CN103823298A - Automatic leveling system for movable zenith telescope - Google Patents

Abstract

The invention is used to solve the problem of high-precision automatic and rapid leveling of the movable zenith telescope, and can accurately adjust the horizontal state of the platform to within 1". The invention includes: a control system, a high-precision inclinometer, a precision turntable, an inclination sensor, and a mobile platform , Relative grating, fine leveling motor, fine leveling adjustment screw, coarse leveling motor, telescopic rod, leveling platform upper plate, leveling platform lower plate. The lower end of the fine leveling adjustment screw adopts spherical bearings to avoid support during adjustment Uneven force on the system affects the leveling accuracy and stability of the system. The system uses the inclination sensor to obtain the horizontal state of the instrument, and adjusts the platform to within 2′ by the coarse leveling motor and the telescopic rod, and then the platform obtained by the high-precision inclinometer Accurate tilt value. The relative grating is combined with the DC motor to realize the digitalization of the DC motor, control the fine leveling motor, and complete the high-precision and fast automatic leveling with a leveling accuracy of 1″. The invention has the advantages of convenience, quickness, practicality and high precision.

Description

An automatic leveling system for a movable zenith telescope

technical field

The invention belongs to the field of astronomical observation, in particular to the leveling adjustment of a digital zenith telescope and a theodolite. the

Background technique

The Digital Zenith Telescope (DZT) turns around 0-180° to observe the stars near the zenith, and calculates the astronomical latitude and longitude and vertical deviation of the observation point through data processing. DZT needs to ensure that the horizontal state of the instrument is stably maintained within 1″ during the entire observation process, and needs to record the value of the high-precision electronic inclinometer at the observation moment for tilt correction. Therefore, a high-precision, automatic and fast level adjustment system is required To ensure and maintain the horizontal state of the instrument within 1". the

DZT is a kind of mobile observation equipment, and the observation site environment is complex, so the horizontal state is easily affected by the external environment. The traditional zenith telescope is fixed observation, the level adjustment is manually adjusted, and the level status of the instrument cannot be monitored in real time during the observation process, the efficiency is low, the accuracy is poor, and the automatic observation of the instrument cannot be realized. the

Contents of the invention

In order to realize the high-precision and rapid automatic leveling of the digital zenith telescope, the present invention uses two sets of coarse and fine leveling systems to complete the leveling of the platform by using a three-point adjustment method, which can ensure that the accuracy of the whole set of movable observation platforms is 1 "Precise and fast automatic leveling, providing a reliable high-precision platform for instruments and equipment. 

The problem to be solved by the present invention is the key technology of high-precision, fast and automatic leveling of the platform. The whole system consists of a control system, an inclination sensor, a coarse leveling motor, a telescopic rod, a two-dimensional high-precision electronic inclinometer, a high-precision turntable, a relative grating, a fine leveling motor, a fine leveling adjustment screw, and a leveling platform upper plate , Set flat platform and lower plate. the

The two-dimensional high-precision electronic inclinometer is fixed on the high-precision turntable; the high-precision turntable is connected with the upper plate of the leveling platform, and is perpendicular to the leveling platform; the inclination sensor is the same as the leveling platform The platforms are connected together to provide the rough level state of the system; the mobile platform is connected with the lower plate of the leveling platform; the rough leveling motor is connected with the mobile platform; the telescopic rod is connected with the rough leveling The motors are connected together; the telescopic rod is connected with the mobile platform; the relative gratings are respectively connected with the fine leveling motors; the relative gratings are connected with the fine leveling adjustment The screws are connected to each other, and the adjustment range of the fine leveling motor driven by the fine leveling screw is controlled by the relative grating to complete the level adjustment of the leveling platform. the

Preferably, the above-mentioned high-precision fast automatic leveling system has the following characteristics:

The leveling system is placed on a set of mobile platforms, which can be dragged to different places to complete observation tasks. the

Preferably, the above-mentioned high-precision fast automatic leveling system has the following characteristics:

The described leveling system completes the final leveling work by a rough leveling system and a fine leveling system. The rough leveling system consists of an inclination sensor, a mobile platform, a rough leveling motor, and a telescopic rod. The fine leveling system consists of a two-dimensional high-precision electronic inclinometer, a fine leveling motor, a fine leveling adjustment screw and a relative grating. the

Preferably, the above-mentioned high-precision fast automatic leveling system has the following characteristics:

The inclination sensor outputs horizontal data every 0.1s, its range is ±30°, and its accuracy is 1′. the

Preferably, the above-mentioned high-precision fast automatic leveling system has the following characteristics:

The rough leveling drive system can automatically adjust the level of the instrument to within 2', reaching the range range of the two-dimensional high-precision electronic inclinometer. the

Preferably, the above-mentioned high-precision fast automatic leveling system has the following characteristics:

The resolution of the two-dimensional high-precision electronic level is 0.0002", that is, lnrad, and the range is ±2', which can accurately measure the level status of the current system. 

Preferably, the above-mentioned high-precision fast automatic leveling system also has the following characteristics:

The relative grating outputs 8,000 pulse edges per one revolution, and each pulse can control the leveling motor to drive the leveling adjustment screw with an adjustment equivalent of 0.04", ensuring a leveling accuracy of the platform better than 1". . the

Preferably, the above-mentioned high-precision fast automatic leveling system also has the following characteristics:

The two-dimensional high-precision electronic level can monitor the level state of the platform in real time. If it is greater than 1", it will control the leveling motor through the relative grating to drive the leveling adjustment screw to adjust the level of the platform to within 1″. the

Preferably, the above-mentioned high-precision fast automatic leveling system also has the following characteristics:

For the three-point leveling, after knowing the horizontal state of the leveling platform, the leveling motor can be controlled to drive the leveling adjustment through the relative gratings on the three points at the same time The screw completes the leveling work of the platform. the

The present invention overcomes the problems that the existing leveling method has low precision and cannot be quickly and automatically completed, and can provide a high-precision and fast automatic leveling system with a leveling accuracy better than 1", which improves work efficiency, is simple to implement, and has the advantages of Broad application prospects.

Description of drawings

Fig. 1 is a zenith telescope leveling system frame diagram of the present invention;

Figure 2 is a top view of the leveling system of the present invention. the

Detailed ways

As shown in Figure 1, an automatic leveling system for a zenith telescope, the system includes a real-time horizontal state monitoring system; a movable platform; a leveling drive system; a leveling platform and an electronic control system. the

The real-time horizontal state monitoring system consists of a two-dimensional high-precision electronic inclinometer fixed on a high-precision turntable and an inclination sensor fixed on the upper plate of the leveling platform. The two horizontal measurement directions of the two-dimensional high-precision electronic inclinometer should be parallel to the X and Y axes of the coordinate system composed of three precision leveling motors. The two horizontal measurement directions of the inclination sensor should be parallel to the X and Y axes of the coordinate system composed of three coarse leveling motors. the

The leveling drive system consists of two parts: a rough leveling drive system and a fine leveling drive system. The coarse leveling drive system is composed of a coarse leveling motor and a telescopic rod, and the coarse leveling motor is connected with the telescopic rod. The fine leveling drive system consists of a fine leveling motor, a relative grating and a leveling adjustment screw. The fine leveling motor is connected with the relative grating, and the relative grating is connected with the leveling adjustment screw. The adjustment equivalent of the leveling motor is controlled by the relative grating. the

The leveling platform is composed of two parts: the upper plate of the leveling platform and the lower plate of the leveling platform. The upper plate of the leveling platform is fixed together with the high-precision turntable and the fine leveling motor, and the lower plate of the leveling platform is connected with the leveling adjustment screw. connect. By controlling the rotation of the fine leveling motor, the height of the plate on the leveling platform is changed, so as to realize the leveling of the instrument. the

The mobile platform is connected with the rough flat drive system, and the telescopic rod is driven by the rough level motor to support the mobile platform. the

The lower plate of the leveling platform is fixed together with the rough leveling drive system, and the leveling platform is supported by the rough leveling drive system. the

The electronic control system consists of a two-dimensional high-precision electronic inclinometer data receiving module, an inclination sensor data receiving module, a rough leveling motor control module, a relative grating control module, an absolute grating control module, a stepping motor control module, and a fine leveling motor control module composition. After the control system receives the data from the inclination sensor, it determines the current horizontal state. If it is greater than 2′, it drives the rough leveling system to adjust the horizontal state to within the range of the two-dimensional high-precision electronic inclinometer, and then performs fine leveling. leveling operation. After the control system receives the data of the two-dimensional high-precision electronic inclinometer at 0 degrees, the high-precision turntable rotates 180 degrees to read the data of the two-dimensional high-precision electronic inclinometer again, and obtains the inclination of the instrument according to the difference between the two horizontal data state. If the difference is greater than 1", drive three fine leveling motors to adjust the level to complete the precise leveling of the system. 

The present invention completes the precise leveling of the platform through three-point adjustment, and the three fine-leveling motor adjustment points for adjustment, as shown in Figures 1 and 2, are point A, point B, and point C respectively. Its working method and steps are as follows:

(1) Place the adjusted three points A, B, and C in a rectangular coordinate system, where points A and B are on the X axis, and point C is on the Y axis. Fix the two-dimensional high-precision electronic inclinometer on the rotating platform, one of which is parallel to the X-axis, and the other one is parallel to the Y-axis. Read the value of the two-dimensional high-precision electronic inclinometer to obtain two data (X0, Y0) of the horizontal state of the instrument. the

(2) Turn the rotating platform through 180 degrees, read the two-dimensional high-precision electronic inclinometer, and obtain two data (X1, Y1) of the horizontal state of the instrument again. the

(3) Subtract (X1, Y1) and (X0, Y0) to obtain the horizontal difference dX in the X-axis direction and the horizontal difference dY in the Y-axis direction. the

(4) Add (X1, Y1) and (X0, Y0) and take an average to obtain the level-adjusted target state (X3, Y3). the

(5) Relative to the grating control leveling motor drive leveling adjustment structure, relative to the horizontal state value d_value changed by each pulse of the grating, dX/d_value calculates the number of X_steps that need to be adjusted in the X direction, and dY/d_value calculates the need to adjust the Y direction Number of steps to adjust Y_steps. the

(6) Adjust A and B in the X-axis direction, adjust the number of steps X_steps/2 in each point direction, and adjust the number of steps Y_steps in the Y direction. the

(7) Read the level value of the two-dimensional high-precision inclinometer, and judge whether the level difference with the target state (X3, Y3) of level adjustment is within 2″. If it is greater than 2″, continue to adjust until it is within 2″ , and turn around 180 degrees, read the level value of the two-dimensional high-precision inclinometer again, and detect the final level state of the instrument. 

Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone skilled in the art can use the methods and techniques disclosed above to implement the technical solution of the present invention without departing from the spirit and scope of the present invention. subject to possible changes and modifications. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention, which do not deviate from the technical solution of the present invention, all belong to the protection scope of the technical solution of the present invention. the

Claims (8)

1. An automatic leveling system for a movable zenith telescope, comprising: The real-time horizontal state monitoring system consists of a two-dimensional high-precision electronic inclinometer fixed on a high-precision turntable and an inclination sensor fixed on the upper plate of the leveling platform. The two-dimensional high-precision electronic inclinometer has two horizontal measurement directions and three The X and Y axes of the coordinate system composed of fine leveling motors are parallel, and the two horizontal measurement directions of the inclination sensor are parallel to the X and Y axes of the coordinate system composed of three coarse leveling motors; The leveling drive system is composed of a coarse leveling drive system and a fine leveling drive system, wherein the coarse leveling drive system includes a coarse leveling motor and a telescopic rod, and the fine leveling drive system includes a fine leveling motor, a relative grating and a fine leveling level adjustment screw; The leveling platform includes the upper plate of the leveling platform and the lower plate of the leveling platform, wherein the upper plate of the leveling platform is fixed together with the high-precision turntable and the fine leveling motor, and the lower plate of the leveling platform is the same as the fine leveling adjustment screw and coarse The leveling drive system is connected. After the rough leveling system adjusts the horizontal state of the instrument to 2′, the two-dimensional high-precision electronic inclinometer provides accurate horizontal state information of the instrument at 0° and 180°, and the level difference (ΔX , ΔY), where ΔX is the horizontal difference in the X-axis direction, and ΔY is the horizontal difference in the Y-axis direction. The control system automatically distributes the adjustment range of the fine leveling drive system to complete the precise leveling of the instrument. The electronic control system includes a two-dimensional high-precision electronic inclinometer data receiving module, an inclination sensor data receiving module, a rough leveling motor control module, a relative grating control module, and a fine leveling motor control module. 2. The automatic leveling system for a movable zenith telescope as claimed in claim 1, characterized in that the inclination sensor, the control system and the rough leveling drive realize the leveling accuracy better than 2′ rough setting through a closed-loop working mode flat. 3. The automatic leveling system for a movable zenith telescope as claimed in claim 1, characterized in that the level difference information of the instrument is provided by a two-dimensional high-precision electronic inclinometer, which is passed by the control system and the precise leveling drive system The closed-loop working mode realizes fine leveling with a leveling accuracy better than 1". 4. The automatic leveling system for a movable zenith telescope as claimed in claim 1, characterized in that the sampling time of the inclination sensor is 0.1s, the range is ±30°, and the measurement accuracy is 1′. 5. The automatic leveling system for a movable zenith telescope as claimed in claim 1, characterized in that the fine leveling drive system controls the adjustment equivalent of the fine leveling motor relative to the grating to realize the digitization of the fine leveling motor. 6. The automatic leveling system for a movable zenith telescope as claimed in claim 4, characterized in that there are 2000 reticle lines relative to the grating, and 8000 pulses can be output to complete the adjustment equivalent of a step angle of 0.04 ". 7. The automatic leveling system for a movable zenith telescope according to claim 2, characterized in that the up and down adjustment of the fine leveling adjustment structure is precisely controlled through the rotation of the fine leveling motor. 8. The automatic leveling system for the movable zenith telescope according to claim 1, characterized in that the sampling time of the two-dimensional high-precision electronic inclinometer is 5s, the resolution is 0.0002″, and the range is ±2′.

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