CN101344638B - Dome synchronization control method and equipment based on laser indication and image processing - Google Patents
Dome synchronization control method and equipment based on laser indication and image processing Download PDFInfo
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- CN101344638B CN101344638B CN2008100225512A CN200810022551A CN101344638B CN 101344638 B CN101344638 B CN 101344638B CN 2008100225512 A CN2008100225512 A CN 2008100225512A CN 200810022551 A CN200810022551 A CN 200810022551A CN 101344638 B CN101344638 B CN 101344638B
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Abstract
A dome follow-up control method based on laser instruction and image processing includes the following steps: (1) a camera is arranged on a column of a telescope and an optical axis of the camera is basically parallel to that of the telescope; a plurality of lasers are arranged on the outer wall of the telescope column at regular intervals and the optical axes of all the lasers are basically parallel to that of the telescope; (2) a computer collects 10 to 50 images at each set time for a superposition-denoising process to get the image of a place pointed by the telescope; (3) a software is adopted to filter the image background to get the number of the laser points; (4) the follow-up control software controls a dome motor to turn positively or negatively according to the number of the laser points till the laser points disappear and when the telescope aims at a dormer, the dome motor is stopped and then the dynamic action is completed; (5) the processes from step (2) to step (4) are actuated repeatedly till observation is finished or the follow-up control is canceled. The invention can guarantee the constant coincidence between the pointing of the telescope and the dormer with high universality, low cost, anti-interference capability and reliable capability.
Description
Technical field
The invention belongs to astronomical instrument research and manufacturing field, be specifically related to a kind of dome synchronization control method that is used for astronomical dome is carried out servo-actuated control based on laser indication and Flame Image Process, and the employed equipment of this follow-up control method.
Background technology
Astronomical telescope generally is fixedly mounted in the astronomical dome, and telescope sees through the skylight observation celestial body of dome.When the pointing of the telescope diverse location, the skylight is the orientation of alignment telescope lens barrel indication always.At present generally use the computer controlled automatic dome, make its alignment telescope orientation always, the servo-actuated of Here it is dome.Carry out dome servo-actuated control in order to following method at present.
At a certain position of dome orientation kinematic train setting angle detecting element, be used to detect the angle that dome turns over, and the zero-bit detector switch be installed at the zero-bit place of dome, constitute the angular measure system of increment type, obtain the current orientation of dome.Simultaneously,, calculate the Horizon orientation of pointing of the telescope, control the dome forward, reverse or stop according to the difference in dome orientation and pointing of the telescope orientation and end according to longitude and latitude, the telescopical frame form on telescopical shaft angle, installation ground.
Dome angle detection device commonly used has: Hall element+magnet steel, grating encoder, mechanical fluted disc+photodiode etc.
Mainly there is the shortcoming of four aspects in this control method.At first, when with " Hall element+magnet steel " when making detecting element, the life-span of Hall element is shorter, damages easily, brings higher maintenance cost.When with " grating encoder ", when mechanical fluted disc is made detecting element, shake greatly during owing to the dome motion, ambient dust is many, and grating is broken easily, and the gap of fluted disc is easily stopped up by dust, causes angular detection malfunctioning.Which kind of detecting element all can not reach reliable, durable requirement, secondly, because dome weight is big, generally drive with powerful three phase electric machine, at electric motor starting/stop, the relay adhesive/when unclamping, the counting system is subjected to stronger electromagnetic interference (EMI), counting is made mistakes easily; The 3rd, for the disjoint frame form of telescopical two axles, altitude azimuth form of German, horizontal, band counterweight balance etc. for example, the orientation that is got by the calculating of telescope shaft angle is not the true bearing of pointing of the telescope, need be according to the frame dimensions of telescope, dome, astronomical mathematics method with complexity is corrected, and is called the eccentric correction of an intersection point, its formula difference of telescope of many, the different frame forms of parameter of the derivation of equation difficulty of correction, need actual measurement; The 4th, this method requires the intersection point of telescope diaxon should be in the centre of sphere of dome, or is on the pedal line by the dome centre of sphere.Increased mounting hardness,, be difficult to accurate installation more for the disjoint situation of telescope diaxon.Owing to there is this this shortcoming, the dome servo-actuated is difficult to the precision that reaches higher, and reliability is difficult to guarantee, even the situation that lens barrel is blocked by dome often takes place,
Summary of the invention
Above-mentioned deficiency at prior art, it is a kind of based on the dome synchronization control method of laser indication with Flame Image Process that the present invention will provide, this new dome synchronization control method is with cheap " IP Camera+laser designator ", whether automatically detect dome skylight aims at telescope and (and needn't detect the orientation values of dome, do not need the dome azimuth detecting apparatus), the telescope that can be suitable for any frame form, whether the telescope diaxon is intersected the installation site that reaches intersection point does not require, the equipment of whole servomechanism and installation cost do not have to increase substantially, but safeguard, maintenance cost declines to a great extent, dependable performance is durable, interference resistance is strong, and versatility is good.The present invention also will provide this follow-up control method employed equipment.
The scheme of finishing the foregoing invention task is:
A kind of based on the dome synchronization control method of laser indication with Flame Image Process, step is as follows:
(1), on the telescope lens barrel, a camera is installed, the camera optical axis is substantially parallel with telescope optic axis, camera is by acquisition parameters such as software set time shutter, frame per second;
On telescope lens barrel outer wall, some laser instruments (being as laser designator in this programme) equally spaced are installed, the optical axis of all laser instruments is substantially parallel with telescope optic axis;
Described " uniformly-spaced " is meant the angle around the telescope lens barrel.When for example being installed, 3 laser instruments are 120 ° at interval; Be 60 ° at interval when 6 laser instruments are installed.The application recommends: every 90 ° a laser instrument, totally 4 are installed.
(2), computing machine is every the time of setting, and gathers 10～50 width of cloth images, the denoising that superposes obtains the image at pointing of the telescope place;
(3), according to the color of selected laser designator, by software filtering image background, obtain the laser spots number;
(4), the servo-actuated Control Software is according to the number of laser spots, control dome motor just changes, reverse, disappears up to laser spots, this moment, telescope was aimed at the skylight, stopped the dome motor, this time servo-actuated is moved and is finished;
(5), repeatedly carry out above (2) step to the (4) step, up to observing end or cancelling servo-actuated control.
The principle of work of above method is: when the telescope lens barrel pointed in " dome skylight " scope, laser spots penetrated the skylight, can not be reflected, and camera is clapped the picture less than laser spots, and this moment, the dome motor need not turn round; When lens barrel points to not all in " dome skylight ", promptly during partly or entirely being blocked by dome of lens barrel, laser is reflected by the dome inwall, and camera can photograph at least one laser spots, and this moment, the dome motor need rotate.
The prioritization scheme of above method has:
1, the laser instrument of on telescope lens barrel outer wall, installing; The laser designator of more number more is installed on the external polygonal summit of lens barrel (for example, increase by three laser designator, be installed on the external vertex of a triangle of lens barrel);
2, the color of described laser designator (wavelength) is selected according to the wave band of observation, and general choosing is red, and is little to the influence of the CCD of observation and human eye.
The equipment that said method uses is: a kind of dome servo-actuated opertaing device based on laser indication and Flame Image Process, be provided with the dome drive motor, and the motor-drive circuit of computer control constitutes the servo-actuated control gear, it is characterized in that,
On the telescope lens barrel, camera is installed, this camera optical axis is substantially parallel with telescope optic axis, and camera is by acquisition parameters such as software set time shutter, frame per second;
On telescope lens barrel outer wall, some laser instruments (being as laser designator in this programme) equally spaced are installed, the optical axis of all laser instruments is substantially parallel with telescope optic axis;
The output of camera connects the computer of servo-actuated control gear.
The present invention has overcome the deficiencies in the prior art, adopts civilian camera and laser designator, by the computer acquisition image, obtains the information whether telescope and skylight are aimed at through software processes.Whether can detect dome skylight automatically aims at telescope; And needn't detect the orientation values of dome; Do not need to be provided with the pick-up unit in dome orientation; Be not subjected to the influence of telescope frame form, mounting means etc., can guarantee reliably that pointing of the telescope and dome skylight are consistent, highly versatile, low, anti-interference, the dependable performance of cost always.
Embodiment
Embodiment 1, astronomical observatory of Nanjing ZhongKe astronomy Instruments Co., Ltd dome servomechanism.On the telescope lens barrel, a camera is installed, the camera optical axis is substantially parallel with telescope optic axis, and camera is by acquisition parameters such as software set time shutter, frame per second.On telescope lens barrel outer wall, some laser instrument indicators equally spaced are installed, the optical axis of all laser instruments is substantially parallel with telescope optic axis.
The software processing flow process of servo-actuated control gear is as follows:
1., obtain a two field picture, all processed for guaranteeing every two field picture, should dash in the full message in district at the frame silk ribbon attached to an official seal or a medal of video card, obtain the view data of this frame;
2., to N two field picture stack, with enhancing signal, prevent to disturb, N sets according to measured result, can choose at 20～50, per second is caught 10～30 two field pictures, an available image can superpose out in 1～2 second;
3., the image after the stack being done conventional smoothing denoising handles;
4., according to laser color and dome inwall color wiping out background
The filtering of gray scale background: (three differences less than M, M can set 20-50) that three color components of red green orchid (R, G, B) are approaching is changed to zero;
The filtering of dome inwall color: the difference of three color components of RGB and the consistent pixel of dome inwall color characteristic are changed to zero;
The difference of three color components of other color dot filtering: RGB and the inconsistent pixel of laser color feature are changed to zero;
5., calculate the number of laser spots:
Adopt the connected domain method to calculate laser spots, when a connected domain count greater than V the time, be defined as a laser spots; V is obtained through actual measurement by light beam diameter, the laser intensity decision of selected laser pen.
6., the dome motor drive direction is asked in variation according to the telescope orientation:
Regularly calculate the telescope orientation, relatively this orientation and orientation last time, as increase, then the dome direction is for just; As reduce, then the dome direction is anti-.
7., judge the motor start-stop according to the number of laser spots
Count greater than zero the time when laser, start the dome motor; Count when equalling zero when laser, stop the dome motor, this servo-actuated action is finished
8., circulation execution said process finishes until guiding.
Claims (7)
1. one kind based on the laser indication dome synchronization control method with Flame Image Process, it is characterized in that step is as follows:
(1), on the telescope lens barrel, a camera is installed, the camera optical axis is substantially parallel with telescope optic axis, camera is by software set time shutter and frame per second;
On telescope lens barrel outer wall, some laser instruments equally spaced are installed, the optical axis of all laser instruments is substantially parallel with telescope optic axis; Described " uniformly-spaced " is meant the angle around the telescope lens barrel;
(2), computing machine is every the time of setting, 10～50 width of cloth images that acquisition camera is taken, the denoising that superposes obtains the image at pointing of the telescope place;
(3), according to the color of selected laser instrument, by software filtering image background, obtain the laser spots number;
(4), the servo-actuated Control Software is according to the number of laser spots, control dome motor forward or reverse disappears up to laser spots, this moment, telescope was aimed at the skylight, stopped the dome motor, this time servo-actuated action is finished;
(5), repeatedly carry out above (2) step to the (4) step, up to observing end or cancelling servo-actuated control.
2. according to claim 1 based on the dome synchronization control method of laser indication with Flame Image Process, it is characterized in that, in (1) step, increase following operation: the laser instrument that quantity is corresponding with the external polygonal summit number of described lens barrel is installed on this external polygonal summit of described lens barrel.
3. according to claim 1 based on the dome synchronization control method of laser indication with Flame Image Process, it is characterized in that the color of described laser instrument is selected redness for use.
4. according to claim 1 or 2 or 3 described dome synchronization control methods based on laser indication and Flame Image Process, it is characterized in that the frame per second that the camera described in (2) step is set is: per second is caught 10～30 two field pictures.
5. the described employed equipment of dome synchronization control method based on laser indication and Flame Image Process of claim 1 is provided with the dome drive motor, and the motor-drive circuit of computer control constitutes the servo-actuated control gear, it is characterized in that,
On the telescope lens barrel, camera is installed, this camera optical axis is parallel with telescope optic axis, and camera is by software set time shutter and frame per second;
On telescope lens barrel outer wall, some laser instruments equally spaced are installed, the optical axis of all laser instruments is parallel with telescope optic axis; Described " uniformly-spaced " is meant the angle around the telescope lens barrel;
The output of camera connects the computer of servo-actuated control gear.
6. according to claim 5 based on the employed equipment of dome synchronization control method of laser indication with Flame Image Process, it is characterized in that, quantity and the corresponding laser instrument of this external polygonal summit number also are installed on the external polygonal summit of lens barrel.
7. according to claim 5 or the 6 described employed equipment of dome synchronization control method, it is characterized in that the color of described laser instrument is selected redness for use based on laser indication and Flame Image Process.
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| CN2008100225512A CN101344638B (en) | 2008-08-15 | 2008-08-15 | Dome synchronization control method and equipment based on laser indication and image processing |
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| CN2008100225512A CN101344638B (en) | 2008-08-15 | 2008-08-15 | Dome synchronization control method and equipment based on laser indication and image processing |
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| CN101344638A CN101344638A (en) | 2009-01-14 |
| CN101344638B true CN101344638B (en) | 2010-12-08 |
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Address after: 210042 Huayuan Road, Nanjing, Jiangsu Province, No. 6-10 Patentee after: Chinese Academy of Sciences, Nanjing Astronomical Instrument Co., Ltd. Address before: 210042 Huayuan Road, Nanjing, Jiangsu Province, No. 6-10 Patentee before: CAS Nanjing Astronomical Instruments Co., Ltd. |