Bidirectional stability detection and debugging method and device based on six-degree-of-freedom platform

Abstract

The invention provides a bidirectional stability detection and debugging method and device based on a six-degree-of-freedom platform, and relates to the technical field of stabilizer detection and debugge.The device comprises the six-degree-of-freedom platform which comprises an upper platform, a lower platform and six electric cylinders; the gyroscope group is arranged on the upper platform and is used for bearing the tank armored vehicle or an artillery barrel, so that the automatic control system for stabilizing and aiming the artillery of the tank armored vehicle can perform corresponding compensation action according to a disturbance signal generated by the gyroscope group; the control and information processing platform can respectively drive the six electric cylinders to stretch out and draw back and is used for simulating the swing condition of the artillery in the field advancing process of the tank and armored vehicle; the laser generator is fixed on the artillery barrel; and the laser target is used for receiving the laser signal emitted by the laser generator. According to the method, the stabilizer is detected and debugged, so that the accuracy of gun aiming and shooting is improved, and the safety risk is controllable when a tank and armored vehicle is subjected to aiming and shooting in the field.

Description

Technical Field

[0001] The present application relates to the technical field of stabilizer detection and debugging, and in particular to a two-way stability detection and debugging method and device based on a six-freedom platform. Background Art

[0002] When tanks and armored vehicles are aiming and firing while moving in the field, the muzzle will swing around with the undulating ground. This swing will seriously affect the gunner's capture and shooting of the target. In order to improve the accuracy of aiming and firing of tanks and armored vehicles while moving, stabilizers are often installed on the tanks and armored vehicles.

[0003] The dual-degree-of-freedom gyroscope of the stabilizer is fixed to the base of the gun cradle. The inner ring of the gyroscope and the axis of the gun's ear are perpendicular to each other, and the outer ring and the axis of the ear are parallel to each other. The angle of the gun in this state can be regarded as the specified aiming angle. When the tank starts to move, it will produce bumps. This bump will drive the tank gun to bump and deflect under the action of the friction of the gun's ear axis. At this time, the base will also deflect with the tank gun at the same angle, but the rotor outer ring plane parallel to the ear axis will not rotate, because the high-speed rotating gyroscope has a strong fixed axis. At this time, an offset angle will be generated between the rotor outer ring plane and the base plane that were originally parallel to each other. This angle is the angle at which the gun deviates from the specified aiming.

[0004] The rotor of the rotary transformer is fixed to the outer ring shaft of the gyroscope. When the gun is at the specified aiming angle and does not deflect, the rotary transformer will not generate a signal. When the gun's aiming angle deflects, the rotary transformer stator fixed on the base will also deflect, but the rotor fixed to the outer ring shaft of the gyroscope will not deflect. At this time, the rotary transformer will send a signal proportional to the deflection angle. The signal is amplified by the transistor amplifier and outputs two electrical signals and flows to the control electromagnet. Finally, the two oil pipes are controlled to change the pressure of the upper and lower chambers of the oil cylinder to generate torque, thereby driving the gun angle to restore to the specified aiming angle. In addition, there is a rate gyroscope, which will cooperate with the transistor amplifier to generate an electrical signal during the gun reset process to act on the hydraulic device to generate a torque opposite to the gun deflection. This torque increases with the increase of the gun deflection speed. In this way, it can avoid the gun from rushing too far during the deflection process, and oscillation occurs due to the huge inertia, which is convenient for the gun to stabilize quickly.

[0005] When tanks and armored vehicles aim and shoot while moving in the field, they often directly measure the current road conditions or use the inertial platform method to allow the stabilizer to instantly sense changes in road conditions and adjust the deflection direction of the artillery. This process poses uncontrollable safety risks. Summary of the invention

[0006] In order to improve the problem of uncontrollable safety risks when tanks and armored vehicles are aiming and shooting in the field, the present application provides a two-way stability detection and debugging method and device based on a six-freedom platform.

[0007] In the first aspect, the present application provides a bidirectional stability detection and debugging device based on a six-freedom platform, which adopts the following technical solution: A bidirectional stability detection and debugging device based on a six-freedom platform is used to detect and debug the stabilizer on the tank armored vehicle according to the simulated road conditions to achieve disturbance preset, including A six-degree-of-freedom platform is mounted on a tank armored vehicle, and comprises an upper platform, a lower platform, and six electric cylinders with drivers circumferentially arranged between the upper platform and the lower platform, and two ends of the electric cylinders are respectively hinged to the upper platform and the lower platform through hinges; A gyroscope group is arranged on the upper platform and is used to carry a tank armored vehicle or a gun barrel. When the gyroscope group carries a tank armored vehicle, the lower platform is stably placed on the ground. When the gyroscope group carries a gun barrel, the lower platform is stably placed on the vehicle frame. The gyroscope group is electrically connected to an automatic control system for gun stabilization and aiming of the tank armored vehicle, so that the automatic control system for gun stabilization and aiming of the tank armored vehicle can perform corresponding compensation actions according to a disturbance signal generated by the gyroscope group. The control and information processing platform is electronically connected to the drivers of the six electric cylinders, and can drive the six electric cylinders to extend and retract respectively, so as to simulate the swing of the artillery of the tank armored vehicle during its movement in the field; A laser generator is fixed on the gun barrel and moves coaxially with the gun and emits laser signals; The laser target is stably placed in front of the gun barrel to receive the laser signal emitted by the laser generator.

[0008] Furthermore, the laser target is electrically connected to a control and information processing platform, and the information processing platform can drive six electric cylinders to extend and retract according to the laser signal received on the laser target, so that the laser generator can always aim and shoot at the center of the laser target.

[0009] Furthermore, the upper platform and the lower platform are both arranged in a circular shape, and the six electric cylinders are arranged at intervals along the circumference of the upper platform, and one end of the electric cylinder close to the upper platform is inclined toward the central axis of the upper platform.

[0010] Furthermore, the diameter of the upper platform is greater than the diameter of the lower platform, and the central axis of the upper platform and the central axis of the lower platform are arranged collinearly.

[0011] Furthermore, a plurality of mounting holes for stable mounting are provided on both the upper platform and the lower platform.

[0012] Furthermore, the mounting hole on the upper platform is located in the middle of the upper platform, and the mounting hole on the lower platform is located at the edge of the lower platform.

[0013] In a second aspect, the present application provides a method for bidirectional stability detection and debugging based on a six-freedom platform, based on the above-mentioned bidirectional stability detection and debugging device based on a six-freedom platform, comprising the following steps: S1, place the six-degree-of-freedom platform on a flat ground, so that the lower platform is stably placed on the ground, and the gyroscope group on the upper platform is stably connected to the tank armored vehicle. The six electric cylinders are driven to extend and retract through the control and information processing platform to simulate various complex road conditions, thereby simulating the swing of the artillery of the tank armored vehicle during its movement in the field; S2, stably mounting the laser generator on the gun barrel so that the direction of the laser emitted by the laser generator coincides with the direction in which the gun is aimed and fired; S3, stably placing the laser target in front of the gun barrel to receive the laser emitted by the laser generator; S4, connecting the gyro group to the automatic control system signal of the tank armored vehicle gun stabilization and aiming through the interface cable, so that the automatic control system of the tank armored vehicle gun stabilization and aiming can perform corresponding compensation actions according to the disturbance signal generated by the gyro group, so that the gun barrel movement keeps the muzzle stable, during which the laser generator fixed on the gun barrel continues to emit laser signals; S5, electronically connect the laser target to the control and information processing platform. The control and information processing platform uses a built-in program to convert the laser signal received on the laser target into the motion trajectory of the muzzle, and compares it with the disturbance signal assigned to the six-degree-of-freedom platform. Based on the comparison results, the automatic control system for stabilization and aiming of the tank and armored vehicle gun is tested and debugged.

[0014] In a third aspect, the present application also provides a two-way stability detection and debugging method based on a six-freedom platform, based on the above-mentioned two-way stability detection and debugging device based on a six-freedom platform, comprising the following steps: S1, place the six-degree-of-freedom platform on the gun barrel, so that the lower platform is stably placed on the frame, the gyroscope group on the upper platform is stably connected to the gun barrel, the tank armored vehicle is stably parked on the ground, and the six electric cylinders are driven to extend and retract through the control and information processing platform to simulate various complex road conditions, thereby simulating the swing of the gun of the tank armored vehicle during its movement in the field; S2, stably mounting the laser generator on the gun barrel so that the direction of the laser emitted by the laser generator coincides with the direction in which the gun is aimed and fired; S3, stably placing the laser target in front of the gun barrel to receive the laser emitted by the laser generator; S4, connecting the gyro group with the automatic control system signal of the tank armored vehicle gun stabilization and aiming through the interface cable, so that the automatic control system of the tank armored vehicle gun stabilization and aiming can perform corresponding compensation actions according to the disturbance signal generated by the gyro group, so that the gun barrel moves, and the movement of the gun barrel will cause the six-degree-of-freedom platform to generate new movement. The automatic control system of the tank armored vehicle gun stabilization and aiming can stop the movement of the gun barrel within a certain period of time and ensure that the muzzle is stabilized at the initial position. During this period, the laser generator fixed on the gun barrel continues to emit laser signals; S5, electronically connect the laser target to the control and information processing platform. The control and information processing platform uses a built-in program to resolve the laser signal received on the laser target into the muzzle motion trajectory and the muzzle final stop position, and compares it with the muzzle initial position. By comparing the muzzle position deviation and the muzzle motion stop time, the automatic control system for tank and armored vehicle gun stabilization and aiming is detected and debugged.

[0015] In summary, the present application includes the following beneficial technical effects: In the traditional detection and debugging method, real-time ground disturbance is usually transmitted to the gyroscope group of the stabilizer by the vehicle chassis, which requires the vehicle to travel on uneven ground, which is bound to seriously affect the measurement accuracy of the muzzle position value. The device of the present invention, first, realizes the simulation of various complex conditions through a six-degree-of-freedom platform, so that the disturbance can be preset; second, the vehicle chassis does not need to move, which solves the various troubles caused by actual driving; third, the vehicle does not move, which brings great convenience to the muzzle position measurement, receives the laser signal emitted by the laser generator through the laser target, simulates the aiming and shooting direction of the artillery, and cooperates with the control and information processing platform and the automatic control system for stabilization and aiming of the tank armored vehicle artillery to process the laser signal, so that the laser generator can always aim and shoot at the center of the laser target, improving the accuracy of the aiming and shooting of the artillery. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the structure of a six-degree-of-freedom platform in an embodiment of the present application.

[0018] Figure numerals: 1, upper platform; 2, lower platform; 3, driver; 31, encoder; 32, motor; 33, reducer; 4, electric cylinder; 5, hinge; 6, mounting hole. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The present application embodiment discloses a bidirectional stability detection and debugging method and device based on a six-freedom platform. Figure 1 The bidirectional stability detection and debugging device based on the six-degree-of-freedom platform is used to detect and debug the stabilizer on the tank armored vehicle according to the simulated road conditions to realize the disturbance preset, which includes a six-degree-of-freedom platform, a gyroscope group, a control and information processing platform, a laser generator and a laser target. The six-degree-of-freedom platform includes an upper platform 1, a lower platform 2 and six electric cylinders 4 with drivers 3 arranged circumferentially between the upper platform 1 and the lower platform 2; the driver 3 includes an encoder 31, a motor 32 and a reducer 33, and the two ends of the electric cylinder 4 are respectively hinged to the upper platform 1 and the lower platform 2 through hinges 5. The control and information processing platform is electrically connected to the six electric cylinders 4 through the driver 3, and can drive the six electric cylinders 4 to extend and retract respectively, so that the object under test on the upper platform 1 can adjust the posture of six degrees of freedom: yaw, pitch, roll, lift, lateral translation and longitudinal translation.

[0021] Reference Figure 1 , the upper platform 1 and the lower platform 2 are both set to be circular, the diameter of the upper platform 1 is larger than the diameter of the lower platform 2, and the central axis of the upper platform 1 is collinear with the central axis of the lower platform 2. Six electric cylinders 4 are arranged at intervals along the circumferential direction of the upper platform 1, and the end of the electric cylinder 4 close to the upper platform 1 is inclined toward the central axis of the upper platform 1; so that the upper platform 1 can stably carry the object to be measured under the support of the six electric cylinders 4 and accurately adjust the orientation of the object to be measured. A plurality of mounting holes 6 for stable installation are provided on both the upper platform 1 and the lower platform 2. The mounting holes 6 on the upper platform 1 are located in the middle of the upper platform 1, which are used to stably install the object to be measured. The mounting holes 6 on the lower platform 2 are located at the edge of the lower platform 2, which are used to stably place the six-degree-of-freedom platform to ensure the structural stability of the entire system.

[0022] Considering that in this application, the six-degree-of-freedom platform is used to detect and debug the stabilizer on the tank armored vehicle, the gyroscope group on the stabilizer is stably installed on the upper platform 1 through the mounting hole 6, so that the six-degree-of-freedom platform is used to carry the tank armored vehicle or the gun barrel through the gyroscope group. During installation, a suitable installation method can be selected according to the working conditions. When the gyroscope group carries the tank armored vehicle, the lower platform 2 is stably installed on the ground through the mounting hole 6, and the upper platform 1 is stably connected to the tank armored vehicle as a whole through the gyroscope group, so that the tank armored vehicle as a whole is erected on the ground by the six-degree-of-freedom platform; when the gyroscope group carries the gun barrel, the lower platform 2 is stably installed on the frame through the mounting hole 6, and the upper platform 1 is stably connected to the gun barrel through the gyroscope group, and the tank armored vehicle is stably parked on the ground.

[0023] When testing and debugging the stabilizer on the tank armored vehicle, the six-degree-of-freedom platform can be controlled in advance through the control and information processing platform, so that the six-degree-of-freedom platform drives the gun on the tank armored vehicle to swing, so as to simulate the swing of the gun during the movement of the tank armored vehicle in the field. As the gun swings, the gyroscope group will generate a disturbance signal, so the gyroscope group is then electrically connected to the automatic control system for the gun stabilization and aiming of the tank armored vehicle, so that the automatic control system for the gun stabilization and aiming of the tank armored vehicle can perform corresponding compensation actions according to the disturbance signal generated by the gyroscope group, so that the gun barrel movement keeps the muzzle stable. The setting of this application allows the tank armored vehicle to simulate the azimuth changes of the aiming and shooting of the gun under different complex road conditions without driving, and through the compensation action of the gun barrel, the gun muzzle is adaptively and automatically adjusted to a stable range to ensure the accuracy of the aiming and shooting of the tank armored vehicle in the field.

[0024] In addition, in order to provide real-time feedback on the aiming and shooting positions of tanks and armored vehicles during testing and debugging, it is necessary to fix the laser generator on the gun barrel in advance so that the laser generator and the gun move coaxially and the direction of the laser emitted by the laser generator coincides with the direction of the gun's aiming and shooting. The laser target is stably placed in front of the gun barrel to receive the laser signal emitted by the laser generator.

[0025] Before firing a laser at a laser target, the visual system needs to be used to calibrate the center of the laser target. The principle of visual system calibration is to use Hough transform to find straight lines to obtain the four sides of the rectangular laser target. The four vertices of the rectangular laser target in the image can be obtained by the intersection of two intersecting straight lines. Since the actual position relationship of the four vertices of the laser target is known, the visual system can be calibrated through perspective transformation.

[0026] Hough linear transformation principle: For any point in the rectangular coordinate system , passing through point The straight line satisfies ,in is the slope, is the intercept. Then in the XY plane through the point The cluster of lines can be used However, it is impossible to represent the slope of a line perpendicular to the X-axis, which is infinite. Therefore, converting the rectangular coordinate system to the polar coordinate system can solve this special case. The equation of a vertical line is ,in is the distance from the origin to the line.

[0027] Principle of perspective transformation: Perspective transformation is the process of projecting an image to a new viewing plane. The process includes converting a two-dimensional coordinate system into a three-dimensional coordinate system, and then projecting the three-dimensional coordinate system to a new two-dimensional coordinate system.

[0028] The perspective transformation matrix transformation formula is:

[0029] The perspective transformation matrix is:

[0030] The points to be moved, i.e. the source and target points, are:

[0031] Another fixed point, that is, the target point to move to is:

[0032] Through the four vertices found (source target points) and the four known actual vertices (target points to be moved to), a unique transformation matrix can be obtained to achieve perspective transformation and complete the correction process.

[0033] After the laser target's bull's-eye is corrected by the visual system, it is necessary to extract the laser target's bull's-eye. The principle of extraction is to use Hough transform to find the circle and then get the center of the circle. Since the laser target's bull's-eye coincides with the center of the circle inside it, the found center is the laser target's bull's-eye.

[0034] Hough circle transform principle: The principle of Hough transform to detect circles is the same as that of detecting lines. The expression of a circle is , convert the problem into solving the problem of passing through the most pixels Parameter pair. When the amount of calculation is particularly large, the Hough gradient method is generally used to solve the circle transformation.

[0035] Based on the above principle, we can first apply edge detection to the image, such as using canny edge detection, and use the sobel operator to calculate the gradient of all pixels; traverse all non-zero pixel points after canny, draw lines along the gradient direction, each point has an accumulator, and if there is a line passing through the point, the accumulator is added by 1, all accumulators are sorted, and all possible centers of the circle are found according to the threshold; calculate the distance from all non-zero pixel points in the canny image to the center of the circle, sort the distance from small to large, and select the appropriate radius; set the accumulator for the selected radius, and add 1 to the accumulator that satisfies the radius r; count all possible radii.

[0036] Principle of laser center extraction: grayscale the image and blur it to reduce noise, then use the Canny operator to extract the edge of the laser spot, and finally find the center of gravity of the extracted outline, which is the center of the laser.

[0037] After completing the above work, data processing is required. , with the laser center as the target point The offset in the X direction and the offset in the Y direction can be calculated respectively, and finally the distance D of the center of the forward target can be obtained.

[0038] The formula used is as follows:

[0039]

[0040]

[0041] After completing the calibration and extraction of the bull's eye of the laser target, the laser target is electrically connected to the control and information processing platform. The information processing platform can drive the six electric cylinders 4 to extend and retract according to the laser signal received on the laser target, so that the laser generator can always aim and shoot at the bull's eye of the laser target.

[0042] The present application provides a two-way stability detection and debugging method based on a six-freedom platform, which adopts the following technical solutions: S1, placing the six-degree-of-freedom platform on a flat ground, so that the lower platform 2 is stably placed on the ground, the gyroscope group on the upper platform 1 is stably connected to the tank armored vehicle, and the six electric cylinders 4 are respectively driven to extend and retract through the control and information processing platform to simulate various complex road conditions, thereby simulating the swing of the artillery of the tank armored vehicle during its movement in the field; S2, stably mounting the laser generator on the gun barrel so that the direction of the laser emitted by the laser generator coincides with the direction in which the gun is aimed and fired; S3, stably placing the laser target in front of the gun barrel to receive the laser emitted by the laser generator; S4, connecting the gyro group to the automatic control system signal of the tank armored vehicle gun stabilization and aiming through the interface cable, so that the automatic control system of the tank armored vehicle gun stabilization and aiming can perform corresponding compensation actions according to the disturbance signal generated by the gyro group, so that the gun barrel movement keeps the muzzle stable, during which the laser generator fixed on the gun barrel continues to emit laser signals; S5, electronically connect the laser target to the control and information processing platform. The control and information processing platform uses a built-in program to convert the laser signal received on the laser target into the motion trajectory of the muzzle, and compares it with the disturbance signal assigned to the six-degree-of-freedom platform. Based on the comparison results, the automatic control system for stabilization and aiming of the tank and armored vehicle gun is tested and debugged.

[0043] This application also provides a two-way stability detection and debugging method based on a six-freedom platform, which adopts the following technical solution: S1, placing the six-degree-of-freedom platform on the gun barrel, so that the lower platform 2 is stably placed on the frame, the gyroscope group on the upper platform 1 is stably connected to the gun barrel, the tank armored vehicle is stably parked on the ground, and the six electric cylinders 4 are respectively driven to extend and retract through the control and information processing platform to simulate various complex road conditions, thereby simulating the swing of the gun of the tank armored vehicle during its travel in the field; S2, stably mounting the laser generator on the gun barrel so that the direction of the laser emitted by the laser generator coincides with the direction in which the gun is aimed and fired; S3, stably placing the laser target in front of the gun barrel to receive the laser emitted by the laser generator; S4, connecting the gyro group with the automatic control system signal of the tank armored vehicle gun stabilization and aiming through the interface cable, so that the automatic control system of the tank armored vehicle gun stabilization and aiming can perform corresponding compensation actions according to the disturbance signal generated by the gyro group, so that the gun barrel moves, and the movement of the gun barrel will cause the six-degree-of-freedom platform to generate new movement. The automatic control system of the tank armored vehicle gun stabilization and aiming can stop the movement of the gun barrel within a certain period of time and ensure that the muzzle is stabilized at the initial position. During this period, the laser generator fixed on the gun barrel continues to emit laser signals; S5, electronically connect the laser target to the control and information processing platform. The control and information processing platform uses a built-in program to resolve the laser signal received on the laser target into the muzzle motion trajectory and the muzzle final stop position, and compares it with the muzzle initial position. By comparing the muzzle position deviation and the muzzle motion stop time, the automatic control system for tank and armored vehicle gun stabilization and aiming is detected and debugged.

[0044] The implementation principle of the bidirectional stability detection and debugging method and device based on the six-freedom platform in the embodiment of the present application is as follows: first, the six-degree-of-freedom platform, the laser generator and the laser target are installed, then the bull's eye of the laser target is corrected and extracted, and the laser target is electrically connected to the control and information processing platform. Then, the gyroscope group is connected to the automatic control system signal of the tank armored vehicle gun stabilization and aiming through the interface cable, so that the automatic control system of the tank armored vehicle gun stabilization and aiming can perform corresponding compensation actions according to the disturbance signal generated by the gyroscope group, so that the gun barrel moves, and the gun barrel moves, which will cause the six-degree-of-freedom platform to generate new movements. The automatic control system of the tank armored vehicle gun stabilization and aiming can stop the gun barrel movement within a certain period of time and ensure that the muzzle is stable at the initial position. During this period, the laser generator fixed on the gun barrel continues to emit laser signals. Finally, the control and information processing platform uses a built-in program to solve the laser signal received on the laser target into the muzzle motion trajectory and the final stopping position of the muzzle, and compares it with the initial position of the muzzle. By comparing the muzzle position deviation and the muzzle motion stopping time, the automatic control system for tank and armored vehicle gun stabilization and aiming is detected and debugged.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bidirectional stability detection and debugging device based on a six-freedom platform, used to detect and debug the stabilizer on the tank armored vehicle according to the simulated road conditions, and realize disturbance preset, characterized in that: include A six-degree-of-freedom platform is mounted on a tank armored vehicle, and comprises an upper platform, a lower platform, and six electric cylinders with drivers circumferentially arranged between the upper platform and the lower platform, and two ends of the electric cylinders are respectively hinged to the upper platform and the lower platform through hinges; A gyroscope group is arranged on the upper platform and is used to carry a tank armored vehicle or a gun barrel. When the gyroscope group carries a tank armored vehicle, the lower platform is stably placed on the ground. When the gyroscope group carries a gun barrel, the lower platform is stably placed on the vehicle frame. The gyroscope group is electrically connected to an automatic control system for gun stabilization and aiming of the tank armored vehicle, so that the automatic control system for gun stabilization and aiming of the tank armored vehicle can perform corresponding compensation actions according to a disturbance signal generated by the gyroscope group. The control and information processing platform is electronically connected to the drivers of the six electric cylinders, and can drive the six electric cylinders to extend and retract respectively, so as to simulate the swing of the artillery of the tank armored vehicle during its movement in the field; A laser generator is fixed on the gun barrel and moves coaxially with the gun and emits laser signals; The laser target is stably placed in front of the gun barrel to receive the laser signal emitted by the laser generator.

2. The bidirectional stability detection and debugging device based on the six-freedom platform according to claim 1 is characterized in that: The laser target is electrically connected to the control and information processing platform. The information processing platform can drive the six electric cylinders to extend and retract according to the laser signal received on the laser target, so that the laser generator can always aim and shoot at the center of the laser target.

3. The bidirectional stability detection and debugging device based on the six-freedom platform according to claim 2 is characterized in that: The upper platform and the lower platform are both arranged in a circular shape, and the six electric cylinders are arranged in an annular direction along the circumference of the upper platform at intervals, and one end of the electric cylinder close to the upper platform is inclined toward the central axis direction of the upper platform.

4. The bidirectional stability detection and debugging device based on the six-freedom platform according to claim 3 is characterized in that: The diameter of the upper platform is greater than that of the lower platform, and the central axis of the upper platform is collinearly arranged with the central axis of the lower platform.

5. The bidirectional stability detection and debugging device based on the six-freedom platform according to claim 2 is characterized in that: The upper platform and the lower platform are both provided with a plurality of mounting holes for stable mounting.

6. The bidirectional stability detection and debugging device based on the six-freedom platform according to claim 5 is characterized in that: The mounting hole on the upper platform is located in the middle of the upper platform, and the mounting hole on the lower platform is located at the edge of the lower platform.

7. A method for bidirectional stability detection and debugging based on a six-freedom platform, based on a bidirectional stability detection and debugging device based on a six-freedom platform as claimed in any one of claims 2 to 6, characterized in that: The following steps are included: S1, place the six-degree-of-freedom platform on a flat ground, so that the lower platform is stably placed on the ground, and the gyroscope group on the upper platform is stably connected to the tank armored vehicle. The six electric cylinders are driven to extend and retract through the control and information processing platform to simulate various complex road conditions, thereby simulating the swing of the artillery of the tank armored vehicle during its movement in the field; S2, stably mounting the laser generator on the gun barrel so that the direction of the laser emitted by the laser generator coincides with the direction in which the gun is aimed and fired; S3, stably placing the laser target in front of the gun barrel to receive the laser emitted by the laser generator; S4, connecting the gyro group to the automatic control system signal of the tank armored vehicle gun stabilization and aiming through the interface cable, so that the automatic control system of the tank armored vehicle gun stabilization and aiming can perform corresponding compensation actions according to the disturbance signal generated by the gyro group, so that the gun barrel movement keeps the muzzle stable, during which the laser generator fixed on the gun barrel continues to emit laser signals; S5, electronically connect the laser target to the control and information processing platform. The control and information processing platform uses a built-in program to convert the laser signal received on the laser target into the motion trajectory of the muzzle, and compares it with the disturbance signal assigned to the six-degree-of-freedom platform. Based on the comparison results, the automatic control system for stabilization and aiming of the tank and armored vehicle gun is tested and debugged.

8. A method for bidirectional stability detection and debugging based on a six-freedom platform, based on a bidirectional stability detection and debugging device based on a six-freedom platform as claimed in any one of claims 2 to 6, characterized in that: The following steps are included: S1, place the six-degree-of-freedom platform on the gun barrel, so that the lower platform is stably placed on the frame, the gyroscope group on the upper platform is stably connected to the gun barrel, the tank armored vehicle is stably parked on the ground, and the six electric cylinders are driven to extend and retract through the control and information processing platform to simulate various complex road conditions, thereby simulating the swing of the gun of the tank armored vehicle during its movement in the field; S2, stably mounting the laser generator on the gun barrel so that the direction of the laser emitted by the laser generator coincides with the direction in which the gun is aimed and fired; S3, stably placing the laser target in front of the gun barrel to receive the laser emitted by the laser generator; S4, connecting the gyro group with the automatic control system signal of the tank armored vehicle gun stabilization and aiming through the interface cable, so that the automatic control system of the tank armored vehicle gun stabilization and aiming can perform corresponding compensation actions according to the disturbance signal generated by the gyro group, so that the gun barrel moves, and the movement of the gun barrel will cause the six-degree-of-freedom platform to generate new movement. The automatic control system of the tank armored vehicle gun stabilization and aiming can stop the movement of the gun barrel within a certain period of time and ensure that the muzzle is stabilized at the initial position. During this period, the laser generator fixed on the gun barrel continues to emit laser signals; S5, electronically connect the laser target to the control and information processing platform. The control and information processing platform uses a built-in program to resolve the laser signal received on the laser target into the muzzle motion trajectory and the muzzle final stop position, and compares it with the muzzle initial position. By comparing the muzzle position deviation and the muzzle motion stop time, the automatic control system for tank and armored vehicle gun stabilization and aiming is detected and debugged.

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