Full-automatic operation integrated telescope system and control method thereof

Abstract

The invention provides a full-automatic operation integrated telescope system and a control method thereof, relates to the technical field of astronomical telescope observation, and aims at solving the technical problems that traditional astronomical observation equipment is low in automation degree and high in personnel dependence. The system comprises a telescope hardware system, observation equipment and auxiliary equipment are integrated in the telescope hardware system, the telescope hardware system is provided with an external interface, and the external interface can be linked with an external system; the remote scheduling system is used for formulating all-time conflict-free observation tasks by utilizing an optimization algorithm; the automatic control system is in communication connection with the remote scheduling system and is used for generating a control instruction according to the time sequence of the observation task and scheduling the telescope hardware system to perform automatic observation through an external interface; and the safety pre-warning system is in communication connection with the automatic control system and is used for receiving the environment information and the working condition information of the telescope hardware system and carrying out judgment, pre-warning and disposal on abnormal information in the environment information and the working condition information according to a preset strategy.

Description

Technical Field

[0001] The present invention relates to the technical field of astronomical telescope observations, and more specifically, to an integrated telescope system that operates automatically and its control method. Background Art

[0002] In recent years, with the increasing frequency of human space activities, especially the fact that more and more institutions have proposed to launch large constellations, there are more and more satellites in orbit. At the same time, the number of space debris, including abandoned satellites, rocket debris, and debris from the disintegration of spacecraft, is also increasing day by day, posing a severe test to the long-term sustainable development of the space environment. To address the threat posed by space debris, a large-scale global network layout is an inevitable choice. Due to the large number of space debris and the fact that space events can occur over the entire globe, a low-cost, highly capable of observation, and easily deployable device will contribute to the construction and improvement of the monitoring network. In addition, with the increase in devices, how to operate these devices on a regular basis and reduce dependence on personnel, an automated and intelligent telescope control system is also essential.

[0003] However, to meet the above requirements, the difficulty lies in the need to be different from traditional astronomical observation devices and select the fewest devices suitable for space debris observation. In addition, choosing mature products will inevitably lead to non-uniform interfaces, development languages, and operating environments, making it difficult to access platforms such as the Astronomy Common Object Model (ASCOM) or the Remote Telescope System 2nd version (RTS2) for secondary development or resulting in high development costs. Therefore, it is necessary to select a suitable communication framework, combine the characteristics of automated space debris observation, and ultimately provide a set of integrated telescopes for space debris observation that operate automatically and the corresponding control system. Summary of the Invention

[0004] In view of this, the present invention provides an integrated telescope system that operates automatically and its control method, aiming to solve the technical problems of the low automation level and strong personnel dependence of traditional astronomical observation devices.

[0005] One aspect of the present invention provides an integrated telescope system that operates fully automatically, including: a telescope hardware system, which internally integrates observation equipment and auxiliary equipment. The observation equipment is used to observe space debris and generate observation data based on the optical signals reflected by the space debris. The auxiliary equipment is used to protect the observation equipment and provide time and station environment information. Among them, the telescope hardware system is configured with an external interface, and the external interface can be linked with an external system; a remote scheduling system, which is used to formulate conflict-free observation tasks for the entire time period by using an optimization algorithm; an automatic control system, which is communicatively connected with the remote scheduling system, and is used to generate control instructions according to the time sequence of the observation tasks and schedule the telescope hardware system to perform automatic observations through the external interface; a safety warning system, which is communicatively connected with the automatic control system, and is used to receive the environment information and working condition information of the telescope hardware system and judge, warn and dispose of the abnormal information therein according to a preset strategy.

[0006] According to an embodiment of the present invention, the observation equipment includes: an optical barrel, which is used to collect the optical signals reflected by space debris. Among them, the optical barrel is constructed by a prime focus optical system and is configured with an electric focusing function, and can adjust the imaging quality according to environmental changes; a camera, which is arranged at the front end of the optical barrel and is used to collect optical image information. Among them, the camera is configured with a self-locking timing function and can accurately lock the exposure moment according to the time information and pulse signals provided by the auxiliary equipment; a turntable, which is arranged at the bottom of the optical barrel and is used to support the optical barrel. A high-speed motor is arranged inside the turntable. Among them, the controller of the high-speed motor and the controller of the optical barrel are integrated inside the turntable and are connected to the external interface.

[0007] According to an embodiment of the present invention, the camera is configured as a scientific complementary metal oxide semiconductor image sensor.

[0008] According to an embodiment of the present invention, the auxiliary equipment includes: a dome, which is used to protect the observation equipment; a weather station, which is used to provide meteorological information; an all-sky camera, which is used to provide an all-sky cloud map of the station; a computer, which is used to deploy system software; a time system, which is used to provide high-precision timekeeping for the camera, turntable and computer; a switch, which is used to form an overall local area network for each device to achieve communication interconnection.

[0009] According to an embodiment of the present invention, the conflict-free observation tasks for the entire time period formulated by the remote scheduling system include: target information, pointing per second, exposure parameters and task levels.

[0010] According to an embodiment of the present invention, the automatic control system is constructed by using a distributed programming logic, and the overall language mode of the automatic control system is configured as a mixed programming mode of Python and C++ languages.

[0011] According to an embodiment of the present invention, between the telescope hardware system, the remote scheduling system, the automatic control system, and the safety warning system, as well as within each system, they are configured to transmit information through the ZeroMQ message middleware to achieve real-time communication between different systems, different development languages, and different deployment locations.

[0012] Another aspect of the present invention provides a control method for an integrated telescope system with full-automatic operation, including: formulating conflict-free observation tasks for the entire period using an optimization algorithm in the remote scheduling system and pushing them to the automatic control system; in response to the automatic control system receiving the observation task, parsing the observation task and decomposing it into time series and actions of each device according to the time of the observation task; in response to reaching the predetermined moment of the device, judging whether the device health status and meteorological status meet the observation conditions through the safety warning system. If the observation threshold is met, the actions are translated into control instructions through an external interface and sent to the telescope hardware system in real time; if the observation threshold is not met, continue to wait; in response to each device of the telescope hardware system receiving the control instruction, they respectively carry out work, the turntable points to the target space debris, the camera collects images and transmits them to the automatic control system for processing to obtain the spatial position of the target space debris; controlling the safety warning system to work synchronously, monitoring the meteorological information and working condition information sent by the telescope hardware system, and judging, warning, and disposing of the abnormal information therein according to a preset strategy.

[0013] Another aspect of the present invention provides an electronic device, including: one or more processors; a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method as described above.

[0014] Another aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions that are used to implement the method as described above when executed.

[0015] Another aspect of the present invention provides a computer program product that includes computer-executable instructions that are used to implement the method as described above when executed.

[0016] Compared with the prior art, the full-automatic operation integrated telescope system and its control method provided by the present invention have at least the following beneficial effects:

[0017] (1) The fully automatic integrated telescope system and its control method provided by the embodiments of the present invention form a large field of view, high-precision and rapidly deployable space debris observation system by integrating software and hardware. The underlying control of the telescope hardware system adopts an integrated design, integrating the controller inside each device and providing external interfaces for external systems to call. Cooperating with the automatic control system, safety warning system, and remote scheduling system, it jointly realizes the remote full-automatic observation of space debris, senses and disposes of abnormal events, greatly reduces personnel dependence, and improves the observation efficiency and reliability of the telescope.

[0018] (2) The fully automatic integrated telescope system and its control method provided by the embodiments of the present invention improve the defects of traditional telescope systems that rely on manual dome guarding, formulating observation plans based on meteorological information, and remote scheduling. It can automatically formulate and execute space debris observation tasks well, and can take effective protection measures when abnormal situations such as weather changes and equipment failures occur, effectively ensuring the safety of the telescope equipment, greatly reducing the workload of on-duty personnel, and truly realizing the state of "unattended operation". BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Through the following description of the embodiments of the present invention with reference to the drawings, the above and other objects, features, and advantages of the present invention will become clearer. In the drawings:

[0020] Figure 1 Schematically shows the structural block diagram of the fully automatic integrated telescope system according to the embodiments of the present invention;

[0021] Figure 2 Schematically shows the structural block diagram and wiring diagram of the telescope hardware system according to the embodiments of the present invention;

[0022] Figure 3 Schematically shows the actual monitoring diagram of the fully automatic integrated telescope system according to the embodiments of the present invention;

[0023] Figure 4 Schematically shows the flowchart of the control method of the fully automatic integrated telescope system according to the embodiments of the present invention;

[0024] Figure 5 Schematically shows the structural block diagram of the electronic device suitable for implementing the control method of the fully automatic integrated telescope system according to the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In the following detailed description, for the sake of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it is obvious that one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present invention.

[0026] The terms used herein are merely for describing specific embodiments and are not intended to limit the present invention. The terms "including", "comprising" and the like used herein indicate the presence of the described features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0027] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0028] In the case of using expressions such as "at least one of A, B, and C, etc.", generally, it should be interpreted according to the meaning usually understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but not be limited to a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0029] In the embodiments of the present invention, in terms of the collection, update, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the involved data (for example, including but not limited to user personal information), they all comply with the provisions of relevant laws and regulations, are used for legal purposes, and do not violate public order and good customs. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and to safeguard the security of user personal information and network security.

[0030] In recent years, with the increasing frequency of human space activities, especially the fact that more and more institutions have proposed to launch large constellations, there are more and more satellites in orbit. At the same time, the number of space debris, including abandoned satellites, rocket debris, and fragments of disintegrated spacecraft, is also increasing day by day, posing a severe test to the long-term sustainable development of the space environment. To cope with the threats posed by space debris, a large-scale global network layout is an inevitable choice. Since the number of space debris is large and space events may occur over the entire globe, a device with low cost, strong observation ability, and simple and easy deployment will contribute to the construction and improvement of the monitoring network. In addition, with the increase in devices, how to operate these devices normally and reduce personnel dependence, an automated and intelligent telescope control system is also essential.

[0031] However, to meet the above requirements, the difficulty lies in that it is necessary to be different from traditional astronomical observation devices and select the fewest devices to achieve devices suitable for space debris observation. In addition, choosing mature products will inevitably lead to inconsistencies in interfaces, development languages, and operating environments, making it difficult to access platforms such as the Astronomy Common Object Model (ASCOM) or the Remote Telescope System 2nd version (RTS2) for secondary development or resulting in high development costs. Therefore, it is necessary to select a suitable communication framework, combine the characteristics of automated space debris observation, and finally provide a set of fully automated integrated telescopes for space debris observation and the corresponding control systems.

[0032] Based on this, the embodiments of the present invention provide an integrated telescope system with full automation operation and its control method, aiming to solve the technical problems of low automation degree and strong personnel dependence of traditional astronomical observation devices.

[0033] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the following further elaborates on the present invention in detail with reference to specific embodiments and the accompanying drawings.

[0034] Figure 1 The structural block diagram of the integrated telescope system with full automation operation according to the embodiments of the present invention is schematically shown.

[0035] As Figure 1 shown, the structure of the integrated telescope system with full automation operation in this embodiment may include, for example: a telescope hardware system, a remote scheduling system, an automatic control system, and a safety warning system.

[0036] Among them, the telescope hardware system integrates observation equipment and auxiliary equipment internally. The observation equipment is used to observe space debris and generate observation data based on the optical signals reflected by the space debris. The auxiliary equipment is used to protect the observation equipment and provide time and station environment information. Among them, the telescope hardware system is configured with an external interface, and the external interface can be linked with an external system.

[0037] The remote scheduling system is used to formulate conflict-free observation tasks for the entire time period by using an optimization algorithm.

[0038] The automatic control system is communicatively connected with the remote scheduling system and is used to generate control instructions according to the time sequence of the observation tasks, and schedule the telescope hardware system through the external interface for automatic observation, so as to realize the remote control of the telescope system.

[0039] The safety warning system is communicatively connected with the automatic control system and is used to receive the environment information and working condition information of the telescope hardware system, and judge, warn and dispose of the abnormal information therein according to a preset strategy. For example, for equipment failures, software failures, meteorological anomalies, and network anomalies, a three-level threshold mechanism is set, namely the normal threshold, the warning threshold, and the disposal threshold, to ensure the safe operation of the telescope according to the preset strategy.

[0040] The fully automatic integrated telescope system provided by the embodiment of the present invention forms a large field of view, high-precision and rapidly deployable space debris observation system by integrating software and hardware. The underlying control of the telescope hardware system adopts an integrated design, integrates the controllers inside their respective devices, and provides an external interface for external systems to call. It cooperates with the automatic control system, the safety warning system, and the remote scheduling system to jointly realize the remote full-automatic observation of space debris, perceive and dispose of abnormal events, greatly reduce personnel dependence, and improve the observation efficiency and reliability of the telescope.

[0041] Figure 2 Schematically shows the structural block diagram and wiring diagram of the telescope hardware system according to the embodiment of the present invention.

[0042] As Figure 2 shown, the structure of the telescope hardware system in this embodiment may include, for example: the optical barrel, camera, and turntable in the observation equipment, as well as the dome, weather station, all-sky camera, computer, time system, and switch in the auxiliary equipment.

[0043] Among them, the optical barrel is used to collect the optical signals reflected by space debris, is constructed by a prime focus optical system, and is configured with an electric focusing function, and can adjust the imaging quality according to environmental changes.

[0044] In this embodiment, the effective clear aperture of the optical barrel is 36 cm, and the focal ratio is F / 2.2.

[0045] The camera is installed at the front end of the optical barrel and is used to collect optical image information. Among them, the camera is configured with a self-locking function and can accurately lock the exposure moment according to the time information and pulse signal provided by the auxiliary device (time system). The time accuracy is less than 30 us, and a USB3.0 control interface is provided.

[0046] In this embodiment, the camera is configured as an sCMOS (scientific complementary metal oxide semiconductor image sensor) camera, which has the characteristics of high sensitivity, high frame rate, and large target surface. The camera resolution is 4096×4096 pixels, the pixel size is 9μm, and the detection field of view of the telescope is 2.6°×2.6°.

[0047] The turntable is installed at the bottom of the optical barrel and is used to support the optical barrel. A high-speed motor is installed inside the turntable. Among them, the controller of the high-speed motor and the controller of the optical barrel are integrated inside the turntable and connected to the external interface.

[0048] In this embodiment, the turntable integrates a high-speed motor, and its controller and the controller of the optical barrel are integrated inside the turntable. A serial port is provided for the automatic control system to control, realizing rapid switching of spatial pointing and stable tracking of the target. The maximum rotation speed exceeds 20° / s, and the tracking accuracy is better than 1″.

[0049] In addition, the dome is used to protect the observation equipment.

[0050] The weather station is used to provide meteorological information such as rain, snow, wind, and temperature.

[0051] The all-sky camera is used to provide the all-sky cloud map of the station.

[0052] The computer (control computer) is used to deploy the system software.

[0053] The time system is used to provide high-precision timing for the camera, turntable, and computer.

[0054] Each device provides a network port, and the switch is used to form an overall local area network for each device to achieve communication interconnection.

[0055] In this embodiment, the telescope hardware system integrates necessary devices, and the underlying control adopts an integrated design. The controller is integrated inside each device, and different wiring methods are adopted according to the characteristics of each device. For example, each device is integrated using network cables, images are collected using USB3.0 cables, and signals are transmitted using the RS485 bus, etc. Specifically:

[0056] The master computer constructs a multi-type data transmission architecture through heterogeneous communication links. The RS485 bus serially communicates to connect the optical barrel and the turntable; the USB3.0 cable provides a point-to-point high-speed image control transmission channel for the telescope camera and the all-sky camera; the Ethernet layer accesses auxiliary devices such as the weather station and the dome based on the TCP / IP protocol. In addition, the system integrates a high-precision time system, injects clock signals into the turntable and the camera through the RS485 bus to achieve microsecond-level synchronization, and at the same time uses the NTP (Network Time Protocol, a protocol for synchronizing computer time) service to achieve millisecond-level time calibration for the entire system.

[0057] According to an embodiment of the present invention, the remote scheduling system optimally formulates a continuous conflict-free plan for the entire observation period of the telescope, including: target information, pointing per second, exposure parameters, task level, etc.

[0058] According to an embodiment of the present invention, the automatic control system is constructed by adopting a distributed programming logic, and is divided into a device layer, a control layer, and a service layer, designing and implementing a high-performance and easily extensible control system, and its overall language mode is configured as a mixed programming mode of Python and C++ languages.

[0059] In this embodiment, the overall language of the automatic control system adopts a mixed programming mode of Python and C++ languages. The Python language is simple and direct, with high development efficiency, flexible functions and rich class libraries, and can be used across platforms. It is mainly used for developing some functional modules in the service layer, control layer, and interface layer, including data communication, user access, automatic control, policy configuration, data collection and management, etc. Later, according to the task requirements, the telescope observation strategy and tasks can also be flexibly configured, edited into scripts and handed over to the master program for execution. For modules that require high-performance computing and high-speed communication, the C++ language is used, mainly involving the implementation of functions such as camera interface communication, image data collection and processing.

[0060] In this embodiment, the safety warning system monitors meteorological information and working condition equipment in real time, and designs the following typical faults and solutions:

[0061] (1) Software and hardware anomalies, such as approaching or exceeding device indicators (such as the working accuracy, limit, speed and acceleration of the turntable, and the failure of the camera to cool), software crashes (such as infinite loops and excessive resource occupation), and take warning, protection, and restart measures.

[0062] (2) Task conflicts, and take warning, execute high-priority, and re-plan the trajectory measures.

[0063] (3) Task failures, such as target loss and the target being too dark, and take warning, adjust the shooting plan, start search and tracking, and increase the exposure time measures.

[0064] (4)Typical equipment failures, such as turntable locking shaft, camera refrigeration shutdown, dome failure, etc., take warning, automatic recovery, protection measures, and restart measures.

[0065] (5)Communication anomalies, such as local and remote network communication anomalies, local control program and device communication anomalies, take warning, reconnect after disconnection, automatically switch communication ports, and restart measures.

[0066] (6)Environmental anomalies, such as parameters of environmental equipment such as temperature, humidity, wind speed, rainfall, cloud cover, etc. exceeding the set parameters, take warning, adjust the shooting plan, and take protection measures.

[0067] In addition, according to the embodiments of the present invention, between the telescope hardware system, the remote scheduling system, the automatic control system, and the security warning system, and within each system, they are configured to transmit information through the ZeroMQ message middleware to achieve real-time communication between different systems, different development languages, and different deployment locations.

[0068] ZeroMQ (ØMQ) is a lightweight message middleware for asynchronous communication in distributed systems.

[0069] Figure 3 Schematically shows the actual monitoring diagram of the fully automatic integrated telescope system according to the embodiments of the present invention.

[0070] As Figure 3 shown, taking 4 telescopes in a certain place in China as an example, from April to September 2021, each telescope obtained more than 10,000 space debris observation arcs on average, and produced more than 150 observation arcs every night on average, providing a large amount of observation data for subsequent space debris cataloging, satellite collision warning and other work. The actual effect shows that the system has good stability, is simple and easy to deploy, and meets the requirements of global deployment.

[0071] The fully automatic integrated telescope system provided by the embodiments of the present invention improves the defects of traditional telescope systems that need to rely on manual dome guarding, formulating observation plans based on meteorological information, remote scheduling, etc., can automatically formulate and execute space debris observation tasks well, and can take effective protection measures when abnormal situations such as weather changes and equipment failures occur, effectively ensuring the safety of telescope equipment, greatly reducing the workload of duty personnel, and truly realizing the state of "unattended".

[0072] Figure 4 Schematically shows the flowchart of the control method of the fully automatic integrated telescope system according to the embodiments of the present invention.

[0073] As Figure 4As shown, the control method of the fully automatic integrated telescope system in this embodiment may include operations S1 to S5, for example.

[0074] In operation S1, an observation task without conflicts throughout the whole period is formulated using an optimization algorithm in the remote scheduling system and pushed to the automatic control system.

[0075] In operation S2, in response to the automatic control system receiving the observation task, the observation task is parsed, and according to the time of the observation task, it is decomposed into the time series and actions of each device.

[0076] In operation S3, in response to reaching the predetermined moment of the device, the safety warning system is used to judge whether the health state of the device and the meteorological state meet the observation conditions. If the observation threshold is met, the action is translated into a control instruction through the external interface and sent to the telescope hardware system in real time; if the observation threshold is not met, continue to wait.

[0077] In operation S4, in response to each device of the telescope hardware system receiving the control instruction, they work respectively. The turntable points to the target space debris, the camera collects images and transmits them to the automatic control system for processing to obtain the spatial position of the target space debris.

[0078] In operation S5, the safety warning system is controlled to work synchronously, monitor the meteorological information and working conditions information sent by the telescope hardware system, and judge, warn and dispose of the abnormal information therein according to the preset strategy. For example, for equipment failures, software failures, meteorological anomalies, and network anomalies, a three-level threshold mechanism is set, namely the normal threshold, the warning threshold, and the disposal threshold, to ensure the safe operation of the telescope according to the preset strategy.

[0079] Figure 5 The structural block diagram of an electronic device suitable for implementing the control method of the fully automatic integrated telescope system according to an embodiment of the present invention is schematically shown. Figure 5 The shown electronic device is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present invention.

[0080] Such as Figure 5As shown, an electronic device 500 according to an embodiment of the present invention includes a processor 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage section 508 into a random access memory (RAM) 503. The processor 501 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor (such as an application-specific integrated circuit (ASIC)), and so on. The processor 501 may also include on-board memory for caching purposes. The processor 501 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0081] In the storage section 508, various programs and data required for the operation of the electronic device 500 are stored. The processor 501, the ROM 502, and the storage section 508 are connected to each other via a bus 504. The processor 501 performs various operations of the method flow according to an embodiment of the present invention by executing programs in the ROM 502 and / or the storage section 508. It should be noted that the program may also be stored in one or more memories other than the ROM 502 and the storage section 508. The processor 501 may also perform various operations of the method flow according to an embodiment of the present invention by executing programs stored in the one or more memories.

[0082] According to an embodiment of the present invention, the electronic device 500 may further include an input / output (I / O) interface 505, and the input / output (I / O) interface 505 is also connected to the bus 504. The electronic device 500 may further include one or more of the following components connected to the input / output (I / O) interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the input / output (I / O) interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read from it can be installed into the storage section 508 as needed.

[0083] According to an embodiment of the present invention, the method flow according to the embodiment of the present invention can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the processor 501, the above functions defined in the system of the embodiment of the present invention are executed. According to an embodiment of the present invention, the above-described systems, devices, apparatuses, modules, units, etc. can be implemented by computer program modules.

[0084] The present invention also provides a computer-readable storage medium, which can be included in the device / device / system described in the above embodiment; or can exist separately without being assembled into the device / device / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0085] According to an embodiment of the present invention, the computer-readable storage medium can be a non-volatile computer-readable storage medium. For example, it can include but is not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present invention, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, device, or device.

[0086] For example, according to an embodiment of the present invention, the computer-readable storage medium can include the above-described ROM 502 and / or the storage part 508 and / or one or more memories other than the ROM 502 and the storage part 508.

[0087] An embodiment of the present invention also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method provided by the embodiment of the present invention. When the computer program product runs on an electronic device, the program code is used to enable the electronic device to implement the method provided by the embodiment of the present invention.

[0088] When the computer program is executed by the processor 501, the above functions defined in the system / device of the embodiment of the present invention are executed. According to an embodiment of the present invention, the above-described systems, devices, modules, units, etc. can be implemented by computer program modules.

[0089] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices and magnetic storage devices. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 509, and / or installed from the removable medium 511. The program code included in the computer program may be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0090] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiments of the present invention may be written in any combination of one or more programming languages. Specifically, these computing programs may be implemented using high-level procedures and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages include but are not limited to, such as Java, C++, Python, the "C" language, or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0091] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions. Those skilled in the art can understand that the features described in the various embodiments of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments of the present invention can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present invention.

[0092] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments have been described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. An integrated telescope system that operates fully automatically, characterized in that, The system includes: A telescope hardware system, which integrates observation equipment and auxiliary equipment internally. The observation equipment is used to observe space debris and generate observation data based on the optical signals reflected by the space debris. The auxiliary equipment is used to protect the observation equipment and provide time and station environment information. Among them, the telescope hardware system is configured with an external interface, and the external interface can be linked with an external system; A remote scheduling system, which is used to formulate conflict-free observation tasks for the entire period by using an optimization algorithm; An automatic control system, which is communicatively connected to the remote scheduling system, and is used to generate control instructions according to the time series of the observation tasks, and dispatch the telescope hardware system through the external interface for automatic observation; A safety warning system, which is communicatively connected to the automatic control system, and is used to receive the environment information and working condition information of the telescope hardware system, and judge, warn and dispose of the abnormal information therein according to a preset strategy.

2. The system according to claim 1, wherein The observation equipment includes: An optical barrel, which is used to collect the optical signals reflected by space debris. Among them, the optical barrel is constructed by using a prime focus optical system and is configured with an electric focusing function, and can adjust the imaging quality according to environmental changes; A camera, which is arranged at the front end of the optical barrel and is used to collect optical image information. Among them, the camera is configured with a self-locking time function, and can accurately lock the exposure moment according to the time information and pulse signals provided by the auxiliary equipment; A turntable, which is arranged at the bottom of the optical barrel and is used to support the optical barrel. A high-speed motor is arranged inside the turntable. Among them, the controller of the high-speed motor and the controller of the optical barrel are integrated inside the turntable and are connected to the external interface.

3. The system according to claim 2, wherein The camera is configured as a scientific complementary metal oxide semiconductor image sensor.

4. The system according to claim 2, wherein The auxiliary equipment includes: A dome, which is used to protect the observation equipment; A weather station, which is used to provide meteorological information; An all-sky camera, which is used to provide an all-sky cloud map of the station; A computer, which is used to deploy system software; A time system, which is used to provide high-precision timing for the camera, the turntable and the computer; A switch, which is used to form an overall local area network for each device to realize communication interconnection.

5. The system according to claim 1, characterized in that, The conflict-free observation tasks for the entire period formulated by the remote scheduling system include: target information, pointing per second, exposure parameters and task levels.

6. The system according to claim 1, characterized in that The automatic control system is constructed by using a distributed programming logic, and the overall language mode of the automatic control system is configured as a mixed programming mode of Python and C++ languages.

7. The system according to claim 6, characterized in that, Between the telescope hardware system, the remote scheduling system, the automatic control system and the safety warning system, and within each system, they are all configured to transmit information through the ZeroMQ message middleware to achieve real-time communication of different systems, different development languages and different deployment locations.

8. A control method for an integrated telescope system with full-automatic operation, which is applied to the system described in any one of claims 1 to 7, characterized in that, The method includes: Using the optimization algorithm in the remote scheduling system to formulate conflict-free observation tasks for the entire period and push them to the automatic control system; In response to the automatic control system receiving the observation tasks, parsing the observation tasks, and decomposing them into the time series and actions of each device according to the time of the observation tasks; In response to reaching a predetermined time of the device, the safety warning system determines whether the device health status and meteorological status meet the observation conditions. If the observation threshold is met, the actions are translated into control instructions through an external interface and sent to the telescope hardware system in real time; if the observation threshold is not met, continue to wait; In response to each device of the telescope hardware system receiving the control instruction, work is carried out respectively. The turntable points to the target space debris, and the camera collects images and transmits them to the automatic control system for processing to obtain the spatial position of the target space debris; Control the safety warning system to work synchronously, monitor the meteorological information and working condition information sent by the telescope hardware system, and judge, warn and dispose of the abnormal information therein according to a preset strategy.

9. An electronic device, characterized in that, Comprising: One or more processors; A storage device for storing one or more programs; Wherein, when the one or more programs are executed by the one or more processors, the one or more processors execute the method according to claim 8.

10. A computer-readable storage medium having executable instructions stored thereon, characterized in that, When the instruction is executed by the processor, the processor executes the method according to claim 8.

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