CN105446363A - Automatically-rotatable hyperspectral spectrometer sea surface radiation system and control method thereof - Google Patents

Abstract

The invention discloses an automatically rotating hyperspectrometer sea surface irradiation system and a control method thereof. The system includes a hyperspectrometer, a turntable and a turntable control module. The hyperspectrometer is installed on the turntable. The turntable control module includes a main controller and a Connected parameter input unit, clock unit and power supply unit, the turntable control module also includes a motor drive unit and a motor, the main controller is connected to the motor through the motor drive unit, and the motor is connected to the turntable through the transmission mechanism; the main controller is connected to the turntable through the clock unit and the parameter The input unit obtains the time information and the longitude and latitude information of the system, and generates motor drive commands based on these information to control the rotation of the motor, and the motor drives the turntable to rotate, so as to always keep the observation plane of the hyperspectrometer at the required angle with the direct sunlight plane. The invention avoids the serious influence of the manual rotation system on the measurement.

Description

An automatic rotating hyperspectrometer sea surface irradiation system and its control method

technical field

The invention belongs to the field of hyperspectral measurement technology and the field of automatic control technology, and in particular relates to an automatically rotating hyperspectrometer sea surface irradiation system and a control method thereof.

Background technique

The current hyperspectrometer sea surface irradiance system can provide high-precision hyperspectral measurement methods to determine water-leaving radiance and downlink irradiance. The system's measured water-leaving radiance and reflectance can be used to calculate various ocean elements, including dissolved organic matter, suspended matter, and surface chlorophyll concentrations. Since chlorophyll is an important monitoring indicator of algae biomass, these data can be used to estimate the abundance of phytoplankton and primary marine productivity, detect red tides, etc.

Since the hyperspectrometer sea surface irradiation system often needs to be erected at a high place and requires long-term data output, this brings a lot of inconvenience to the testers. The testers often need to manually climb to the high place and rotate the observation within a certain period of time. flat. The inaccuracy of manual rotation angle, the inconvenience of climbing at high places and the high frequency required for rotation have seriously affected the actual work.

Contents of the invention

In order to solve the technical problems raised by the above-mentioned background technology, the present invention aims to provide an automatic rotating hyperspectrometer sea surface irradiation system and its control method, which avoids the serious impact of the manual rotating system on the measurement.

In order to realize above-mentioned technical purpose, technical scheme of the present invention is:

An automatic rotating hyperspectrometer sea surface irradiation system includes a hyperspectrometer, a turntable and a turntable control module, the hyperspectrometer is installed on the turntable, and the turntable control module includes a main controller and parameter input units respectively connected thereto, A clock unit and a power supply unit, the turntable control module also includes a motor drive unit and a motor, the main controller is connected to the motor through the motor drive unit, and the motor is connected to the turntable through a transmission mechanism; the main controller is connected to the turntable through the clock unit and the parameter input unit Obtain the time information and the latitude and longitude information of the system, and generate motor drive instructions based on these information and send them to the motor drive unit. The motor rotation is controlled by the motor drive unit, and the motor drives the turntable to rotate through the transmission mechanism, so as to always keep the observation plane of the hyperspectrometer in line with the sun. The light hits the plane at the desired angle.

Based on a preferred solution of the above technical solution, the angle between the observation plane of the hyperspectral instrument and the direct sunlight plane is always kept at 135°.

Based on a preferred solution of the above technical solution, the rotation angle ratio of the motor to the turntable is 180:1.

Based on a preferred solution of the above technical solution, the power supply unit includes a solar controller, a solar panel and a battery, the solar panel and the battery supply power to the main controller through the solar controller respectively, and the main controller selects the solar panel or the battery according to the lighting conditions Power supply, and when the battery light is lower than the preset value, control the solar panel to charge it.

Based on a preferred solution of the above technical solution, the turntable is marked with a scale for displaying the rotation angle of the turntable.

Based on a preferred solution of the above technical solution, the transmission mechanism between the motor and the turntable is a worm gear.

Based on a preferred solution of the above technical solution, the main controller adopts an STM32 processor.

Based on a preferred solution of the above technical solution, the motor is a 57 stepper motor.

The present invention also includes a control method based on the above-mentioned automatically rotating hyperspectrometer sea surface irradiation system, comprising the following steps:

(1) In one controller cycle, the main controller first initializes the clock unit and the input unit;

(2) The main controller obtains time information through the clock unit, and the operator inputs the longitude and latitude information of the system to the main controller through the parameter input unit;

(3) The main controller calculates the solar azimuth at the current moment according to the obtained time information and latitude and longitude information;

Among them, the formula for calculating the azimuth of the sun: sin(A)=cos(δ)*sin(t)/cos(h), A is the azimuth of the sun; h is the altitude of the sun, and the formula for calculating it is: sin(h) =sin(φ)*sin(δ)+cos(φ)*cos(δ)*cos(t); t is the solar hour angle, its calculation formula: t=15*(ST-12), where ST= (120-local longitude)/15, φ is local latitude; δ is solar declination, its calculation formula is: sin(δ)=0.39795*cos(0.98563(N-173)), where N indicates that the current date is in a year the Nth day among them;

(4) The main controller obtains the pulse number of motor rotation according to the solar azimuth angle under the calculated current moment, and the solar azimuth angle is divided by the step angle, and the motor drive unit drives the motor to rotate according to the pulse number;

(5) After the motor is running, the transmission mechanism drives the turntable to rotate, thereby changing the observation plane of the hyperspectrometer on the turntable, so that the angle between it and the direct sun plane at the current moment maintains the required angle, and waits for the next control cycle After arrival, return to step (1).

The beneficial effect brought by adopting the above-mentioned technical scheme:

(1) Compared with the prior art, the present invention realizes that the system can automatically rotate along the plane directly irradiated by sunlight without manual rotation, which not only solves the inconvenience of operators climbing up and down at sea, but also ensures the observation plane The accuracy of the plane angle with direct sunlight makes the data measurement more perfect and accurate;

(2) The principle of automatic rotation of the present invention is based on the long-term research to the solar orbit algorithm, makes long-term mathematical statistics to the orbital motion of the sun, thereby obtains the relation of motor drive instruction and time information, latitude and longitude information, this method does not Affected by weather conditions, the range of adaptability and application is wider.

Description of drawings

Fig. 1 is the position relation of hyperspectrometer of the present invention and rotating disk;

Fig. 2 is a system composition block diagram of the present invention;

Fig. 3 is the angle schematic diagram of the observation plane of the hyperspectrometer in the present invention and the direct sunlight plane;

Fig. 4 is a flow chart of the control method of the present invention.

detailed description

The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

An automatic rotating hyperspectrometer sea surface irradiation system includes a hyperspectrometer, a turntable and a turntable control module, and the hyperspectrometer is installed on the turntable, as shown in FIG. 1 .

As shown in Figure 2, the turntable control module includes a main controller and a parameter input unit, a clock unit and a power supply unit connected thereto respectively, the turntable control module also includes a motor drive unit and a motor, and the main controller communicates with the main controller via the motor drive unit. The motor is connected, and the motor is connected to the turntable through the transmission mechanism; the main controller obtains the time information and the latitude and longitude information of the system through the clock unit and the parameter input unit, and generates a motor drive command based on these information and sends it to the motor drive unit, through the motor drive The unit controls the rotation of the motor, and the motor drives the turntable to rotate through the transmission mechanism, so as to always keep the observation plane of the hyperspectrometer at the required angle with the direct sunlight plane.

As shown in Figure 3, in order to make the data measured by the hyperspectrometer more accurate, the clock needs to keep the angle φ between the observation plane of the hyperspectrometer and the direct sun plane unchanged. In this embodiment, the angle φ is 135° °.

In this embodiment, the rotation angle ratio of the motor to the turntable is 180:1.

In this embodiment, the power supply unit includes a solar controller, a solar panel and a storage battery. The solar panel and the storage battery supply power to the main controller through the solar controller respectively. When the brightness is lower than the preset value, the solar panel is controlled to charge it. This power supply method not only saves energy, but also is suitable for different lighting conditions.

In this embodiment, a scale is marked on the turntable to display the rotation angle of the turntable.

In this embodiment, the transmission mechanism between the motor and the turntable is a worm gear. The main controller adopts STM32 processor. The motor adopts 57 stepping motors.

The present invention also proposes a control method based on the above-mentioned automatically rotating hyperspectrometer sea surface irradiation system, and the specific steps are as shown in Figure 4:

(1) In one controller cycle, the main controller first initializes the clock unit and the input unit;

(2) The main controller obtains time information through the clock unit, and the operator inputs the longitude and latitude information of the system to the main controller through the parameter input unit;

(3) The main controller calculates the solar azimuth at the current moment according to the obtained time information and latitude and longitude information;

Among them, the formula for calculating the azimuth of the sun: sin(A)=cos(δ)*sin(t)/cos(h), A is the azimuth of the sun; h is the altitude of the sun, and the formula for calculating it is: sin(h) =sin(φ)*sin(δ)+cos(φ)*cos(δ)*cos(t); t is the solar hour angle, its calculation formula: t=15*(ST-12), where ST= (120-local longitude)/15, φ is local latitude; δ is solar declination, its calculation formula is: sin(δ)=0.39795*cos(0.98563(N-173)), where N indicates that the current date is in a year the Nth day among them;

(4) The main controller obtains the pulse number of motor rotation according to the solar azimuth angle under the calculated current moment, and the solar azimuth angle is divided by the step angle, and the motor drive unit drives the motor to rotate according to the pulse number;

(5) After the motor is running, the transmission mechanism drives the turntable to rotate, thereby changing the observation plane of the hyperspectrometer on the turntable, so that the angle between it and the direct sun plane at the current moment maintains the required angle, and waits for the next control cycle After arrival, return to step (1).

The above embodiments are only to illustrate the technical ideas of the present invention, and can not limit the protection scope of the present invention with this. All technical ideas proposed in accordance with the present invention, any changes made on the basis of technical solutions, all fall within the protection scope of the present invention. Inside.

Claims (9)

1. the EO-1 hyperion instrument sea irradiation system automatically rotated, it is characterized in that: comprise EO-1 hyperion instrument, rotating disk and rotating disk control module, described EO-1 hyperion instrument is arranged on rotating disk, described rotating disk control module comprises master controller and the parameter input unit be attached thereto respectively, clock unit and power supply unit, described rotating disk control module also comprises electric-motor drive unit and motor, master controller is connected with motor through electric-motor drive unit, and described motor is connected with rotating disk by gear train; Master controller obtains temporal information and system place latitude and longitude information by clock unit and parameter input unit, and generate motor driving instruction according to these information and send electric-motor drive unit to, electric machine rotation is controlled by electric-motor drive unit, motor drives dial rotation by gear train, thus remains the angle that the plane of vision of EO-1 hyperion instrument becomes to need with sunshine direct projection plane.

2. the EO-1 hyperion instrument sea irradiation system of a kind of automatic rotation according to claim 1, is characterized in that: the plane of vision of described EO-1 hyperion instrument and the angle of sunshine direct projection plane remain 135 °.

3. the EO-1 hyperion instrument sea irradiation system of a kind of automatic rotation according to claim 1, is characterized in that: described motor is 180:1 with the rotational angle ratio of rotating disk.

4. the EO-1 hyperion instrument sea irradiation system of a kind of automatic rotation according to claim 1, it is characterized in that: described power supply unit comprises controller for solar, solar panels and accumulator, solar panels and accumulator are that master controller is powered through controller for solar respectively, primary controller selects sun power electroplax or storage battery power supply according to light conditions, and when accumulator is lighted lower than preset value, control sun power electroplax for its charging.

5. the EO-1 hyperion instrument sea irradiation system of a kind of automatic rotation according to claim 1, is characterized in that: described rotating disk is marked with scale, in order to show the angle of dial rotation.

6. the EO-1 hyperion instrument sea irradiation system of a kind of automatic rotation according to claim 1, is characterized in that: the gear train between described motor and rotating disk is worm and gear.

7. the EO-1 hyperion instrument sea irradiation system of a kind of automatic rotation according to claim 1, is characterized in that: described master controller adopts STM32 processor.

8. the EO-1 hyperion instrument sea irradiation system of a kind of automatic rotation according to claim 1, is characterized in that: described motor adopts 57 stepper motors.

9., based on the control method of the EO-1 hyperion instrument sea irradiation system automatically rotated described in claim 1, it is characterized in that, comprise the following steps:

(1) in a controller cycle, first master controller carries out initialization to clock unit and input block;

(2) master controller obtains temporal information by clock unit, operating personnel by parameter input unit to master controller input system place latitude and longitude information;

(3) master controller is according to the temporal information obtained and latitude and longitude information, calculates the solar azimuth under current time;

Wherein, the computing formula of solar azimuth: sin (A)=cos (δ) * sin (t)/cos (h), A is solar azimuth; H is sun altitude, its computing formula: sin (h)=sin (φ) * sin (δ)+cos (φ) * cos (δ) * cos (t); T is solar hour angle, its computing formula: t=15* (ST-12), and ST=(the local longitude of 120-)/15, φ is wherein local latitude; δ is solar declination, its computing formula: sin (δ)=0.39795*cos (0.98563 (N-173)), and N wherein represents that current date is in the N days among a year;

(4) master controller is according to the solar azimuth under the current time calculated, and solar azimuth obtains the umber of pulse of electric machine rotation divided by stepping angle, and electric-motor drive unit rotates according to umber of pulse drive motor;

(5) dial rotation is driven by gear train after motor rotation, thus change the plane of vision of the EO-1 hyperion instrument be positioned on rotating disk, the angle made it between the sun direct projection plane under current time keeps the angle needed, after waiting for that next control cycle arrives, return step (1).