Telescope turntable control system based on heterogeneous servo protocol

Abstract

The present application relates to the technical field of telescope control, and specifically provides a telescope rotating platform control system based on a heterogeneous servo protocol, comprising a basic trajectory calculation module, a servo communication module, a guide trajectory conversion module, a servo protocol encoder, a servo control system and a servo protocol decoder, the guide trajectory conversion module, the servo protocol encoder and the servo protocol decoder all have abstract class interface functions and realize functions in derived classes, the basic trajectory calculation module is used to calculate the basic trajectory of a target, the guide trajectory conversion module generates a guide trajectory according to the basic trajectory, a telescope rotating platform and a servo protocol, the servo communication module receives the guide trajectory and converts the guide trajectory into a servo guide instruction by using the servo protocol encoder, guides the rotation of the telescope, and then generates user understandable information by using the servo protocol decoder to parse and display the information. The device independent module is decoupled from the device, greatly improving the flexibility and applicability of the telescope rotating platform control system.

Description

Technical Field

[0001] This invention relates to the field of telescope control technology, specifically providing a telescope turntable control system based on a heterogeneous servo protocol. Background Technology

[0002] Telescopes are mainly classified into three types based on their installation location: ground-based, vehicle-mounted, and ship-mounted. Based on their purpose, they are primarily categorized into astronomical observation, measurement, and laser communication. Telescopes for different purposes exhibit significant differences in mechanical structure, optical design, and control systems. Furthermore, due to factors such as cost and component selection, the turntable control methods of different telescopes also vary. For example, in the field of astronomical observation, a common method is to use a turntable with a rotation range of [missing information]. Telescopes of this type control their turntable in the azimuth range using a bull's head lever. Internal operation ensures that the telescope's azimuth observation range covers the required area while effectively preventing tangling of cables on and off the aircraft. Range telescopes, on the other hand, often use electromagnetic slip rings to solve the communication problem between the on-board and off-board areas. The main advantage of this type of telescope is its high mobility and the absence of reverse cross-circle rotation, but its disadvantage is its higher cost.

[0003] Because telescope turntable control methods vary, their respective servo protocols also exhibit heterogeneity. Even telescopes with the same mechanical structure may require different servo protocols depending on their intended use and component selection. For example, even with the same azimuth range... For some telescopes, the servo control system requires the main control system to send data directly. Some systems use azimuth range guidance data for guidance; others require the main control system to send... The azimuth range guidance data is provided by the servo control system for nearby guidance.

[0004] The combined effect of these factors necessitates configuring separate device-based observation trajectory calculation and servo guidance modules for different types of telescopes in the main control system. For a long time, different telescopes' main control systems have coupled device-based trajectory generation methods into the observation trajectory generation modules for various target types, based on their turntable control methods. Furthermore, due to the heterogeneity of servo protocols, the main control system often couples the protocol encoding / decoding module to the servo communication module during development. This development approach not only affects the reusability of the main control system but also easily leads to problems that are difficult to locate.

[0005] Chinese patent publication number CN119291913A, published on January 10, 2025, entitled "A Guiding Method for a Telescope and Its Application," is an invention patent application targeting an azimuth rotation range of... The invention implements an observation trajectory planning method for a telescope. However, this invention only implements the observation trajectory planning method for this type of telescope and does not decouple the modules related to the telescope equipment through an interface-based and modular programming approach. Therefore, it cannot improve the reusability and maintainability of the main control system. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides a telescope turntable control system based on a heterogeneous servo protocol, which decouples some modules from the equipment, greatly improving the flexibility and applicability of the telescope turntable control system in this embodiment.

[0007] The telescope turntable control system based on heterogeneous servo protocol provided by this invention includes:

[0008] The system comprises two modules: a device-independent module and a device-dependent module. The device-independent module includes a basic trajectory calculation module and a servo communication module. The device-dependent module includes a guided trajectory conversion module, a servo protocol encoder, a servo control system for the telescope, and a servo protocol decoder. The guided trajectory conversion module, the servo protocol encoder, and the servo protocol decoder all have abstract class interface functions, and the functionality of the interface functions is implemented in the derived classes.

[0009] The basic trajectory calculation module is used to calculate the basic trajectory of the target in the standard horizontal coordinate system and send the basic trajectory to the guiding trajectory conversion module.

[0010] The guide trajectory conversion module generates a guide trajectory based on the base trajectory, telescope turntable, and servo protocol, and sends the guide trajectory to the servo communication module;

[0011] The servo communication module receives the guide trajectory and uses the servo protocol encoder to convert the guide trajectory into servo guide commands, which are then sent out through the standard communication interface to guide the telescope turntable to rotate the telescope.

[0012] After receiving feedback data from the servo control system, the servo communication module uses the servo protocol decoder to parse the feedback data and generate user-understandable information, including telescope pointing, guidance error, and fault information.

[0013] Preferably, the device-independent module further includes an information display module, which is used to display user-understandable information.

[0014] Preferably, the guide trajectory conversion module, servo protocol encoder, and servo protocol decoder are designed with interfaces.

[0015] Preferably, the design of the guiding trajectory conversion module is as follows: Define a parent class guiding trajectory conversion interface class that contains only trajectory conversion interface functions and is an abstract class. The trajectory conversion interface functions take the basic trajectory as input and the guiding trajectory as output. The specific functions of the trajectory conversion interface functions are implemented in the derived class.

[0016] Preferably, the derived classes of the parent class's guide trajectory conversion interface class are represented as guide trajectory conversion implementation classes. Each derived class corresponds to a combination of telescope turntable and servo protocol, and can convert the basic trajectory under this combination into a guide trajectory and send the guide trajectory to the servo communication module.

[0017] Preferably, the design of the servo protocol encoder is as follows: Define a parent class servo protocol encoder interface class that contains only protocol encoding interface functions and is an abstract class. The protocol encoding interface functions take the coordinates on the guide trajectory as input and the guide instructions as output. The specific functions of the protocol encoding interface functions are implemented in the derived class.

[0018] Preferably, the derived classes of the parent class servo protocol encoder interface class are represented as servo protocol encoder implementation classes. Each derived class corresponds to a servo protocol, which can convert the guide trajectory under that servo protocol into guide instructions, and the servo communication module sends the guide instructions to the servo control system of the telescope.

[0019] Preferably, the design of the servo protocol decoder is as follows: Define a parent class servo protocol decoder interface class that contains only protocol decoding interface functions and is an abstract class. The protocol decoding interface functions take feedback data from the servo control system as input and output user-understandable information. The specific functions of the protocol decoding interface functions are implemented in the derived class.

[0020] Preferably, the derived classes of the parent class servo protocol decoder interface class are represented as servo protocol decoder implementation classes. Each derived class can convert the feedback data of the servo control system under a servo protocol into user-understandable information, and the servo communication module sends the user-understandable information to the information display module for display.

[0021] Preferably, for the guide trajectory conversion module, servo protocol encoder, and servo protocol decoder, the telescope turntable control system selects a corresponding derived class for each; the selection information of the derived classes corresponding to the guide trajectory conversion module, servo protocol encoder, and servo protocol decoder is written into a configuration file, and the corresponding derived class is instantiated according to the configuration file when the telescope turntable control system starts. Compared with the prior art, the present invention can achieve the following beneficial effects:

[0022] This invention introduces a loosely coupled programming paradigm and leverages the abstraction features of object-oriented programming languages ​​in its architectural design. It divides the telescope's main control system into device-independent and device-dependent modules, significantly improving software adaptability. Furthermore, by using an interface-based design for the trajectory conversion module, servo protocol encoder, and servo protocol decoder, this invention reduces program development workload and makes adaptation between different telescopes and servo systems more flexible and efficient. Simultaneously, the stability of the device-independent modules is enhanced, greatly improving software reusability and reducing code maintenance workload. In addition, this solution supports instantiation of different derived classes through configuration files, further simplifying system configuration and management processes. This allows the system to easily handle complex situations such as different turntable rotation ranges or different servo guidance protocols, improving software adaptability and reducing program development and code maintenance workload.

[0023] When it is necessary to add support for new telescope types, simply create a new derived class and implement the corresponding methods. There is no need to modify other parts of the telescope turntable control system, which simplifies the addition process and further improves the applicability of the embodiments of the present invention. Attached Figure Description

[0024] Figure 1 This is a layout diagram of the telescope turntable control system provided according to an embodiment of the present invention;

[0025] Figure 2 This is a module relationship diagram of the telescope turntable control system provided according to an embodiment of the present invention;

[0026] Figure 3 This is a diagram showing the relationship between the guide trajectory conversion interface class and the guide trajectory conversion implementation class provided in an embodiment of the present invention.

[0027] Figure 4 This is a diagram showing the relationship between the servo protocol encoder interface class and the servo protocol encoder implementation class provided in an embodiment of the present invention.

[0028] Figure 5 This is a diagram showing the relationship between the servo protocol decoder interface class and the servo protocol decoder implementation class provided in an embodiment of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and do not constitute a limitation thereof. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the invention. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the invention are not shown or described in the specification. This is to avoid obscuring the core parts of the invention with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined to form various implementations. Furthermore, the order of the steps or actions in the method description can be changed or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the clear description of a particular embodiment and do not imply a mandatory order, unless otherwise stated that a particular order must be followed.

[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] The system related to this invention within the telescope is a servo control system. This servo control system is highly dependent on the telescope's turntable rotation range and guidance method. The servo protocol is influenced by various external factors; for example, differences in the turntable rotation range and guidance method can cause variations in the servo protocol, resulting in different servo protocols for different telescopes—that is, heterogeneity. Therefore, the telescope's turntable control system cannot be directly applied to different servo protocols. For example... Figure 1 and Figure 2 As shown, this invention provides a telescope turntable control system based on a heterogeneous servo protocol, including a basic trajectory calculation module, a servo communication module, a guide trajectory conversion module, a servo protocol encoder, a servo protocol decoder, an information display module, and a telescope servo control system. Based on the equipment-related conditions, this embodiment of the invention divides the above modules or systems into equipment-related modules and equipment-independent modules. Specifically, the equipment-independent modules include the basic trajectory calculation module, the servo communication module, and the information display module, while the equipment-related modules include the guide trajectory conversion module, the servo protocol encoder, the servo protocol decoder, and the telescope servo control system. The equipment-independent modules are decoupled from the equipment and do not depend on the equipment; therefore, this greatly improves the flexibility and applicability of the telescope turntable control system of this embodiment of the invention.

[0035] This invention separates the original target guidance trajectory calculation function in the telescope turntable control system into a basic trajectory calculation module and a guidance trajectory conversion module. The original servo guidance function is also separated into a servo communication module, a servo protocol encoder, and a servo protocol decoder. Furthermore, the guidance trajectory conversion module, servo protocol encoder, and servo protocol decoder are designed with interfaces. This achieves stability of the device-independent modules in the telescope turntable control system, improves adaptability, reduces program development workload, and minimizes code maintenance workload.

[0036] The basic trajectory of a target in a standard horizontal coordinate system is calculated using the basic trajectory calculation module, such as stellar trajectory calculation or satellite trajectory calculation. The method for calculating the basic trajectory of a target in a standard horizontal coordinate system is existing technology. The basic trajectory is then sent to the guiding trajectory conversion module via the basic trajectory calculation module.

[0037] The guide trajectory conversion module generates a guide trajectory based on the basic trajectory calculated by the basic trajectory calculation module, the working principle of the telescope turntable, and the servo protocol, and sends the guide trajectory to the servo communication module. In this embodiment of the invention, the azimuth rotation range of the telescope turntable is... And the corresponding servo protocol requires the use of a directional range of... If the range of the control telescope rotation is specified, then the guide trajectory conversion module will generate the azimuth rotation range of the basic trajectory within the specified range. Within a certain range, and within the overall guiding trajectory, rotations spanning 360° should be avoided as much as possible (unless unavoidable). For example, the azimuth rotation range of the telescope turntable is... If the internal rotation is free, the guide trajectory conversion will transparently transmit the standard horizontal coordinate trajectory to the subsequent modules.

[0038] The servo communication module receives the guidance trajectory, converts it into servo guidance commands using a servo protocol encoder, and sends them out via a standard communication interface. The telescope is then guided to rotate according to these commands. In this embodiment of the invention, for the azimuth interval... Telescope servo control systems typically require guidance commands including the target position (positive or negative half-turn) of the bullhead lever, as well as encoder values ​​for the telescope's target azimuth and elevation directions; for azimuth intervals of... Telescope servo control systems typically require guidance commands to include only the encoder values ​​for target azimuth and elevation. Furthermore, the number of bits used in the encoder of the telescope turntable is also a significant factor affecting the guidance protocol of the servo control system.

[0039] In addition, after receiving feedback data from the servo control system, the servo communication module uses a servo protocol decoder to parse the feedback data, generating user-understandable information, which is then sent to the information display module for display. The feedback data consists of the telescope's current status parameters, such as its current pointing direction. User-understandable information includes the telescope's pointing direction, guidance error, and fault information. Assuming the current pointing direction is -10°, the parsed user-understandable information would be that the telescope is pointing at 350°.

[0040] like Figure 3As shown in this embodiment of the invention, the design of the guided trajectory conversion module is as follows: A parent class, the guided trajectory conversion interface class, is defined. This class contains only trajectory conversion interface functions and is an abstract class that cannot be instantiated. The trajectory conversion interface functions take the basic trajectory as input and the guided trajectory as output; their specific functionality is implemented in derived classes. The derived classes of the parent class are represented as the guided trajectory conversion implementation classes. , Each derived class corresponds to a combination of telescope turntable and servo protocol. The basic trajectory under this combination can be converted into a guide trajectory and sent to the servo communication module.

[0041] like Figure 4 As shown, in this embodiment of the invention, the design of the servo protocol encoder is as follows: A parent class, servo protocol encoder interface class, is defined. This class only contains protocol encoding interface functions and is an abstract class that cannot be instantiated. The protocol encoding interface functions take the coordinates on the guide trajectory as input and the guide command as output. The specific functionality of this protocol encoding interface function is implemented in the derived class. The derived class of the parent class, servo protocol encoder interface class, represents the servo protocol encoder implementation class. , Each derived class corresponds to a servo protocol, which can convert the guide trajectory under that servo protocol into a guide command, and the servo communication module sends the guide command to the telescope's servo control system.

[0042] like Figure 5 As shown, in this embodiment of the invention, the design of the servo protocol decoder is as follows: A parent class, servo protocol decoder interface class, is defined. This class only contains protocol decoding interface functions and is an abstract class that cannot be instantiated. The protocol decoding interface functions take feedback data from the telescope's servo control system as input and output user-understandable information. The specific functionality of these protocol decoding interface functions is implemented in derived classes. The derived classes of the parent class servo protocol decoder interface class represent servo protocol decoder implementation classes. , Each derived class can convert feedback data from a servo control system under a certain servo protocol into user-understandable information, which is then sent by the servo communication module to the information display module for display.

[0043] For the three device-related modules—guide trajectory conversion module, servo protocol encoder, and servo protocol decoder—the telescope turntable control system must select a corresponding derived class for each. This selection information is written to a configuration file, and the appropriate derived class is instantiated based on the configuration file during system startup. The abstract class provides a unified interface specification, allowing the telescope turntable control system to obtain device-related guide trajectories, guide commands, or user-understandable information simply by calling the same method names, regardless of the specific telescope type. The derived classes implement the specific logic of these methods according to the specific telescope's working principle and servo protocol requirements. Thus, when support for new telescope types needs to be added, only a new derived class needs to be created and the corresponding methods implemented, without modifying other parts of the telescope turntable control system, simplifying the addition process and further improving the applicability of this embodiment.

[0044] To verify the method of the embodiments of the present invention, the following specific embodiments are provided:

[0045] Choose two astronomical telescopes, where the azimuth rotation range of the first telescope is... The pitch rotation range is The servo protocol requires the use of azimuth rotation range. and pitch rotation range Telescope guidance was performed, and feedback data included the azimuth rotation range. Pitch and rotation range Including pointing errors, users require the display of the telescope's pointing azimuth rotation range. Pitch rotation range The azimuth rotation range of the second telescope is... Free rotation, pitch rotation range is The servo protocol requires the use of azimuth rotation range. and pitch rotation range Telescope guidance was performed, and feedback data included the azimuth rotation range. Pitch and rotation range Including pointing errors, users require the display of the telescope's pointing azimuth rotation range. Pitch rotation range .

[0046] Since the first and second telescopes have similar functions, their respective device-independent modules can remain unchanged. Derived classes are written for the device-related modules of both telescopes, and the corresponding derived classes are instantiated through configuration files and initialization programs. Both telescopes use a single telescope turntable control system, significantly improving software reusability, reducing the difficulty of locating problems in device-related modules, and decreasing code maintenance workload. In practical applications, this method is not limited to the differences in telescopes described in the examples; generally, the device-independent modules of the main control system have similar functions and can all use this method. Common situations include different turntable rotation ranges but the same servo boot protocol, or the same turntable rotation range but different servo boot protocols. Derived classes and configuration files can be written according to the actual situation.

[0047] Regarding the servo protocol encoder and servo protocol decoder, this invention also provides another embodiment, which integrates the servo protocol encoder and decoder into a single module, called the servo protocol codec, simultaneously performing the functions of both the servo protocol encoder and decoder. Furthermore, the information display module is not a specific module; the information display can take various forms, such as interface display, network transmission, file recording, etc.

[0048] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0049] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A telescope turntable control system based on a heterogeneous servo protocol, characterized in that, include: The system includes a device-independent module and a device-dependent module. The device-independent module includes a basic trajectory calculation module and a servo communication module. The device-dependent module includes a guided trajectory conversion module, a servo protocol encoder, a servo control system for the telescope, and a servo protocol decoder. The guided trajectory conversion module, the servo protocol encoder, and the servo protocol decoder all have abstract class interface functions, and the functionality of the interface functions is implemented in derived classes. The basic trajectory calculation module is used to calculate the basic trajectory of the target in the standard horizontal coordinate system and send the basic trajectory to the guiding trajectory conversion module; The guide trajectory conversion module generates a guide trajectory based on the base trajectory, the telescope turntable, and the servo protocol, and sends the guide trajectory to the servo communication module; The servo communication module receives the guidance trajectory and uses the servo protocol encoder to convert the guidance trajectory into servo guidance commands, which are then sent out through the standard communication interface to guide the telescope turntable to rotate the telescope. After receiving feedback data from the servo control system, the servo communication module uses the servo protocol decoder to parse the feedback data and generate user-understandable information, including telescope pointing, guidance error, and fault information.

2. The telescope turntable control system based on heterogeneous servo protocol according to claim 1, characterized in that, The device-independent module also includes an information display module, which is used to display the user-understandable information.

3. The telescope turntable control system based on heterogeneous servo protocol according to claim 2, characterized in that, The guide trajectory conversion module, servo protocol encoder, and servo protocol decoder are designed with interfaces.

4. The telescope turntable control system based on heterogeneous servo protocol according to claim 1, characterized in that, The design of the guided trajectory conversion module is as follows: Define a parent class, Guided Trajectory Conversion Interface Class, which contains only trajectory conversion interface functions and is an abstract class. The trajectory conversion interface functions take the basic trajectory as input and the guided trajectory as output. The specific functions of the trajectory conversion interface functions are implemented in the derived class.

5. The telescope turntable control system based on heterogeneous servo protocol according to claim 4, characterized in that, The derived classes of the parent class's guide trajectory conversion interface class are represented as guide trajectory conversion implementation classes. Each derived class corresponds to a combination of telescope turntable and servo protocol, and can convert the basic trajectory under this combination into the guide trajectory, and send the guide trajectory to the servo communication module.

6. The telescope turntable control system based on heterogeneous servo protocol according to claim 1, characterized in that, The design of the servo protocol encoder is as follows: Define a parent class servo protocol encoder interface class that contains only protocol encoding interface functions and is an abstract class. The protocol encoding interface functions take the coordinates on the guide trajectory as input and the guide instructions as output. The specific functions of the protocol encoding interface functions are implemented in the derived class.

7. The telescope turntable control system based on heterogeneous servo protocol according to claim 6, characterized in that, The derived classes of the parent class servo protocol encoder interface class are represented as servo protocol encoder implementation classes. Each derived class corresponds to a servo protocol, which can convert the guide trajectory under that servo protocol into the guide instruction, and the servo communication module sends the guide instruction to the servo control system of the telescope.

8. The telescope turntable control system based on heterogeneous servo protocol according to claim 1, characterized in that, The design of the servo protocol decoder is as follows: Define a parent class servo protocol decoder interface class that contains only protocol decoding interface functions and is an abstract class. The protocol decoding interface functions take the feedback data of the servo control system as input and the user-understandable information as output. The specific functions of the protocol decoding interface functions are implemented in the derived class.

9. The telescope turntable control system based on heterogeneous servo protocol according to claim 8, characterized in that, The derived classes of the parent class servo protocol decoder interface class are represented as servo protocol decoder implementation classes. Each derived class can convert the feedback data of the servo control system under a servo protocol into user-understandable information, and the servo communication module sends the user-understandable information to the information display module for display.

10. The telescope turntable control system based on heterogeneous servo protocol according to claim 9, characterized in that, For the guide trajectory conversion module, servo protocol encoder, and servo protocol decoder, the telescope turntable control system selects a corresponding derived class for each; the selection information of the derived classes corresponding to the guide trajectory conversion module, servo protocol encoder, and servo protocol decoder is written into the configuration file, and the corresponding derived class is instantiated according to the configuration file when the telescope turntable control system starts.

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