch, and adjusting the size of the follow-up dome skylight slit can only provide protection for the azimuth angle component. If the angle between the telescope and the sun is mainly composed of the pitch angle component, the protection effect of this scheme on the telescope will be greatly reduced.

[0005] Through multiple observations of targets with known orbits (stars, artificial satellites, etc.), it is found that when the angle between the telescope and the sun does not exceed 40°, the target imaging quality decreases significantly, while the damage of the relative sun rays to the telescope optical system gradually increases. The present invention provides a control method and control system for a follow-up dome for targets with known orbits. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a control method and control system for a telescope follow-up dome that can be displaced and rotated. When the angle between the telescope and the sun does not exceed 40°, the azimuth angle of the target pointing to the target is displaced 50° in the direction opposite to the target movement, and the angle value is used as the follow-up dome guidance data to guide the follow-up dome. By displaced rotation of the follow-up dome, rapid shielding protection of the telescope is achieved.

[0007] The present invention provides a method for controlling a telescope follow-up dome capable of offset rotation, comprising:

[0008] S1: Calculate the target orientation based on the target orbit, and calculate the angle between the telescope and the sun based on the sun orientation and the target orientation. ;

[0009] S2: When When the telescope is rotated, the target direction is used as the telescope guidance data to guide the telescope to rotate; the azimuth angle of the target direction is used as the follow-up dome guidance data to guide the follow-up dome to rotate; the target image is collected through the telescope;

[0010] when When the telescope is rotated, the target direction is used as the telescope guidance data to guide the telescope to rotate; the azimuth angle of the target direction is shifted to the opposite direction of the target movement. The azimuth angle after degrees is used as the guidance data of the moving dome to guide the rotation of the moving dome; the telescope stops collecting target images.

[0011] Preferably, the angle The calculation method is:

[0012] ;

[0013] in, Indicates the azimuth and elevation angle of the target. Indicates the azimuth and elevation angle that the sun is pointing towards.

[0014] Preferably, Degree The value is 50.

[0015] Preferably, when When , the calculation method of the moving dome guidance data is:

[0016] ;

[0017] in, Indicates the target's azimuth movement speed, Represents the follow-up dome guidance data.

[0018] A telescope follow-up dome control system capable of offset rotation comprises: a main control system, a telescope and a follow-up dome;

[0019] The main control system controls the rotation of the telescope and the moving dome.

[0020] Preferably, it also includes an image system, which controls the telescope to collect target images or stop collecting target images.

[0021] Preferably, the image system includes an image processing module, which receives the target image and performs target image processing.

[0022] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0023] When the angle between the telescope and the sun does not exceed 40°, the present invention will perform an offset rotation of the follow-up dome to protect the telescope. The method can quickly block the sunlight shining on the telescope by controlling the offset rotation of the follow-up dome, and quickly protect the telescope by the dome in a short time, thereby preventing the optical system of the telescope from being damaged. The method of the present invention does not require additional equipment or devices, is low in cost and easy to implement.

[0024] The present invention is based on the angle between the telescope and the sun when performing follow-up dome control. Therefore, in the angle between the telescope and the sun, there is no need to consider the proportion of the azimuth angle component and the pitch angle component. The method of the present invention can achieve effective protection and has a wider range of applications.

[0025] When the follow-up dome is guided by the method of the present invention, target image acquisition is not performed only when the angle between the telescope and the sun is less than 40°, and target images are acquired in other states, thereby increasing the proportion of effective target image data to ensure that the target image data volume is sufficient. In addition, when the main control system is in protection mode, it sends an idle mode instruction to the image system, and the image system does not receive invalid image data, thereby reducing useless data redundancy and improving the efficiency of the image processing system.

[0026] In the control system provided by the embodiment of the present invention, the communication connection method between the hardware devices is not limited to serial cable, network cable, USB and camlink. The main control system and the image system can be deployed on the same computer or on different computers, and the main control system and the image system can be the same software or different software, which is flexible in application and strong in adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a flow chart of follower dome control provided according to an embodiment of the present invention;

[0028] Figure 2is a schematic diagram of the structure of a follow-up dome control system provided according to an embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of an observation mode provided according to an embodiment of the present invention;

[0030] Figure 4 It is a schematic diagram of a protection mode provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same modules are represented by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, the detailed description thereof will not be repeated.

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0033] like Figure 1 As shown, an embodiment of the present invention provides a method for controlling a telescope follow-up dome that can be displaced and rotated, specifically comprising:

[0034] S1: The telescope is set inside the servo dome. A skylight is opened on the dome hemisphere. The telescope can observe the target through the skylight. The dome hemisphere can rotate freely within the range of 0° to 360°. Because the skylight is an arc-shaped gap opened along the dome hemisphere, when controlling the servo dome, only its azimuth angle needs to be considered, and no pitch motion control is required. The arc-shaped skylight can meet the observation needs of the telescope in the pitch direction, and the servo dome skylight can be closed or opened in the azimuth direction. The azimuth angle pointed by the middle position of the slit of the servo dome skylight is called the servo dome direction. When guiding the movement of the servo dome, only the azimuth angle needs to be obtained as the servo dome guidance data to guide the rotation of the servo dome.

[0035] How the dome rotates needs to be controlled according to the angle between the telescope and the sun. When the process starts, various pointing information is calculated first, including the target pointing and the sun pointing, and the azimuth movement direction of the target in this state is determined. The angle between the telescope and the sun is calculated based on the telescope pointing and the sun pointing. , where the telescope is pointing to the azimuth and elevation of the telescope tube axis in the horizontal coordinate system, the sun is pointing to the azimuth and elevation of the sun in the horizontal coordinate system, and the angle between the telescope and the sun is is the angle between the telescope pointing and the sun pointing in the horizontal coordinate system. The method for solving the sun pointing is a mature existing technology. In the embodiment of the present invention, the telescope always rotates with the target, so the telescope pointing is the same as the target pointing. The target pointing can be used instead of the telescope pointing to calculate the angle. The target pointing is the azimuth and elevation angle of the target in the horizontal coordinate system, which can be solved according to the motion trajectory of the target. The motion trajectory of the target is known, and the solution method of the target pointing is a mature existing technology.

[0036] Angle The specific calculation method is:

[0037] ;

[0038] in, Indicates the azimuth and elevation angle of the target. Indicates the azimuth and elevation angle that the sun is pointing towards.

[0039] S2: Through actual observation experiments, it is found that when the angle When the angle does not exceed 40°, the target imaging quality is significantly reduced, and the damage of sunlight to the telescope optical system is significantly increased. Therefore, the embodiment of the present invention uses 40° as the dividing line to control the follow-up dome to protect the telescope.

[0040] Calculate the angle Then, according to the angle Angle value, select the working mode of the follow-up dome:

[0041] when , the working mode of the follow-up dome is observation mode;

[0042] when , the working mode of the follow-up dome is protection mode;

[0043] After selecting different working modes, the control system of the servo dome controls the servo dome, the telescope and other mechanisms according to the different working modes.

[0044] In the embodiment of the present invention, no matter which working mode the follow-up dome is in or what the value of the follow-up dome pointing is, the telescope always points to the target. Therefore, when guiding the telescope, the target pointing is always used as the telescope guiding data to guide the telescope.

[0045] If the working mode of the servo dome is observation mode, the telescope always observes the target through the skylight of the servo dome. At this time, the azimuth of the target is used as the guiding data of the servo dome to guide the rotation of the servo dome, which can ensure that the telescope is always pointing within the direction of the servo dome. When entering this working mode, the telescope turns on the image acquisition function to collect images of the target, and the corresponding image system also processes the image data synchronously.

[0046] If the working mode of the servo dome is protection mode, the telescope needs to be shielded by the servo dome, so the direction of the servo dome is no longer synchronized with the direction of the telescope. When the working mode of the servo dome is switched from observation mode to protection mode, the traditional protection method is to close the skylight of the servo dome. However, since the telescope is always moving towards the target, the angle is The sun's rays may damage the telescope's optical system before the skylight is completely closed. Therefore, the embodiment of the present invention adopts a method of reverse offset rotation of the follower dome to quickly block the sun and protect the telescope in time, as follows:

[0047] Displace the target's azimuth in the opposite direction of the target's movement The angle value after the degree is used as the follow-up dome guide data to guide the follow-up dome to rotate. The value is 50. The telescope moves in the same direction as the target, and the follow-up dome is guided in the opposite direction of the target's movement to quickly block the sun.

[0048] In this working mode, the calculation method of the follow-up dome guidance data is:

[0049] ;

[0050] in, Indicates the target's azimuth movement speed, Indicates the data for the follow-up dome guide. Guide the follow-up dome.

[0051] In this process, the movement of the follower dome can also be guided by the method of same-direction misalignment, that is, the follower dome is quickly guided in the same direction as the target movement. However, since the movement speed difference between the follower dome and the telescope is small when in the same direction, rapid shielding cannot be guaranteed. Therefore, its effect is quite different from that of reverse misalignment guidance. Therefore, the embodiment of the present invention adopts a reverse misalignment follower dome guidance method to achieve solar protection.

[0052] In order to implement the above-mentioned servo dome guiding method, the embodiment of the present invention provides a telescope servo dome control system capable of offset rotation, such as Figure 2As shown, it includes a main control system, an image system, a telescope and a follow-up dome. The telescope includes a telescope control module and an image acquisition module. The follow-up dome includes a follow-up dome control module. The main control system includes a guidance module and a main control interaction module. The image system includes an image processing module and an image interaction module.

[0053] In the embodiment of the present invention, the telescope always moves following the target, so the telescope pointing is always the same as the target pointing, so the target pointing can be used to replace the telescope pointing for related calculations. The guidance module of the main control system calculates the sun pointing, and calculates the target pointing based on the target orbit. The calculation method of the target pointing and the sun pointing is a mature existing technology. After obtaining the target pointing and the sun pointing, the angle between the telescope and the sun is calculated based on the target pointing and the sun pointing. , and based on the angle Select the operating mode of the follow-up dome:

[0054] If the angle between the telescope and the sun If the angle between the telescope and the sun exceeds 40°, the guidance module will select the working mode of the follow-up dome as the observation mode; If the angle does not exceed 40°, the guidance mode selects the working mode of the follow-up dome as the protection mode.

[0055] The guidance module is connected to the servo dome control module and the telescope control module respectively, the main control interaction module is connected to the image interaction module, and the image processing module is connected to the image acquisition module. When the working mode of the servo dome is the observation mode, the guidance module sends the target pointing to the servo dome control module and the telescope control module, uses the azimuth of the target pointing as the servo dome guidance data to guide the rotation of the servo dome, and uses the target pointing as the telescope guidance data to guide the rotation of the telescope. When the working mode of the servo dome is the protection mode, the guidance module sends the azimuth angle value of the target pointing after displacing 50° in the opposite direction of the target movement as the servo dome guidance data to the servo dome control module to guide the servo dome movement, and at the same time, still uses the target pointing as the telescope guidance data to guide the rotation of the telescope.

[0056] The main control interaction module sends corresponding information to the image interaction module of the image system according to the working mode of the follow-up dome, corresponding to the working mode of the follow-up dome. If the working mode of the follow-up dome is the observation mode, the working mode of the image system is the observation mode; if the working mode of the follow-up dome is the protection mode, the working mode of the image system is the idle mode.

[0057] When the image system is in observation mode, the image processing module controls the image acquisition module of the telescope to start, acquires images of the target, and sends the acquired images to the image processing module of the image system for image processing. The image processing mentioned here is performed according to the specific needs of the user to observe the target, and is the subsequent content after the target image is acquired according to the method of the present invention. It has nothing to do with the content of the present invention. Therefore, how to process the image is based on actual needs and existing technologies, and the embodiment of the present invention does not limit it. When the image system is in idle mode, the image processing module sends a stop image acquisition instruction to the image acquisition module of the telescope, the telescope turns off the image acquisition function, and the image processing module of the image system does not need to perform image processing.

[0058] In addition, the control system provided by the embodiment of the present invention also includes a timing system. Under normal circumstances, the guidance frequency of the telescope and the follow-up dome is 50Hz or 100Hz. When the main control system calculates the pointing information, guides the telescope and guides the follow-up dome, accurate time information is required. The time information is provided by the timing system according to the trigger frequency of 50Hz or 100Hz. The trigger is the beginning of the control system workflow, which can ensure that the control system has a clear rhythm and stable frequency during operation. The timing system sends a trigger signal carrying time information, which is a mature existing technology and will not be repeated here.

[0059] In particular, in the control system provided by the embodiment of the present invention, the communication connection method between the various hardware devices is not limited to serial port cables, network cables, USB and camlink. The main control system and the image system can be deployed on the same computer or on different computers, and the main control system and the image system can be the same software or different software, which is flexible in application and strong in adaptability.

[0060] Combined with the attached figure, the status of each module and device in the observation mode and protection mode is shown in detail. Figure 3 As shown, it is shown that the working mode of the follow-up dome is the observation mode. The fan-shaped area in the figure is the direction of the follow-up dome, the azimuth angle is about 30°, the dot in the direction of the follow-up dome is the satellite, that is, the target in the embodiment of the present invention, the arrow is the direction of satellite movement, the arc where the arrow is located is the satellite movement orbit, the straight line connecting the coordinate origin and the satellite is the telescope pointing, and the current telescope pointing is about 30° in azimuth and 17° in elevation. The current satellite is moving in the direction of increasing azimuth and continues to approach the sun. At this time, the angle between the telescope and the sun is greater than 40°. The main control system sends the target pointing calculated according to the satellite orbit to the telescope control module as the telescope guidance data to guide the telescope to rotate, and sends the azimuth of the target pointing to the follow-up dome control module as the follow-up dome guidance data to guide the follow-up dome to rotate. At this time, the image system is in observation mode.

[0061] like Figure 4 As shown, it is shown that the working mode of the follow-up dome is the protection mode. The fan-shaped area is the direction of the follow-up dome, the azimuth value is about 10°, the dot in the direction of the follow-up dome is the satellite, the arc where the arrow is located is the satellite motion orbit, the straight line connecting the coordinate origin and the satellite is the telescope direction, the current direction is about 60° in azimuth and 40° in pitch, and the current satellite is moving in the direction of increasing azimuth. At this time, the angle between the telescope and the sun is less than 40°. The main control system sends the target direction calculated based on the satellite orbit to the telescope control module as the telescope guidance data to guide the telescope to rotate, and the azimuth of the target pointing is displaced 50° in the opposite direction of the satellite movement as the guidance data of the follow-up dome. It is sent to the follow-up dome control module to control the rotation of the follow-up dome, so that the follow-up dome is opposite to the target movement direction, and the follow-up dome blocks the telescope for protection as soon as possible. At this time, the image system is in idle mode.

[0062] The embodiments of the present invention have been tested at an observation station in Yunnan Province, and the results were in line with expectations, proving that the system and method are effective.

[0063] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0064] The above specific implementations of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for controlling a telescope dome capable of offset rotation, characterized in that: include: S1: Calculate the target orientation according to the target orbit, and calculate the angle between the telescope and the sun according to the sun orientation and the target orientation. ; The target pointing refers to the azimuth and elevation of the target in the horizontal coordinate system, and the sun pointing refers to the azimuth and elevation of the sun in the horizontal coordinate system; The angle The calculation method is: ； in, Indicates the azimuth and elevation angle of the target, and the telescope is pointing the same as the target. Indicates the azimuth and elevation angle of the sun; S2: When When the target direction is used as telescope guidance data to guide the telescope to rotate; the azimuth angle of the target direction is used as the follow-up dome guidance data to guide the follow-up dome to rotate; the target image is collected through the telescope; when , the working mode of the follow-up dome is observation mode; when When the target is pointed at, the telescope is guided to rotate by using the target pointing as the telescope guiding data; the azimuth angle of the target pointing is displaced in the direction opposite to the target movement. The azimuth after degrees is used as the guidance data of the moving dome to guide the moving dome to rotate; the telescope stops collecting target images; when , the working mode of the follow-up dome is protection mode.

2. The method for controlling a telescope follow-up dome capable of shifting and rotating according to claim 1, characterized in that: Said Degree The value is 50.

3. The method for controlling a telescope servo dome capable of shifting and rotating according to claim 1, characterized in that: when When , the calculation method of the moving dome guidance data is: ； in, Indicates the target's azimuth movement speed, Represents the follow-up dome guidance data.

4. A telescope follow-up dome control system capable of offset rotation, characterized in that: include: the master control system, telescope and tracking dome; The main control system controls the rotation of the telescope and the servo dome based on the control method of the servo dome of the telescope that can rotate in an offset manner as described in any one of claims 1 to 3.

5. The telescope follow-up dome control system capable of shifting and rotating as claimed in claim 4, characterized in that: It also includes an image system, which controls the telescope to collect target images or stop collecting target images.

6. The telescope follow-up dome control system capable of shifting and rotating as claimed in claim 5, characterized in that: The image system comprises an image processing module, and the image processing module receives the target image and performs target image processing.

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