Initial position positioning module and equatorial telescope with same

Abstract

The invention relates to an initial position positioning module and an equatorial telescope with the same, and belongs to the field of equatorial telescopes, the initial position positioning module comprises a three-axis acceleration sensor, the three-axis acceleration sensor comprises an x axis, a y axis and a z axis, every two of the x axis, the y axis and the z axis are perpendicular to each other, and the x axis, the y axis and the z axis are perpendicular to each other. The extension line of one axis in the three-axis acceleration sensor is parallel to the to-be-measured moving direction of the to-be-measured device, and the three-axis acceleration sensor is used for monitoring the rotating angle of the to-be-measured device in the to-be-measured moving direction; the processor is electrically connected with the three-axis acceleration sensor and is used for generating a final route according to the rotation angle and pre-stored information, and the pre-stored information comprises a structural model and an initial attitude of the device to be tested. According to the invention, the rotation angle of the to-be-detected device can be monitored, such as the rotation angle of the equatorial telescope, so that a proper recovery scheme can be formulated, and the difficulty of recovering the equatorial telescope can be reduced.

Description

Technical Field

[0001] The present application relates to the field of equatorial mounts, and in particular to an initial position positioning module and an equatorial mount with the initial position positioning module. Background Art

[0002] The equatorial mount is an important tool for capturing celestial information. With the development of equatorial mount technology, the observation capability of the equatorial mount is getting stronger and stronger, and the celestial information that can be captured is also increasing.

[0003] Since the celestial bodies observed by the equatorial mount are relatively far away, the rotation angle of the equatorial mount needs to be adjusted continuously during observation until the equatorial mount can track the celestial body to be observed. However, the internal structure of the equatorial mount is complex, and there is a lack of technical means to monitor the rotation angle of the equatorial mount. Therefore, after continuously adjusting the rotation angle of the equatorial mount, it is difficult to rotate the equatorial mount to its initial position.

[0004] In addition to the above-mentioned equatorial mounts, other terminal equipment such as telescopes also need to be recovered after rotating to a certain angle, but the current lack of recovery path planning makes recovery difficult. Summary of the invention

[0005] The present application provides an initial position positioning module and an equatorial mount with the initial position positioning module, which has the characteristic of reducing the difficulty of recovering the equatorial mount.

[0006] The above application objectives of this application are achieved through the following technical solutions: In a first aspect of the present application, an initial position positioning module is provided. The positioning module comprises: A three-axis acceleration sensor, wherein the three-axis acceleration sensor comprises an x-axis, a y-axis and a z-axis, wherein the x-axis, the y-axis and the z-axis are perpendicular to each other, and an extension line of one of the axes of the three-axis acceleration sensor is parallel to a moving direction of the device under test, and the three-axis acceleration sensor is used to monitor a rotation angle of the device under test in the moving direction of the device under test; The processor is electrically connected to the three-axis acceleration sensor, and is used to generate a final route according to the rotation angle and pre-stored information, wherein the pre-stored information includes a structural model and an initial posture of the device to be tested.

[0007] By adopting the above technical solution, the three-axis acceleration sensor monitors the rotation angle of the device to be tested in the moving direction to be tested, so that the processor can infer the current posture of the device to be tested based on the rotation angle monitored by the three-axis acceleration sensor, and then plan an adaptive recovery plan based on the current posture and the initial posture, thereby reducing the difficulty of recovering the device to be tested, such as reducing the difficulty of recovering the equatorial mount.

[0008] In a possible implementation, the three-axis acceleration sensor is configured to monitor the rotation angle of the device to be tested in the moving direction to be tested, including: Pitch angle = arctan(Ax / sqrt(Ay^2 + Az^2)); Roll angle = arctan(Ay / sqrt(Ax^2 + Az^2)); or Pitch angle = arctan(Ax / sqrt(Az^2 + Ay^2)); Roll angle = arctan(Az / sqrt(Ax^2 + Ay^2)); or Pitch angle = arctan(Ay / sqrt(Az^2 + Ax^2)); Roll angle = arctan(Az / sqrt(Ay^2 + Ax^2)); Among them, Ax is the acceleration value on the x-axis, Ay is the acceleration value on the y-axis, and Az is the acceleration value on the z-axis.

[0009] By adopting the above technical solution, when one axis of the three-axis acceleration sensor is horizontal to the moving direction of the device under test, the rotation angle of the device under test in the moving direction under test can be monitored, so the setting of the three-axis acceleration sensor is flexible and the application scenarios are wider.

[0010] In a possible implementation manner: the processor is configured to: When the rotation angle is obtained, pre-stored information is retrieved, wherein the pre-stored information includes a structural model and an initial posture of the device under test, wherein the structural model of the device under test is a 3D model, and the initial posture is a posture of the device under test when the angle is not adjusted; Determine a real-time posture according to the structural model and the rotation angle; Generate a plurality of routes to be tested according to the real-time posture and the initial posture, wherein the route to be tested refers to a path that can return from the real-time posture to the initial posture; Determine whether there is an obstacle on the route to be tested, wherein the obstacle refers to a structure that collides with the device to be tested when the device to be tested rotates along the route to be tested; The route to be tested without obstacles is retained as the target route; Determine whether there are multiple target routes; If so, the distance of the target route is calculated, and the target route with the shortest distance is taken as the final route; If not, the output target route is the final route.

[0011] By adopting the above technical solution, the processor can determine the real-time posture of the device under test based on the rotation angle monitored by the three-axis acceleration sensor, and then plan a variety of recycling schemes based on the real-time posture and the initial posture, and then select the shortest recycling route from the multiple recycling schemes, thereby reducing the user's operating steps during the recycling process and reducing the difficulty of recycling the device under test.

[0012] In a possible implementation manner: the processor is further configured to: The determining of the real-time posture according to the structural model and the rotation angle comprises: based on the structural model, rotating the device to be tested according to the pitch angle and the roll angle in the rotation angle to obtain the real-time posture.

[0013] In a second aspect of the present application, an equatorial mount with an initial position positioning module is provided. The equatorial mount comprises: an equatorial mount body and any one of the above-mentioned initial position positioning modules, wherein the initial position positioning module is used to monitor the rotation angle of the equatorial mount body in the declination axis direction.

[0014] In a possible implementation: the equatorial mount body includes a mounting seat, a right ascension axis and a declination axis; One end of the right ascension axis is hinged to the mounting seat, a mounting hole is provided on the right ascension axis, and the declination axis is arranged in the mounting hole; The three-axis acceleration sensor is installed on the declination axis, and an extension line of one of the axes of the three-axis acceleration sensor coincides with the right ascension axis.

[0015] By adopting the above technical solution, the three-axis acceleration sensor monitors the rotation angle of the declination axis. Since the declination axis is installed on the right ascension axis, the rotation angle monitored by the three-axis acceleration sensor also includes the rotation angle of the right ascension axis. The processor generates the final route based on the rotation angle monitored by the three-axis acceleration sensor, so that the user can recover the equatorial mount to the initial posture according to the final route, reducing the difficulty of recovering the equatorial mount.

[0016] In a possible implementation: a start module and an alarm module are provided on the equatorial mount body; The startup module is used to send high-level signals to the three-axis acceleration sensor and the processor respectively when the user recycles the equatorial mount body; The three-axis acceleration sensor is used to reset when receiving a high-level signal and track the rotation angle of the declination axis in real time; When the processor receives the high-level signal, it superimposes the rotation angle tracked by the three-axis acceleration sensor in real time onto the final route, and determines whether the route formed by the rotation angle is completely consistent with the final route; If yes, the task of recovering the mount is completed; If not, an alarm signal is output to the alarm module, and the alarm module alarms when receiving the alarm signal.

[0017] By adopting the above technical solution, the present application also provides an alarm module to prompt the user of operating errors, thereby ensuring the accuracy of the results of recovering the equatorial mount.

[0018] In a possible implementation manner: the alarm module may be an indicator light or a buzzer.

[0019] In summary, the present application includes the following beneficial technical effects: The three-axis accelerometer monitors the rotation angle of the declination axis. Since the declination axis is installed on the right ascension axis, the rotation angle monitored by the three-axis accelerometer also includes the rotation angle of the right ascension axis. The processor calculates the real-time attitude of the equatorial mount based on the rotation angle monitored by the three-axis accelerometer, and then plans an adaptive recovery plan based on the real-time attitude and initial attitude, thereby reducing the difficulty of recovering the equatorial mount. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of an initial position positioning module in an embodiment of the present application.

[0021] Figure 2 It is a structural schematic diagram of an equatorial mount with an initial position positioning module according to an embodiment of the present application.

[0022] Figure 3 yes Figure 2 Enlarged view of part A in .

[0023] Figure 4 A processor in an initial position positioning module of an embodiment of the present application generates a final route flow chart.

[0024] Explanation of the reference numerals: 100, mounting base; 110, carbon fiber tripod; 120, supporting column; 121, first blocking plate; 122, second blocking plate; 123, first gear; 124, connecting rod; 125, second gear; 126, adjusting rod; 127, chain; 200, right ascension axis; 210, first connecting plate; 220, second connecting plate; 230, base; 240, monitoring body; 250, mounting hole; 300, declination axis; 310, fixed body; 320, rotating body; 400, three-axis acceleration sensor; 500, processor; 600, display; 700, start module; 800, alarm module. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] Reference Figure 1 The present application provides an initial position positioning module, which includes a three-axis acceleration sensor 400, a processor 500 and a display 600, wherein the processor 500 serves as a core and is electrically connected to the three-axis acceleration sensor 400 and the display 600 respectively.

[0027] The three-axis acceleration sensor 400 includes an x-axis, a y-axis, and a z-axis. The x-axis, the y-axis, and the z-axis are perpendicular to each other, and the extension line of one of the axes in the three-axis acceleration sensor 400 is parallel to the moving direction of the device to be tested, so as to monitor the rotation angle of the device to be tested in the moving direction to be tested. The device to be tested is an equatorial mount, a telescope, or other terminal equipment that needs to monitor the initial posture. The initial posture refers to the posture before the rotation angle of the device to be tested changes. This example takes the initial position positioning module installed on the equatorial mount as an example.

[0028] Reference Figure 2 and Figure 3 An equatorial mount with an initial position positioning module comprises an equatorial mount body and an initial position positioning module. The equatorial mount body comprises a mounting seat 100, a right ascension axis 200 and a declination axis 300.

[0029] Specifically, the mounting seat 100 includes a carbon fiber tripod 110 and a support column 120. The carbon fiber tripod 110 is in contact with the ground, and one end away from the ground is hinged to the support column 120. One end of the support column 120 away from the carbon fiber tripod 110 is hinged to the right ascension axis 200. Specifically, a first blocking piece 121 and a second blocking piece 122 are arranged on the end surface of the end of the support column 120 away from the carbon fiber tripod 110. The first blocking piece 121 and the second blocking piece 122 are arranged in parallel and there is a gap between them. A first connecting piece 210 and a second connecting piece 220 are arranged at one end of the right ascension axis 200 facing the mounting seat 100. The first connecting piece 210 and the second connecting piece 220 are arranged in parallel, and the plate surface of the first connecting piece 210 away from the second connecting piece 220 abuts against the first blocking piece 121, and the plate surface of the second connecting piece 220 away from the first connecting piece 210 abuts against the second blocking piece 122. There is also a gap between the first connecting piece 210 and the second connecting piece 220. A first gear 123 is disposed between the first connecting piece 210 and the second connecting piece 220. A through hole is provided at the center of the first gear 123. A connecting rod 124 is disposed in the through hole. One end of the connecting rod 124 is connected to the first connecting piece 210, and the other end of the connecting rod 124 is connected to the second connecting piece 220. A second gear 125 is disposed between the first blocking piece 121 and the second blocking piece 122. A through hole is also provided at the center of the second gear 125. An adjusting rod 126 is disposed in the through hole. Handles are disposed at both ends of the adjusting rod 126. A chain 127 is arranged between the first gear 123 and the second gear 125, so when the adjusting rod 126 is rotated, the adjusting rod 126 drives the second gear 125 to rotate, and the second gear 125 drives the first gear 123 to rotate through the chain 127, and the first gear 123 drives the connecting rod 124 to rotate, thereby achieving the purpose of making the right ascension axis 200 swing along the plane where the center line of the first blocking plate 121 and the second blocking plate 122 is located.

[0030] The right ascension axis 200 also includes a base 230 and a monitoring body 240. One plate surface of the base 230 is used to fix the first connecting piece 210 and the second connecting piece 220. The other plate surface of the base 230 is provided with a first motor and a first controller. The first motor is fixed on the base 230. The first motor can be an electric push rod. The power output end of the first motor is connected to the monitoring body 240. The first controller is electrically connected to the first motor. The first controller can be a DSP chip or an MCU chip. The first controller is used to control the first motor to drive the monitoring body 240 to extend or retract in a direction away from the base 230. Therefore, the right ascension axis 200 can not only swing along the plane where the center lines of the first blocking piece 121 and the second blocking piece 122 are located, but also realize the telescopic function.

[0031] The monitoring body 240 is provided with a mounting hole 250, which penetrates through the two side walls of the monitoring body 240, and the axis of the mounting hole 250 is located on the swinging plane of the right ascension axis 200. The declination axis 300 is arranged in the mounting hole 250, and the declination axis 300 includes a fixed body 310 and a rotating body 320, the side wall of the fixed body 310 is fixedly connected to the inner wall of the mounting hole 250, one end of the fixed body 310 is located outside the mounting hole 250, and the other end of the fixed body 310 is located in the mounting hole 250 and is rotatably connected to the rotating body 320. Specifically, a second motor and a second controller are arranged on the end surface of one end located in the mounting hole 250, and the second motor is a rotating motor, and the power output end of the rotating motor is connected to the rotating body 320. The second controller is electrically connected to the second motor, and the second controller can also be a DSP chip or an MCU chip, and the second controller is used to control the second motor to drive the declination axis 300 to perform a circular motion with the axis of the mounting hole 250 as the center. Therefore, the declination axis 300 is capable of a 360° rotation.

[0032] It should be noted that, in this example, the swinging and extension of the right ascension axis 200 and the rotation of the declination axis 300 are both feasible methods, and other feasible methods may be used in other examples, which are not limited here.

[0033] An assembly groove is provided on the declination axis 300, and the assembly groove is located at the intersection of the axes of the declination axis 300 and the right ascension axis 200. The three-axis acceleration sensor 400 is installed in the assembly groove. The three-axis acceleration sensor 400 includes an x-axis, a y-axis, and a z-axis. Among them, the x-axis, the y-axis, and the z-axis are perpendicular to each other, and the extension line of one of the axes in the three-axis acceleration sensor 400 coincides with the axis center line of the right ascension axis 200. Except for the axis whose extension line coincides with the axis center line of the right ascension axis 200, the extension line of one of the remaining two axes coincides with the axis center line of the declination axis 300. For example, when the extension line of the x-axis coincides with the axis center line of the right ascension axis 200, the extension line of the y-axis or the extension line of the z-axis may coincide with the axis center line of the declination axis 300. Of course, when the extension line of the y-axis coincides with the axis center line of the right ascension axis 200, the extension line of the x-axis or the extension line of the z-axis may coincide with the axis center line of the declination axis 300; when the extension line of the z-axis coincides with the axis center line of the right ascension axis 200, the extension line of the x-axis or the extension line of the y-axis may coincide with the axis center line of the declination axis 300. Thus, the accuracy of using the spatial displacement of the three-axis acceleration sensor 400 to simulate the spatial displacement of the equatorial mount can be guaranteed. Since the declination axis 300 is located on the right ascension axis 200, the declination axis 300 will also be driven to rotate when the right ascension axis 200 rotates. Therefore, the three-axis acceleration sensor 400 can also be considered to be used to monitor the rotation angle of the declination axis 300.

[0034] Specifically, the method for the three-axis acceleration sensor 400 to monitor the rotation angle of the declination axis 300 is: calculating the pitch angle and the roll angle of the declination axis 300. When calculating the pitch angle and the roll angle of the declination axis 300, since the axis that coincides with the right ascension axis 200 can be any one of the x-axis, the y-axis, and the z-axis, after determining the axis that coincides with the right ascension axis 200, one axis can be selected from the remaining two axes to coincide with the declination axis 300, so that: Pitch angle = arctan(Ax / sqrt(Ay^2 + Az^2)); Roll angle = arctan(Ay / sqrt(Ax^2 + Az^2)); or Pitch angle = arctan(Ax / sqrt(Az^2 + Ay^2)); Roll angle = arctan(Az / sqrt(Ax^2 + Ay^2)); or Pitch angle = arctan(Ay / sqrt(Az^2 + Ax^2)); Roll angle = arctan(Az / sqrt(Ay^2 + Ax^2)).

[0035] Among them, Ax is the acceleration value on the x-axis, Ay is the acceleration value on the y-axis, and Az is the acceleration value on the z-axis.

[0036] It can be seen that the placement of the three-axis acceleration sensor 400 can be set arbitrarily, as long as it can ensure that one axis of the three-axis acceleration sensor 400 coincides with the right ascension axis 200 and another axis coincides with the declination axis 300.

[0037] After calculating the pitch angle and the roll angle of the declination axis 300 , the three-axis acceleration sensor 400 packages the pitch angle and the roll angle into a rotation angle and sends the result to the processor 500 .

[0038] The processor 500 includes a computing module and a storage module, wherein the storage module can be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a storage program area and a storage data area, wherein the storage program area may store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the calculation of the final route of the equatorial mount based on the rotation angle, etc.; the storage data area may store data involved in calculating the final route of the equatorial mount based on the rotation angle, etc. In this example, the storage module stores the structural model and initial posture of the equatorial mount, and the structural model refers to the 3D model of the equatorial mount. Due to the variety of equatorial mounts, the structural models of different types of equatorial mounts are also different. The initial posture refers to the posture of the equatorial mount before it is put into use or the posture when the angle is not adjusted. After the equatorial mount is used or the angle is adjusted, it also needs to return to the initial posture before it can be recycled. It should be noted that the equatorial mount needs to return to the initial posture before it can be recycled. On the one hand, it is because the shell used to recycle the equatorial mount is used in conjunction with the equatorial mount. If the equatorial mount is recycled without returning to the initial posture, the equatorial mount may collide with the shell, thereby causing damage to the equatorial mount. On the other hand, when returning to the initial posture, the observed celestial information is calibrated at the initial posture when used next time, thereby ensuring the accuracy of the celestial information observed by the equatorial mount.

[0039] The computing module may include one or more processing cores. The computing module calls the data stored in the storage module by running or executing the instructions, programs, code sets or instruction sets stored in the storage module, and performs various functions and processes data of the present application. The computing module may be at least one of a digital signal processor 500, a digital signal processing device, a programmable logic device, a field programmable gate array, a central processing unit 500, a controller, a microcontroller and a microprocessor 500.

[0040] The calculation module is connected to the three-axis acceleration sensor 400, the storage module and the display 600 respectively. When the calculation module receives the rotation angle sent by the three-axis acceleration sensor 400, it retrieves the structural model and the initial posture from the storage module, and then executes the following steps: Figure 4 The process shown: Step S1: Determine the real-time posture according to the structural model and the rotation angle; Step S2: Generate multiple routes to be tested according to the real-time posture and the initial posture.

[0041] First, based on the structural model, the 3D model of the equatorial mount is rotated according to the pitch angle and roll angle in the rotation angle to obtain the real-time attitude. Since there are multiple paths from the real-time attitude rotation to the recovery attitude, for example, when adjusting the equatorial mount, if the right ascension axis 200 of the equatorial mount swings and extends, and the declination axis 300 rotates, since the actions performed include swinging the right ascension axis 200, retracting the right ascension axis 200, and rotating the declination axis 300 (clockwise or counterclockwise), there are a total of twelve recovery routes, which are: The first one: first swing the right ascension axis 200, retract the right ascension axis 200, and then rotate the declination axis 300 clockwise; The second one: first swing the right ascension axis 200, retract the right ascension axis 200, and then rotate the declination axis 300 counterclockwise; The third one: first swing the right ascension axis 200, rotate the declination axis 300 clockwise, and then retract the right ascension axis 200; Article 4: First swing the right ascension axis 200, rotate the declination axis 300 counterclockwise, and then retract the right ascension axis 200; Article 5: First retract the right ascension axis 200, swing the right ascension axis 200, and then rotate the declination axis 300 clockwise; Article 6: First retract the right ascension axis 200, swing the right ascension axis 200, and then rotate the declination axis 300 counterclockwise; Article 7: First retract the right ascension axis 200, rotate the declination axis 300 clockwise, and then swing the right ascension axis 200; Article 8: First retract the right ascension axis 200, rotate the declination axis 300 counterclockwise, and then swing the right ascension axis 200; Article 9: First rotate the declination axis 300 clockwise, swing the right ascension axis 200, and then retract the right ascension axis 200; Article 10: First rotate the declination axis 300 counterclockwise, swing the right ascension axis 200, and then retract the right ascension axis 200; Article 11: First rotate the declination axis 300 clockwise, retract the right ascension axis 200, and then swing the right ascension axis 200.

[0042] Article 12: First rotate the declination axis 300 counterclockwise, retract the right ascension axis 200, and then swing the right ascension axis 200.

[0043] Similarly, when adjusting the equatorial mount, if the right ascension axis 200 of the equatorial mount swings and extends, there are two routes to be measured; if only the declination axis 300 of the equatorial mount rotates, there are two routes to be measured because there are two routes of clockwise recovery and counterclockwise recovery. It should be noted that when adjusting the equatorial mount, the right ascension axis 200 is generally adjusted (swinged or extended) and the declination axis 300 is rotated, so there are at least four routes to be measured.

[0044] Step S3: Determine whether there are obstacles on the route to be tested; Step S4: retaining the route to be tested without obstacles as the target route.

[0045] There are many types of equatorial mounts on the market. Some equatorial mounts have a handle on the right ascension axis 200. Figure 2 For example, if a declination locking handle is provided between the first blocking piece 121 and the second blocking piece 122, the declination axis 300 is likely to collide with the handle when the declination axis 300 is rotated; and a display 600 is provided on the right ascension axis 200 of some equatorial mounts, and the declination axis 300 is likely to collide with the display 600 when the declination axis 300 is rotated. Therefore, the present application refers to structures that may collide with the declination axis 300 as obstacles, and then simulates whether the declination axis 300 will collide with the obstacle when recovering the equatorial mount for each route to be tested. If such a route to be tested exists, such route to be tested is eliminated, and only the route to be tested where the declination axis 300 does not collide with the obstacle is retained, that is, the route to be tested without obstacles is retained, and the retained route to be tested is used as the target route.

[0046] Step S5: Determine whether there are multiple target routes; Step S6: If yes, calculate the distance of the target route, and take the target route with the shortest distance as the final route; Step S7: Otherwise, output the target route as the final route.

[0047] For the obtained target route, determine whether there are multiple target routes, and if there are multiple target routes, calculate the distance of each target route. It should be noted that, for the swing or extension of the right ascension axis 200, since the angle of the counterclockwise swing is as large as the angle of the clockwise swing when it is recovered, or the right ascension axis 200 is extended as long as the length of the retraction when it is recovered, the spatial displacement distance of the right ascension axis 200 is unchanged, for example, the spatial distance of the path of first swinging 65° clockwise and then retracting 3cm is equal to that of first retracting 3cm and then swinging 65° clockwise, that is, the displacement is equal. Therefore, when there are multiple target routes, the spatial distance of rotating the declination axis 300 is calculated, because the range of rotation of the declination axis 300 is 360°. If the declination axis 300 is at 0° in the initial posture, and the declination axis 300 rotates clockwise and is at 270° in the real-time posture, the declination axis 300 can rotate 270° counterclockwise to return to the initial posture 0°, or continue to rotate 90° clockwise to return to the initial posture 0°.

[0048] Reference Figure 1 and Figure 4After calculating the distance of the target route, the target route with the shortest distance is used as the final route, and then the final route is output to the display 600. If there are multiple target routes with the shortest distance, one of the target routes with the shortest distance is randomly selected as the final route. If there is only one target route, the target route is used as the final route and sent to the display 600.

[0049] The display 600 is an LCD display 600 or a CRT display 600. The display 600 is used to display the 3D model of the final route. In a specific example, the first step of recycling of the final route is marked with a special color (such as red or green, etc.), and the direction of recycling is marked with an arrow. The second step and the third step of recycling are marked with gray. After the first step of recycling is completed, the second step of recycling is marked with a special color, and the direction of recycling the second step is marked with an arrow. Similarly, the third step of recycling is displayed. Such a design can better guide users to recycle the equatorial mount.

[0050] In order to monitor whether the user recovers the equatorial mount according to the final route, a start module 700 and an alarm module 800 are also provided on the equatorial mount body. The start module 700 is an electric switch, and the alarm module 800 can be an indicator light or a buzzer. Specifically, when the user wants to recover the equatorial mount, the start module 700 is clicked, and the start module 700 outputs a high-level signal and sends it to the calculation module and the three-axis acceleration sensor 400 respectively. After receiving the high-level signal, the three-axis acceleration sensor 400 resets, and tracks the rotation angle of the declination axis 300 in real time, and then sends the rotation angle obtained by monitoring to the calculation module in real time. The calculation module superimposes the rotation angle on the final route according to the rotation angle sent by the three-axis acceleration sensor 400, and judges whether the route formed with the change of the rotation angle during the user's recovery of the equatorial mount is completely consistent with the final route. If it is consistent, the task of recovering the equatorial mount body is completed. Otherwise, when the recovery process deviates, the calculation module outputs an alarm signal to the alarm module 800, and the alarm module 800 issues an alarm to prompt the user of the operation error, and marks the node where the recovery error occurred in the final route, so that the user can recover the equatorial mount again according to the guidance of the final route.

[0051] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) by each other to form a technical solution.

Claims

1. An initial position positioning module, characterized in that: include: A three-axis acceleration sensor (400), the three-axis acceleration sensor (400) comprising an x-axis, a y-axis and a z-axis, wherein the x-axis, the y-axis and the z-axis are perpendicular to each other, an extension line of one of the axes of the three-axis acceleration sensor (400) is parallel to a moving direction to be measured of the device to be measured, and the three-axis acceleration sensor (400) is used to monitor the rotation angle of the device to be measured in the moving direction to be measured; The processor (500) is electrically connected to the three-axis acceleration sensor (400), and the processor (500) is used to generate a final route according to the rotation angle and pre-stored information, wherein the pre-stored information includes a structural model and an initial posture of the device to be tested.

2. The initial position positioning module according to claim 1, characterized in that: The three-axis acceleration sensor (400) is configured to monitor the rotation angle of the device to be tested in the moving direction to be tested, comprising: Pitch angle = arctan(Ax / sqrt(Ay^2 + Az^2)); Roll angle = arctan(Ay / sqrt(Ax^2 + Az^2)); or Pitch angle = arctan(Ax / sqrt(Az^2 + Ay^2)); Roll angle = arctan(Az / sqrt(Ax^2 + Ay^2)); or Pitch angle = arctan(Ay / sqrt(Az^2 + Ax^2)); Roll angle = arctan(Az / sqrt(Ay^2 + Ax^2)); Among them, Ax is the acceleration value on the x-axis, Ay is the acceleration value on the y-axis, and Az is the acceleration value on the z-axis.

3. The initial position positioning module according to claim 1, characterized in that: The processor (500) is configured to: When the rotation angle is obtained, pre-stored information is retrieved, wherein the pre-stored information includes a structural model and an initial posture of the device under test, wherein the structural model of the device under test is a 3D model, and the initial posture is a posture of the device under test when the angle is not adjusted; Determine a real-time posture according to the structural model and the rotation angle; Generate a plurality of routes to be tested according to the real-time posture and the initial posture, wherein the route to be tested refers to a path that can return from the real-time posture to the initial posture; Determine whether there is an obstacle on the route to be tested, wherein the obstacle refers to a structure that collides with the device to be tested when the device to be tested rotates along the route to be tested; The route to be tested without obstacles is retained as the target route; Determine whether there are multiple target routes; If so, the distance of the target route is calculated, and the target route with the shortest distance is taken as the final route; If not, the output target route is the final route.

4. The initial position positioning module according to claim 3, characterized in that: The processor (500) is further configured to: The determining of the real-time posture according to the structural model and the rotation angle comprises: based on the structural model, rotating the device to be tested according to the pitch angle and the roll angle in the rotation angle to obtain the real-time posture.

5. An equatorial mount with an initial position positioning module, comprising an equatorial mount body and the initial position positioning module according to any one of claims 1 to 4, characterized in that: The initial position positioning module is used to monitor the rotation angle of the equatorial mount body in the direction of the declination axis.

6. The equatorial mount with an initial position positioning module according to claim 5, characterized in that: The equatorial mount body comprises a mounting seat (100), a right ascension axis (200) and a declination axis (300); One end of the right ascension axis (200) is hinged to the mounting seat (100), a mounting hole (250) is provided on the right ascension axis (200), and the declination axis (300) is arranged in the mounting hole (250); The three-axis acceleration sensor (400) is mounted on the declination axis (300), and an extension line of one of the axes of the three-axis acceleration sensor (400) coincides with the right ascension axis (200).

7. The equatorial mount with an initial position positioning module according to claim 6, characterized in that: The equatorial mount body is provided with a starting module (700) and an alarm module (800); The start-up module (700) is used to send high-level signals to the three-axis acceleration sensor (400) and the processor (500) respectively when the user recycles the equatorial mount body; The three-axis acceleration sensor (400) is used to reset when receiving a high-level signal, and to track the rotation angle of the declination axis (300) in real time; When the processor (500) receives the high-level signal, it superimposes the rotation angle tracked in real time by the three-axis acceleration sensor (400) on the final route, and determines whether the route formed by the rotation angle is completely consistent with the final route; If yes, the task of recovering the mount is completed; If not, an alarm signal is output to the alarm module (800), and the alarm module (800) sounds an alarm when receiving the alarm signal.

8. The equatorial mount with an initial position positioning module according to claim 5, characterized in that: The alarm module (800) may be an indicator light or a buzzer.

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