JPH03634B2 - - Google Patents

Description

[Detailed Description of the Invention] Technical Field The present invention comprises a projector configured to rotate around three or two axes, and a computer controls the independent rotation of each axis to perform composite motion of projected images. Concerning planetariums, in particular their automatic and manual controls.

Prior Art Conventional planetariums can be rotated by an annual axis, a diurnal axis, a latitude axis, and a precessional axis, and the annual and diurnal movements are controlled by controlling the rotation of motors installed on each axis. It was able to reproduce circumferential motion, latitudinal changes, and precession. Therefore, in the conventional planetarium, each of the above movements could be manually controlled by manually applying a predetermined voltage to each motor.

On the other hand, as another type of planetarium, one has been proposed in which the projector is configured to rotate around three or two axes, and the independent rotation of each axis is controlled by a computer. More specifically, the Hengsei performs diurnal, latitudinal, and precessional movements as a result of the rotation of each axis of the Hengsei projection sphere, which is held on three axes, and the planets, sun, moon, etc. The combined movement of the two axes causes the movements associated with the diurnal movement, latitudinal movement, and precessional movement, as well as the annual movement. Such a synthetic motion is achieved in program control by sequentially calculating and outputting the amount of rotation of the motor of each axis based on destination data. Therefore, the amount of rotation of the motor for each axis is a value that is not directly related to the intended movement.
Therefore, it is very difficult to easily perform manual control in this type of planetarium.

Purpose/Summary The present invention has been made in view of the above points, and it is an object of the present invention to achieve simple manual control in a planetarium using synthetic motion of two or more axes as described above.

The purpose of the above is to make automatic control calculate and output every unit time based on the memorized data, while manual control treats the analog input amount as the amount of data change per unit time and controls it. It is done by doing.

Embodiment First, the configuration of a planetarium according to the present invention will be explained using FIGS. 1 to 5.

The projector of the planetarium is placed at the center of the dome 1 as shown in Fig. 1, but the projectors include the Hengsei projector 2 and the sun, which are individually installed near it.
The moon, each planet (Earth, Mercury, Venus, Mars, Jupiter, Saturn) is divided into projectors 3, 3... (Second
(see figure). Since the projectors 3, 3, . . . differ only in their projection targets and have the same configuration for moving the projected image, they will be referred to as planetary projectors 3, 3, etc. hereinafter.

In FIGS. 3 and 4, the Gosei projector 2 is designed to freely rotate the Gosei projection sphere 10 around three axes, and on the spherical surface is a Gosei projection ball 10 housed in the center. A required number of projection lens units 12 which project the entire sky with a lens using a projection light source 11, and are arranged in the space between these units 12 to project coordinate markers, constellation pictures, bright stars, etc., respectively. A plurality of auxiliary projection units 13 are provided. Each projection lens unit 12 includes a condenser lens 12a and a condenser original plate 12.
b. It consists of a projection lens 12c, each of which takes charge of and projects the stars within a required comprehensive angle range of the entire sky divided into a plurality of parts.

The three axes are an I-th axis perpendicular to a certain great circle of the Gongsei projection sphere 10, a horizontal axis passing through the center of the sphere, and a perpendicular axis passing through the intersection of the I-th and axes. A bearing 14 for the I-axis and a gear 1 are placed on the outer circumference of the circle.
5 is provided, and the gear 15 is connected to the circular holder 1.
8 is connected to an I-axis drive motor M1 and an I-axis encoder E1.

The Gongsei projection sphere 10 is held via a bearing 14 by a ring-shaped holder 18 formed by an inner ring 16, an outer ring 17, and a rib (not shown) connecting the two. Horizontal shafts 19, 19 holding the horizontal shafts 19, 19 are pivotally supported by respective bearings 22 of support members 21, 21 erected on the substrate 20, and are configured to rotate around the first shafts.
This rotation is performed by a shaft drive motor M2 fixedly attached to the support member 21 meshing with a gear 23 of the horizontal shaft 19, and a similarly installed shaft encoder E2 rotates around the shaft. Detect. The substrate 20 has a central vertical shaft 24 supported by a bearing 25, and a gear portion 24a of the vertical shaft 24 is connected to a first shaft drive motor M3 and a second shaft encoder E3.

Power is supplied to the light source 26 provided in the light source 11 and each auxiliary projection unit 13 through the circular holder 1.
This is done through a slip ring 27 disposed on both sides of the horizontal shaft 19, a brush 28 in sliding contact with these rings, a slip ring 29 disposed on the peripheral surface of the horizontal shaft 19, and a brush 30 in sliding contact with these. Note that a similar slip ring and brush are provided for the vertical axis as well.

The star projection sphere 10 as described above projects the starry sky, etc., but at least the light source 11
Since the light is continuously lit, in order to cut out the projected light directed downward from the horizontal line on the projection screen, the
A special circular shutter (not shown) surrounding the zero is provided.

FIG. 5 shows the configuration of the planetary projectors 3, 3, . That is, the arcuate member 33 is supported by rollers 32, 32 provided on a support member (not shown) and is rotatable around an axis in a horizontal plane, and is rotated by a motor M4 attached to the support member. On the other hand, the arc member 33
A projector 31 is fixed to a shaft 34 projecting in the diametrical direction, and this shaft 34 is rotatably held by bearings 35, 35, and the shaft 34 is rotated by a motor M5 fixed to an arcuate member 33. This allows the projector 31 to rotate freely around the V axis perpendicular to the axis in the horizontal plane, and is configured to direct the projector 31 in any direction by both rotations.

The planetary projector 2 described above is driven by a three-axis composite motion, and the planetary projectors 3, 3, . . . are driven by a two-axis composite motion, and can project an image in any direction. By controlling each of these projectors independently, various effects can be achieved.

Such a star projector 2, planetary projector 3, 3
...and other equipment, lamps, etc. are controlled by the configuration shown in the block diagram in FIG. In Figure 6, computer C includes a memory device ME that stores data and programs necessary for controlling the celestial orbits of each planet, a keyboard KB for inputting programs, and an input for manual control. The console CN to perform is connected,
When activated, it reads a program from the memory device ME and outputs commands to control various devices according to the program. The output from computer C is carried by bus line BL, which
In BL, various lamps Lo...Ln are connected to control section Coo...
Con, power section POO...Connected via Pon, motors M1, M2, M3 of Hengsei projector 2 are control section
C ₁₀ , C ₁₁ , C ₁₂ , power units P ₁₀ , P ₁₁ , P ₁₂ are connected to each other, and motors M4 ₀ … ₇ , M5 ₀ … are connected to the respective axes of the planetary projectors 3, 3, and the V axis. ₇ are connected via control sections C ₂₀₀ , C ₂₀₁ , C ₂₁₀ , C ₂₁₁ . . . C ₂₇₀ , C ₂₇₁ and power sections P ₂₀₀ , _{P 201 ,} P ₂₁₀ , _{P 211 .} In addition, encoders E1, E2, E3, _E4 provided for each motor _, respectively.
The detection signals of ₅₀ ... ₇ are fed back to the respective control sections.

The control output to each motor is calculated for each minute unit time by the computer C, and is sent from the bus line BL as the amount of angular displacement of the motor shaft in every minute unit time. Each control section receives this data to drive each motor, and also controls the speed and position of the motor based on feedback signals from each encoder.

As shown in FIG. 7, the console CN includes a switch SW for switching between automatic and manual modes, a display window DW for displaying the switched mode, and volumes V1 and V as manual input means according to the present invention.
2, V3 is provided. Volume V1, V
2. V3 is designed to input data corresponding to latitudinal movement, diurnal movement, and precession, respectively, with the center point being zero data, clockwise rotation increases data, and counterclockwise rotation decreases data. . Since latitudinal movement moves the observation point to any latitude of the planet, the data indicates movement from the current latitude to the north pole when turning clockwise, and movement towards the south pole when turning counterclockwise, and the movement speed is determined by the amount of rotation. It will be shown. Since diurnal motion and precessional motion change over time, clockwise rotation indicates change from the present time to the future, counterclockwise rotation indicates change toward the past, and the amount of rotation indicates the speed (number of days of change per unit time).
shows.

Although not shown in the figure, the console CN has a center designation switch group for specifying the position of the observation point.
Mercury, Venus, Mars, Jupiter, Saturn) can be selected.

The present invention incorporates analog data from such an analog input device into computer control and matches it with automatic control, and the control method will be explained using FIG. 8 and FIGS. 9 to 13.

FIG. 8 is a functional block diagram showing an outline of the input/output to and from the computer and the control within the computer, and shows a Gosei projector which performs projection by the combined movement of the I, , and axes. As for the planetary projector, it is essentially the same except that it changes to the V axis.

In FIG. 8, computer C receives either data during program control or manually input data. The program data includes a specified latitude that specifies the target position and the speed to move to the target position,
These are the data of the specified diurnal cycle, the specified predisposition, and the data of the center designation that specifies the observation point.On the other hand, the manually input data is the above-mentioned data from each volume V1, V2, and V3, and the manually input data of the center designation. be. The voltages from each volume V1, V2, V3 are A/D converted and converted into digital data with data bits indicating positive and negative rotation directions added thereto. When the automatic or manual data is taken in, the computer C calculates the displacement ΔA of the reference point of the Hengsei projector per unit time from this data.

In the figure, f ₁ , f ₂ , and f ₃ are angle data indicating the current position of the I axis, and are stored in a memory built into the computer C. And these f ₁ ,
f ₂ , f ₃ calculate latitude rotation, diurnal rotation, and precession rotation according to the displacement amount ΔA, and angle data f ₁ ′, f ₂ ′, f indicate the target position to which the three axes should be moved. ₃ ′,
Rotation speed data of each axis calculated from speed data
Along with V ₁ , V ₂ , and V ₃ , each axis control section of the Hengsei projector
Transferred to C ₁₀ , C ₁₁ , and C ₁₂ . The above calculation process is performed within a certain unit time Δt, and f ₁ ', f ₂ ', f ₃ ' obtained by the calculation become f ₁ , f ₂ , f ₃ in the next calculation process. On the other hand, the control unit C ₁₀ of each axis that received the data,
C ₁₁ and C ₁₂ are calculated while performing three-axis simultaneous interpolation based on spherical trigonometry within the above-mentioned time Δt, and speed control and position control of each axis is performed. Then, the calculation process is repeated every unit time Δt. In automatic mode, processing ends when the target position written in the program is reached and the next step in the program is started, but in manual mode, processing continues as long as input from each volume continues.

The above processing will be further explained using the flowcharts shown in FIGS. 9 to 13.

FIG. 9 shows the main routine of computer C, which is configured to first check what mode has been selected and process an automatic subroutine or manual subroutine depending on the selected automatic or manual mode. There is.

FIG. 10 shows an automatic subroutine. First, in #1, initial settings are performed. In this initial setting, the start address of the performance program is specified, the performance timer, variables, etc. are cleared, and the corresponding values of time, latitude, etc. are set from the current position data of each axis.

Next, in #2, one step of the presentation program is continued and decoded from the memory device ME. The start time of the next step among the decoded data is stored in the performance timer. Then, in #3, it is determined whether the read data includes end data, and if there is end data, the process returns to the main routine.

In #4, the work area for performing calculation processing and storing output data is cleared.

Next, in steps #5, #6, and #7, processing related to diurnal movement is performed. The judgment in #5 is whether the diurnal target position is equal to the current position. If NO, in #6, the amount of displacement △A that the Hengsei projector should move per unit time △t is determined.

To explain the amount of displacement △A using Fig. 14, if the curve in the figure is the movement trajectory of a certain star, the computer C calculates the unit time △ from the calculation formula corresponding to the current position Po, the target position Pn, and the movement trajectory. The displacement ΔA to be moved at time t is determined so that the interpolation control of each axis can be performed smoothly and does not look unnatural to the audience, and the speed V according to this ΔA is calculated. There are various methods for such calculations, but for example, divide the movement trajectory into n equal parts and calculate the current position name.
An appropriate amount of displacement ΔA can be determined by changing the equal fraction n so that the maximum amount of deviation between the straight line connecting P ₀ and the next position P ₁ and the movement locus falls within a predetermined range. This displacement amount ΔA changes depending on the program, and in the case of complex movements such as planets, it changes every unit time.

Once the displacement ΔA is determined in this way, the data to be output to each axis of the planetary projection sphere and each axis of the planetary projector for performing diurnal motion is calculated in the next step #7. This will be described later using FIGS. 11 and 12.

The same process as above is done in case of latitude change #8
#9 #10, in case of precession #11 #12 #13,
In the case of annual motion, #14 #15 #16 are calculated respectively,
At #17, it is output to the control units C ₁₀ , C ₁₁ , C ₁₂ , C ₂₀₀ . . . C ₂₇₁ of each axis. Each control section performs speed control and position control while simultaneously interpolating each axis based on the output data.

Next, in #18, wait for the unit time △t to pass,
Go directly from #19 to #4 or return to #2 via #20. #19 is decoded and it is judged whether the start time of the next step written in the performance timer has arrived, and if one step has not finished, the process returns to #4 and the start time of the next step for each unit time △t is determined. Repeat the process. When the start time of the next step arrives, the process moves to #20, and out of the data decoded here, data other than the motor system, such as dimming data for the lamp system, is output. The steps are determined so that the dimming data, etc. do not change within one step, and #20 is located at the end of the routine, so the dimming data, etc. for a certain step will be included in the data of the previous step. It is being

Next, in the subroutine shown in Figure 11, #7 (diurnal movement)
Explain the calculation of #10 (latitude change) and #13 (precession). Each calculation uses the same calculation formula, but the calculation processing method is the same. That is, in #100, calculations are made for the three axes of the Hengsei projection sphere, and in #101, calculations are made for each of the two axes of the planetary projector. Calculations are performed using spherical trigonometry. Gongsei projection ball 3
In the case of axes, angle data indicating the current position of the three axes
From f ₁ , f ₂ , f ₃ , displacement △A and velocity V, angle data f ₁ ′, f ₂ ′, at which each axis should move in unit time △t,
f ₃ ′ and the velocities V ₁ , V ₂ , and V ₃ of each axis are found. Calculations for each of the two axes of the planetary projector are performed in the same way, and these data are stored in the output work area.

Figure 12 shows the calculation of #16 (annual motion). The annual motion of a planetarium is to reproduce how the sun, planets, moon, etc. move over a long period of time, so the starry sky in the background, that is, the star projection sphere, does not move, and the planetarium, etc. only is moved. Therefore, the displacement amount ΔA calculated in #15 of FIG. 10 is a virtual amount determined from the period of the annual motion and the presentation time. At #200 in Fig. 12, this virtual displacement amount △A
The angle data at which each axis of the projector should move relative to the planets, etc. can be estimated as a natural position based on the relationship with each planet, etc. and the constellation star. This data is then stored in the output work area and output in #17 of FIG.

FIG. 13 shows a manual subroutine, which controls the movement of the projector such as the star projection sphere and the planets based on the input from the volume shown in FIG.

In FIG. 13, #21 performs the same initial settings as #1 in FIG. 10, and #22 reads as data the switches and volumes on the operation panel that have changed from the previous state. For switches, this data includes only on/off changes, and for volume types, the amount of change, direction of change, etc. are digitally converted. In manual mode, the lamp system on/off and light intensity are also input using switches and volumes on the operation panel, so in #23 these lamp system data are output to the lamp system control section. Then, clear the exercise work area in #24.

Next, diurnal movement with #25 #26 #27, #28 #29
#30 is latitude change, #31 #32 #33 is precession,
#34 #35 #36 perform calculations to control annual motion.

#25 #28 #31 is the diurnal volume V shown in Figure 9
1. I am looking at the changes in latitude volume V2 and precession volume V3, and if there is a change, the next #26 #29 #32
Proceed to. In #26, #29, and #32, the value obtained by converting the amount of change in the volume into a digital amount is set as the amount of displacement ΔA of the reference point in unit time Δt. At this time, data bits for the positive and negative rotation directions of the volume are added, and ΔA is set by these data bits as data increases in the positive direction and data decreases in the negative direction.

When the displacement △A is set in this way, #27
Proceeding to #30 and #33, the process shown in FIG. 11 is performed to calculate the amount of movement of each axis of the Hengsei projector and the planetary projector, and this is output in #37.

Note that #34, #35, and #36 are related to annual motion, and in this case, the Hengsei projector does not move, but only the planetary projector moves. The annual volume for manually controlling this planetary projector is not shown, but it is the same as the volume in Figure 7, and the amount of change in this volume is set as the displacement △A in #35, and the 12th volume is set in #36. Only the planet projector is driven by the processing shown in the figure.

Returning to the flow of FIG. 13, in #38 following #37, after the unit time Δt has elapsed, the process returns to #22 and repeats the routine again. The routine in Figure 13 does not have a step to return to the main routine, but this is because when the mode selection button in Figure 7 is switched from manual to automatic, or another interrupt command is given, the routine returns to the main routine by interrupt processing. This is because it is configured as follows.

Effects As explained above, the present invention can be used in a planetarium in which the projector is configured to rotate around three or two axes and the composite motion of the projected image is performed by independent rotation of each axis. a storage means for storing performance data; a control means for calculating a unit displacement amount of the projected image for each unit time from the performance data read from the storage means; and a control means for controlling the rotation amount of each axis based on the unit displacement amount; The apparatus is equipped with an analog input means for input, and a manual data supply means that digitally converts the shift amount of the analog input means from the reference position during manual control and supplies this to the control means as the unit displacement amount. , even though the rotation of each axis to perform the composite motion has no direct relationship with the target motion, data for manual control can be input as changes in the target motion that are easy for the operator to understand. , automatic control and manual control can be well matched.

[Brief explanation of drawings]

Fig. 1 is a diagram showing the arrangement inside the dome of the planetarium according to the present invention, Fig. 2 is a perspective view of each projector, Fig. 3, Fig. 4 is a perspective view and a sectional view of the Gosei projector, and Fig. 5 is a perspective view of each projector. A perspective view of the planetary projector, Fig. 6 is a block diagram showing the control configuration, Fig. 7 is a diagram showing a part of the console, Fig. 8 is a functional block diagram of the control part, and Figs. 9 to 13 are control diagrams. The flowchart of FIG. 14 is a schematic diagram for explaining the displacement amount ΔA. 2...Gongsei projector, 3...Planet projector, C...
...Computer, V1...Diurnal volume, V2
...Latitude volume, V3...Precession volume,
△t...Unit time, △A...Displacement amount.

Claims (1)

[Claims] 1. In a planetarium in which the projector is configured to rotate around three or two axes and the combined motion of the projected images is performed by independent rotation of each axis, there is a storage means for storing performance data and a storage means for reading data from the storage means. A control means for calculating the amount of displacement of the projected image for each unit time from the presentation data and controlling the amount of rotation of each axis based on the amount of displacement, an analog input means for manual input, and an analog input means for manual input. A planetarium comprising manual data supply means for digitally converting a shift amount from a reference position and supplying this as the displacement amount to the control means.