CN103823298B - Automatic leveling system for movable zenith telescope - Google Patents
Automatic leveling system for movable zenith telescope Download PDFInfo
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- CN103823298B CN103823298B CN201410099922.2A CN201410099922A CN103823298B CN 103823298 B CN103823298 B CN 103823298B CN 201410099922 A CN201410099922 A CN 201410099922A CN 103823298 B CN103823298 B CN 103823298B
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Abstract
The invention discloses an automatic leveling system for a movable zenith telescope, aiming to realize high-accuracy, automatic and rapid leveling of the movable zenith telescope and accurately adjusting the horizontal state of a platform within 1". The automatic leveling system comprises a control system, a high-accuracy clinometer, a precision rotary table, a tilt angle sensor, a movable platform, opposite gratings, a fine leveling motor, a fine leveling adjusting screw rod, a coarse leveling motor, a telescopic rod, a leveling platform upper plate and a leveling platform lower plate. The lower end of the fine leveling adjusting screw rod is provided with a spherical bearing, so that the influence of non-uniform stress of a support system on the leveling accuracy and stability of the system in an adjusting process is avoided. According to the system, the horizontal state of an instrument is acquired by using the tilt angle sensor, the platform is adjusted within 2' by using the coarse leveling motor and the telescopic rod, and the accurate inclination value of the platform is obtained according to the high-accuracy clinometer. The opposite gratings are combined with a direct current motor, digitalization of the direct current motor is realized, and the fine leveling motor is controlled to finish high-accuracy, rapid and automatic leveling with the leveling accuracy of 1". The automatic leveling system has the advantages of convenience, rapidness, practicability and high accuracy.
Description
Technical field
The invention belongs to astronomical observation field, the particularly horizontalization of numeral zenith telescope and theodolite adjust.
Background technology
Numeral zenith telescope (Digital Zenith Telescope, DZT), by the 0-180 ° of fixed star turned round near observation zenith, is processed by data, is calculated astronomical longitude and latitude and the deviation of plumb line of observation station.DZT needs the level ensureing instrument to be stably maintained at 1 in whole observation process " within, and need to record the high-precision electronic dipmeter numerical value in the observation moment for tilt correction.Accordingly, it would be desirable to high accuracy, automatically quickly horizontal adjustment system ensure and maintain the level of instrument 1 " in.
DZT is a kind of movably scope, and observation place circumstance complication, therefore level is easily subject to the impact of external environment.Traditional zenith telescope is fixed observer, horizontal adjustment for manually to manually adjust, and in observation process cannot the level of monitoring apparatus in real time, efficiency is low, low precision, can not realize the automatic observation of instrument.
Summary of the invention
For realizing the fast automatic horizontalization of high accuracy of numeral zenith telescope, the present invention is by thick, essence two set horizontalization system, utilize 3 adjustment modes to complete the horizontalization of platform, can ensure that a whole set of movably observation platform realizes precision is 1 " accurate fast automatic horizontalization, provide a reliable high accuracy platform for instrument and equipment.
The problem of the invention solves the problems that is the high accuracy of platform, the key technology of fast automatic horizontalization.Whole system is made up of a control system, obliquity sensor, thick horizontalization motor, expansion link, two-dimension high-precision electrical tilt instrument, high-accuracy turntable, relative grating, essence horizontalization motor, essence horizontalization adjustment screw rod, horizontalization platform upper plate, horizontalization platform lower plate.
Two-dimension high-precision electrical tilt instrument is fixed on described high-accuracy turntable；Described high-accuracy turntable links together with horizontalization platform upper plate, and vertical with horizontalization platform；Described obliquity sensor links together with described horizontalization platform, it is provided that the thick level of system；Described mobile platform links together with horizontalization platform lower plate；Described thick horizontalization motor links together with mobile platform；Described expansion link links together with rough ordinary telegram machine；Described expansion link links together with described mobile platform；Described relative grating is connected with described smart horizontalization motor respectively；Described relative grating adjusts screw rod with described smart horizontalization and is connected, by described relative grating control described smart horizontalization motor drive described in the adjustment amplitude of smart horizontalization screw rod, complete the horizontal adjustment of described horizontalization platform.
Preferably, above-mentioned high accuracy fast automatic horizontalization system has the following characteristics that
Described horizontalization system is positioned on a set of mobile platform, can drag mobile platform and complete observation mission to different places.
Preferably, above-mentioned high accuracy fast automatic horizontalization system tool also following characteristics:
Described horizontalization system is completed last horizontalization work by thick horizontalization system and essence horizontalization system.Wherein thick horizontalization system is made up of obliquity sensor, mobile platform, thick horizontalization motor, expansion link.Essence horizontalization system is adjusted screw rod formed with relative grating by two-dimension high-precision electrical tilt instrument, essence horizontalization motor, essence horizontalization.
Preferably, above-mentioned high accuracy fast automatic horizontalization system tool also following characteristics:
The every 0.1s of described obliquity sensor exports a horizontal data, and its range is ± 30 °, and precision is 1 '.
Preferably, above-mentioned high accuracy fast automatic horizontalization system tool also following characteristics:
Described thick horizontalization drive system can reach the range ability of two-dimension high-precision electrical tilt instrument automatically within instrument horizontal adjustment to 2 '.
Preferably, above-mentioned high accuracy fast automatic horizontalization system tool also following characteristics:
The resolution of described two-dimension high-precision electrolevel is 0.0002 ", i.e. lnrad, range is ± 2 ', can accurately measure the level of current system.
Preferably, above-mentioned high accuracy fast automatic horizontalization system also has the following characteristics that
Described relative grating often rotates a circle 8000 pulse edges of output, each pulse can control described horizontalization motor drive described in the horizontalization horizontalization precision that adjust screw mandrel to adjust equivalent be 0.04 ", it is ensured that platform is better than 1 ".
Preferably, above-mentioned high accuracy fast automatic horizontalization system also has the following characteristics that
Described two-dimension high-precision electrolevel can monitor the level of platform in real time, if greater than 1 ", then can adjust screw mandrel by the horizontalization described in horizontalization motor driving described in the described gate control of light relatively and plateau levels is adjusted to 1 " in.
Preferably, above-mentioned high accuracy fast automatic horizontalization system also has the following characteristics that
3 described horizontalizations, after the level learning described horizontalization platform, can adjust screw rod by the horizontalization described in the horizontalization motor driving described in described 3 the upper described gate control of light relatively simultaneously complete the horizontalization work of platform.
Instant invention overcomes the problem that existing horizontalization method precision is low, fast automatic can not complete horizontalization, using the teaching of the invention it is possible to provide horizontalization precision is better than 1 " high accuracy fast automatic horizontalization system, improve work efficiency, and realize simple, have broad application prospects.
Accompanying drawing explanation
Fig. 1 is the zenith telescope horizontalization system framework figure of the present invention；
Fig. 2 is the top view of the horizontalization system of the present invention.
Detailed description of the invention
As it is shown in figure 1, a kind of automatic horizontally-placed system for zenith telescope, this system includes Real-time Water level state monitoring system；Moveable platform；Horizontalization drive system；Horizontalization platform and electric-control system four part composition.
Real-time Water level state monitoring system is made up of the two-dimension high-precision electrical tilt instrument instrument being fixed on high-accuracy turntable and the obliquity sensor being fixed on horizontalization platform upper plate.Two horizontal survey directions of two-dimension high-precision electrical tilt instrument will be with the X of the coordinate system of three smart horizontalization motor compositions, and Y-axis is parallel.Two horizontal survey directions of obliquity sensor will be with the X of the coordinate system of three thick horizontalization motor compositions, and Y-axis is parallel.
Horizontalization drive system is made up of thick horizontalization drive system and essence horizontalization drive system two parts.Thick horizontalization drive system is made up of thick horizontalization motor and expansion link, and thick horizontalization motor is connected with expansion link.Essence horizontalization drive system is adjusted screw rod by essence horizontalization motor, relative grating and horizontalization and forms, and essence horizontalization motor is connected with relative grating, and relative grating adjusts screw rod with horizontalization and is connected.The adjustment equivalent of horizontalization motor is controlled by relative grating.
Horizontalization platform is made up of horizontalization platform upper plate and horizontalization platform lower plate two parts, and wherein, horizontalization platform upper plate is fixed together with high-accuracy turntable, essence horizontalization motor, and horizontalization platform lower plate adjusts screw rod with horizontalization and is connected.By controlling the rotation of essence horizontalization motor, change the height of horizontalization platform upper plate, thus realize the horizontalization of instrument.
Mobile platform links together with rough flat drive system, drives expansion link to support mobile platform by thick horizontalization motor.
Horizontalization platform lower plate is fixed together with rough flat drive system, thick horizontalization drive system support horizontalization platform.
Electric-control system is made up of two-dimension high-precision electrical tilt instrument data reception module, obliquity sensor data reception module, thick horizontalization motor control module, relative grating control module, absolute grating control module, step motor control module, essence horizontalization motor control module.Control system is after the data receiving obliquity sensor, it is determined that current level, if greater than 2 ', then drives thick horizontalization system, level is adjusted to the range ability of two-dimension high-precision electrical tilt instrument, carries out essence horizontalization operation the most again.Control system is receiving two-dimension high-precision electrical tilt instrument after the data of 0 degree of position, and high-accuracy turntable rotation turnback again reads off the data of two-dimension high-precision electrical tilt instrument, obtains the heeling condition of instrument according to twice horizontal data difference.If difference is more than 1 ", then drive three smart horizontalization motors to adjust level, the accurate horizontalization of completion system.
The present invention completes the smart horizontalization of platform by 3 adjustment, and three smart horizontalization motors for adjusting adjust point, as illustrated in fig. 1 and 2, are respectively some A, some B, some C.Its method of work and step are as described below:
(1) 3 A, B, C adjusting being positioned in a rectangular coordinate system, wherein A, B point is positioned in X-axis, and C point is used for Y-axis.Being fixed on rotation platform by two-dimension high-precision electrical tilt instrument, one-dimensional same X-axis therein is parallel, and the most one-dimensional same Y-axis is parallel.Read the numerical value of two-dimension high-precision electrical tilt instrument, obtain two data (X0, Y0) of instrument level.
(2) by rotation platform through 180 degree turn round, read two-dimension high-precision electrical tilt instrument, again obtain two data (X1, Y1) of instrument level.
(3) (X1, Y1), (X0, Y0) are subtracted each other, obtain the differential horizontal dX of X-direction, the differential horizontal dY of Y direction.
(4) (X1, Y1), (X0, Y0) are added and are averaged, obtain the dbjective state (X3, Y3) of horizontal adjustment.
(5) light gate control horizontalization motor drives horizontalization to adjust structure relatively, horizontal state value d_value that each pulse of grating is changed relatively, dX/d_value calculates X-direction needs adjustment step pitch number X_steps, dY/d_value to calculate the step pitch number Y_steps that Y-direction needs to adjust.
(6) adjusting A, B of X-direction, every some direction adjusts step pitch number X_steps/2, the adjustment step pitch number Y_steps of Y-direction.
(7) level value of two-dimension high-precision dipmeter is read, it is judged that with the differential horizontal of the dbjective state (X3, Y3) of horizontal adjustment whether 2 " in.If greater than 2 in ", then continue to adjust, until 2 ", and 180 degree are turned round, and again read off the level value of two-dimension high-precision dipmeter, terminal level's state of detecting instrument.
Although the present invention is open as above with preferred embodiment, but it is not for limiting the present invention, without departing from the spirit and scope of the present invention, technical solution of the present invention is made possible variation and amendment to any those skilled in the art by the method and the technology that may be by the disclosure above.Therefore, every content without departing from technical solution of the present invention, any simple modification, equivalent variations and modification above example made according to the technical spirit of the present invention, belong to the protection domain of technical solution of the present invention.
Claims (8)
1. for may move an automatic horizontally-placed system for zenith telescope, including:
Real-time Water level state monitoring system, by the two-dimension high-precision electrical tilt instrument being fixed on high-accuracy turntable and be fixed on inclining of horizontalization platform upper plate
Angle transducer forms, the X of the coordinate system that two horizontal survey directions of two-dimension high-precision electrical tilt instrument form with three smart horizontalization motors, and Y-axis is put down
OK, the X of the coordinate system that two horizontal survey directions of obliquity sensor form with three thick horizontalization motors, Y-axis is parallel；
Horizontalization drive system, is made up of thick horizontalization drive system and essence horizontalization drive system, and wherein thick horizontalization drive system includes thick horizontalization motor and stretches
Contracting bar, essence horizontalization drive system includes that essence horizontalization motor, relative grating and essence horizontalization adjust screw rod；
Horizontalization platform, including horizontalization platform upper plate and horizontalization platform lower plate, wherein, horizontalization platform upper plate is fixed with high-accuracy turntable, essence horizontalization motor
Together, horizontalization platform lower plate adjusts screw rod with essence horizontalization and is connected with rough flat drive system, and instrument level is adjusted to 2 ' by thick horizontalization system
After, two-dimension high-precision electrical tilt instrument provide the instrument accurate degree status information in 0 ° and 180 ° orientation, obtain differential horizontal (Δ X, Δ
Y), wherein Δ X is the differential horizontal of X-direction, and Δ Y is the differential horizontal of Y direction, and control system distributes essence horizontalization drive system automatically
Adjustment amplitude, complete the accurate horizontalization of instrument；
Electric-control system, including two-dimension high-precision electrical tilt instrument data reception module, obliquity sensor data reception module, thick horizontalization motor control mould
Block, relative grating control module, essence horizontalization motor control module.
2. the automatic horizontally-placed system for may move zenith telescope as claimed in claim 1, it is characterised in that obliquity sensor, control system
It is driven through Closed loop operation mode with thick horizontalization and is better than the thick horizontalization of 2 ' to realize horizontalization precision.
3. the automatic horizontally-placed system for may move zenith telescope as claimed in claim 1, it is characterised in that inclined by two-dimension high-precision electronics
Tiltedly instrument provides the differential horizontal information of instrument, is realized horizontalization precision by Closed loop operation mode be better than 1 " by control system, essence horizontalization drive system
Essence horizontalization.
4. the automatic horizontally-placed system for may move zenith telescope as claimed in claim 1, it is characterised in that the obliquity sensor sampling time is
0.1s, range is ± 30 °, and certainty of measurement is 1 '.
5. the automatic horizontally-placed system for may move zenith telescope as claimed in claim 1, it is characterised in that essence horizontalization drive system passes through phase
Adjustment equivalent to light gate control essence horizontalization motor, it is achieved the digitized of essence horizontalization motor.
6. the automatic horizontally-placed system for may move zenith telescope as claimed in claim 4, it is characterised in that grating relatively has 2000 grooves,
Can export 8000 pulses, completing step angle is 0.04 " adjustment equivalent.
Automatic horizontally-placed system for may move zenith telescope the most according to claim 2, it is characterised in that by the rotation of essence horizontalization motor
Turn, accurately control essence horizontalization and adjust the adjustment up and down of structure.
Automatic horizontally-placed system for may move zenith telescope the most according to claim 1, it is characterised in that two-dimension high-precision electrical tilt
The instrument sampling time is 5s, and resolution is 0.0002 ", range is ± 2 '.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410099922.2A CN103823298B (en) | 2014-03-19 | 2014-03-19 | Automatic leveling system for movable zenith telescope |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410099922.2A CN103823298B (en) | 2014-03-19 | 2014-03-19 | Automatic leveling system for movable zenith telescope |
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| Publication Number | Publication Date |
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| CN103823298A CN103823298A (en) | 2014-05-28 |
| CN103823298B true CN103823298B (en) | 2017-01-11 |
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| CN201410099922.2A Expired - Fee Related CN103823298B (en) | 2014-03-19 | 2014-03-19 | Automatic leveling system for movable zenith telescope |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106679629B (en) * | 2017-01-13 | 2021-03-23 | 西南交通大学 | Ruler type level meter based on grating diffraction and method for measuring inclined plane inclination angle |
| CN108490978A (en) * | 2018-02-08 | 2018-09-04 | 河南科技大学 | A kind of PTZ level control method based on two-dimensional coordinate |
| CN110398222B (en) * | 2019-08-21 | 2021-09-21 | 北京航天发射技术研究所 | Leveling angle and erecting angle measuring method, device and system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3862423A (en) * | 1973-06-11 | 1975-01-21 | Albert F Kutas | Scanning thermography |
| CN201000507Y (en) * | 2007-01-29 | 2008-01-02 | 王亦雄 | Astronomical telescope regulating support device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61201110A (en) * | 1985-03-05 | 1986-09-05 | Nippon Kogaku Kk <Nikon> | Simplified range finder for telescope |
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2014
- 2014-03-19 CN CN201410099922.2A patent/CN103823298B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3862423A (en) * | 1973-06-11 | 1975-01-21 | Albert F Kutas | Scanning thermography |
| CN201000507Y (en) * | 2007-01-29 | 2008-01-02 | 王亦雄 | Astronomical telescope regulating support device |
Non-Patent Citations (1)
| Title |
|---|
| 数字天顶摄影仪确定垂线偏差及其精度分析;郭金运等;《武汉大学学报· 信息科学版》;20110930;第36卷(第9期);第1086-1088页 * |
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