Fully automated telescope system with distributed intelligence

An automated telescope system of the type including a telescope mounted for rotation about an altitude and an azimuth axis, the automated telescope system comprising:

• a command processor, the command processor receiving an input representing a position of a desired viewing object, the position characterized in terms of a celestial coordinate system, the command processor translating the input into a position characterized in terms of an altitude/azimuth coordinate system, the command processor calculating an amount of movement about each axis, to move the telescope from a present position to a desired position which points the telescope at the desired viewing object, the command processor outputting motor movement commands for each respective axis;
• and
• two intelligent motor portions, each coupled to rotate the telescope about a respective one of the axes, each motor portion including:
• a motor having a rotatable shaft;
• a motion indicator coupled to the motor, the motion indicator developing motion indication signals corresponding to actual motor movement;
• and
• an intelligent motor control processor, coupled to the motor and the motion indicator, the motor control processor further coupled to receive motor movement commands from the command processor, the motor control processor processing each respective motor movement command into motor control commands defining operational movement of the motor, the motor control processor further receiving motion indication signals and comparing actual operational movement of its respective motor to commanded operational movement, the motor control processor modifying motor control commands in response to differences therebetween, the motor control processor including a position regsister, the register storing a calculated actual extent of motor movement wherein the motor control processor provides the register contents to the command processor, the command processor translating the register contents into telescope angular displacement about the corresponding axis and thereby into a present telescope position.

In an automated telescope system of the type including a telescope mounted for rotation about two substantially orthogonal axes, a method for operating the system comprising:

• retrieving an input representing a position of a desired viewing object, the position characterized in terms of a celestial coordinate system;
• processing the input in a command processor into a position characterized in terms of a rectangular coordinate system, the command processor determining a present position about each axis, and calculating a displacement in the rectangular coordinate system for each axis to point the telescope at the desired viewing object;
• processing each axial displacement into motor movement commands for that axis;
• outputting each motor movement command to a corresponding motor control processor coupled to that axis;
• processing each respective motor movement command, in each said respective motor control processor, into motor control commands defining operational movement of a motor coupled to each respective axis;
• operating each motor in accordance with its motor control commands;
• evaluating actual operational movement of each motor by a motion sensor, the sensor developing motion indication signals corresponding to an amount of motor rotational movement, the evaluating step including:
• reading an amount of motor rotational movement;
• calculating a total amount of motor movement;
• recording the total amount as a content of a position register;
• providing the register contents to the command processor, wherein the command processor translates the register contents into telescope angular displacement about the corresponding axis and thereby a present telescope position;
• and
• wherein each respective motor control processor compares actual operational movement of its respective motor to commanded operational movement and modifies motor control commands in response to differences therebetween.

In an automated telescope system of the type including motors coupled to rotate the telescope about an altitude axis and an azimuth axis, a method for operating the system comprising:

• activating a command processor, the command processor performing the steps of:
• retrieving an input representing a position of a desired viewing object, the position of the desired viewing object characterized in terms of a celestial coordinate system;
• calculating a present position of the telescope, the present position characterized in terms of a rectangular coordinate system;
• calculating an amount of movement by the telescope, in said rectangular coordinate system, about each axis which will point the telescope at the desired viewing object;
• translating a movement amount for each axis into a motor movement command for that axis;
• and
• providing each axial motor movement command to a motor control processor coupled to operate that axis' respective motor;
• operating an altitude and an azimuth motor control processor, each coupled to the respective axis, each motor control processor performing the steps of:
• translating axial motor movement commands received from the command processor into motor control commands;
• operating each axis' motor in response to its respective motor control commands;
• receiving signals corresponding to actual motor rotational movement, said signals sensed by an incremental encoder coupled to the motor;
• establishing a record of its respective motor's total rotational movement;
• and
• providing the record of each motor's total rotational movement to the command processor;
• and
• wherein the command processor translates each record into telescope angular displacement about the respective axis and, thereby the present position vector of the telescope.

An automated telescope system of the type including a telescope mounted for rotation about two substantially orthogonal axes, the automated telescope system comprising:

• first and second motor portions, each coupled to rotate the telescope about a respective one of the axes, each motor portion including:
• a motor having a rotatable shaft;
• an encoder coupled to the motor shaft, the encoder outputting signals corresponding to an amount of movement of its respective motor;
• and
• a motor control processor, configured to receive encoder signals from a respective encoder, the motor control processor calculating and outputting motor control commands in operative response thereto, the motor control processor including a position register, the register storing a calculated actual extent of motor movement;
• and
• a command processor operatively connected to the motor portions, the command processor receiving an input corresponding to a position of a desired viewing object, The command processor further receiving an input corresponding to present position of the telescope, the command processor calculating a rotational movement about each of the respective axes to move the telescope from its present position to the position of the desired viewing object and outputting a corresponding motor movement command to each respective motor control processor;
• wherein each motor control processor translates received motor movement commands into motor control commands, each motor control processor commanding motor movement and receiving encoder signals corresponding to actual motor movement, each motor control processor providing its register contents to the command processor, the command processor translating the register contents into telescope angular displacement about the corresponding axis to calculate thereby a present telescope position, the motor control processor processing received encoder signals to calculate an actual extent of motor movement.