Agile closed-loop controllable laser alarm testing device and testing method thereof

Abstract

The invention relates to an agile closed-loop controllable laser alarm testing device and a testing method thereof, and belongs to the field of optical signal simulator device design methods, the agile closed-loop controllable laser alarm testing device comprises a laser generator, a basic platform and a controller, the basic platform comprises a lower platform, an upper platform, spherical hinges and connecting rods, and the lower platform and the upper platform are connected through multiple groups of connecting rods and spherical hinges. Through the structural design of the basic platform, accurate and variable laser signals are provided as input in a coordinate form, the light shield platform and the laser generator can be detached and are easy to adjust according to test conditions, the test efficiency and the test quality are effectively improved, the structure is compact, maneuvering and agility are achieved, the degree of freedom is high, and positioning is accurate.

Description

Technical Field

[0001] The invention belongs to the field of optical signal simulator device design methods, and in particular relates to an agile closed-loop controllable laser warning test device and a test method thereof. Background Art

[0002] Laser warning technology refers to the technology of detecting the incident direction, wavelength, coding and other information of the laser. At present, the detection of whether the laser warning system can work normally mainly uses the laser signal emitted by the laser source device to illuminate the laser warning sensor. This method can only perform qualitative detection on the laser warning system, and cannot fully test whether the laser warning system can accurately determine the incident direction. At present, the development of related equipment focuses more on the light source, and the use is mainly handheld, which is very inconvenient. Therefore, there is an urgent need for a test device that can perform closed-loop testing on the laser warning system to verify whether its working performance is reliable. Summary of the invention

[0003] The purpose of the present invention is to provide an agile closed-loop controllable laser warning test device and a test method thereof in response to the existing problems such as the lack of special test equipment for laser warnings and the low control accuracy of optical simulators. Through the design of the basic platform structure and the test calculation method, an accurate and variable laser signal is provided in the form of coordinates as input. Both the light shield platform and the laser generator can be disassembled and easily adjusted according to the test conditions, which effectively improves the test efficiency and test quality.

[0004] The above-mentioned purpose of the present invention is mainly achieved through the following technical solutions:

[0005] An agile closed-loop controllable laser warning test device comprises a laser generator, a basic platform, a controller and an inertial measurement unit, wherein:

[0006] A laser generator, used for receiving a control instruction from a controller and emitting a laser of a specified laser intensity under the control of the controller;

[0007] The basic platform is used to receive controller instructions and complete posture adjustment operations so that the laser generator points to a specified position; the basic platform includes a lower platform, an upper platform, a ball joint and a connecting rod, the lower platform and the upper platform are connected by multiple groups of connecting rods and ball joints, and the two ends of each connecting rod are respectively connected to the ball joints on the lower platform and the upper platform, and the laser generator is fixed on the upper platform (203);

[0008] The controller is used to receive the desired coordinates (x0, y0) input by the host computer and the attitude angles of the lower platform and the upper platform relative to the inertial system sent by the inertial measurement unit, calculate the basic platform posture adjustment plan, and send posture adjustment operation control instructions to the basic platform, and at the same time receive the laser intensity instruction expected by the host computer, and send instructions containing the expected laser intensity to the laser generator;

[0009] The inertial measurement unit is arranged on the lower platform and the upper platform, and is used to measure the attitude angle of the lower platform and the upper platform relative to the inertial system, and send the result to the controller.

[0010] It also includes a light shield, which is fixedly connected to the lower platform. If the laser warning device to be tested does not have a light shield structure, the light shield can be used to prevent the light emitted by the laser generator from being interfered by stray light during the test.

[0011] It also includes a sunshade platform, which is fixedly connected to the lower platform through a fixing column.

[0012] A servo motor is provided on the connecting rod, and the controller controls the extension and retraction of the connecting rod by controlling the servo motor, thereby controlling the position and posture of the lower platform and the upper platform.

[0013] The laser generator comprises a laser light source, a lens barrel, bolts, a filter and a collimator. The controller controls the laser intensity of the laser light source by adjusting the current. The laser generator is fixed on the upper platform by bolts. The laser light source, the filter and the collimator are arranged in the lens barrel.

[0014] There are 6 groups of ball joints and connecting rods in total.

[0015] The method for the controller to calculate the basic platform posture adjustment scheme is as follows:

[0016] (1) Establish an OXYZ coordinate system with the center of the lower platform as the origin and the normal of the lower platform as the Z axis;

[0017] (2) The controller receives the desired coordinates (x0, y0) input by the host computer and calculates the desired upper platform attitude angle The calculation formula is as follows:

[0018]

[0019] Where h is the length of the laser generator;

[0020] (3) The inertial measurement unit measures the attitude angle of the platform relative to the inertial system Attitude angle of upper platform relative to inertial system Send to the controller to calculate the actual posture of the upper platform

[0021] (4) Expected attitude With actual posture Subtract to get input posture

[0022] (5) Convert the posture Euler angle into the posture quaternion, and then rotate based on the quaternion. The formula for converting the Euler angle into the quaternion is as follows:

[0023]

[0024] Input gesture The quaternion calculation formula is as follows:

[0025]

[0026] Right now:

[0027]

[0028] (6) The input posture obtained in step (5) The quaternion is converted into a rotation matrix. Based on the inverse kinematics model of the basic platform, the extension and contraction amount Δl of the connecting rod is obtained through the rotation matrix. The inverse kinematics model is as follows:

[0029] Δl i =Rp i +tb i (i=1…6)

[0030] where p i is the coordinate of the spherical joint i of the upper platform (203), b i is the spherical joint i coordinate of the lower platform (202), t is the translation of the center of the upper platform relative to the center of the lower platform; R is calculated as follows:

[0031]

[0032] (7) According to the connecting rod extension amount Δl calculated in step (6), a basic platform posture adjustment scheme is obtained;

[0033] The method for testing the agile closed-loop controllable laser warning test device comprises the following steps:

[0034] (1) Establish an OXYZ coordinate system with the center of the lower platform as the origin and the normal of the lower platform as the Z axis;

[0035] (2) The controller receives the desired coordinates (x0, y0) input by the host computer and calculates the desired upper platform attitude angle The calculation formula is as follows:

[0036]

[0037] Where h is the length of the laser generator;

[0038] (3) The inertial measurement unit measures the attitude angle of the platform relative to the inertial system Attitude angle of upper platform relative to inertial system Send to the controller to calculate the actual posture of the upper platform

[0039] (4) The controller is based on the desired posture and actual posture The link extension amount Δl is calculated, and a control command is sent to the base platform to control the link extension to obtain the desired posture of the upper platform.

[0040] (5) The controller controls the laser output intensity of the laser generator according to the instructions of the host computer and tests the performance of the laser warning device.

[0041] The calculation method of the connecting rod expansion amount Δl in step (4) is as follows:

[0042] (1) Expected attitude With actual posture Subtract to get input posture

[0043] (2) Convert the attitude Euler angle to attitude quaternion, and then rotate based on the quaternion. The formula for converting Euler angle to quaternion is as follows:

[0044]

[0045] Input gesture The quaternion calculation formula is as follows:

[0046]

[0047] Right now:

[0048]

[0049] (3) The input posture obtained in step (2) The quaternion is converted into a rotation matrix. Based on the inverse kinematics model of the basic platform, the extension and contraction amount Δl of the connecting rod is obtained through the rotation matrix. The inverse kinematics is as follows:

[0050] Δl i =Rp i +tb i (i=1...6)

[0051] where p i is the coordinate of the spherical joint i of the upper platform, b i is the spherical joint i coordinate of the lower platform, t is the translation of the center of the upper platform relative to the center of the lower platform; the calculation formula of R is as follows:

[0052]

[0053] After the posture adjustment in step (4) is completed, test the actual posture If the expected attitude If there is a deviation, repeat the adjustment operation described in step (4) until the actual posture is The error is within the allowable range.

[0054] Compared with the prior art, the present invention has at least the following beneficial effects:

[0055] 1. The present invention designs the light emitter structure so as to replace the handheld laser warning test device and realize the precise and continuous control of the light beam pointing.

[0056] 2. The present invention preferably uses a six-degree-of-freedom platform as the basic platform, and has at least two motion chains, which can perform longitudinal movement, lateral movement, lifting, rolling, pitching, and yaw movements. It has a compact structure, agility, high degrees of freedom, and accurate positioning.

[0057] 3. The device of the present invention contains a large number of detachable parts, which effectively improves the scalability of the equipment and facilitates modification and maintenance;

[0058] 4. The present invention designs a control algorithm for the laser warning test device, realizing accurate closed-loop control of the platform and control of light intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a schematic diagram of the working principle of the laser warning test device of the present invention;

[0060] Figure 2 It is a schematic diagram of the basic platform of the present invention;

[0061] Figure 3 This is a front view of the laser warning test device of the present invention when the light shield is unfolded;

[0062] Figure 4 A top view of the laser warning test device of the present invention when the light shield is unfolded;

[0063] Figure 5 This is a diagram showing the internal structure of the laser generator of the present invention;

[0064] Figure 6 Flow chart of the controller working of the present invention. DETAILED DESCRIPTION

[0065] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0066] Figure 1 The figure shows the working principle of the laser warning test device of the present invention. Figure 2The figure shows a schematic diagram of the base platform 2. The laser warning test device includes a laser generator 1, a base platform 2 and a controller 3. The base platform 2 is a six-degree-of-freedom parallel mechanism designed based on a stewart platform, including a ball joint 204, a connecting rod 205, a lower platform 202 and an upper platform 203. It is characterized in that there are at least two motion chains between the base and the end effector, which can perform longitudinal movement, lateral movement, lifting, rolling, pitching and yaw movements. Compared with the traditional two-axis turntable, the base platform 2 has the advantages of compact structure, agility, high degree of freedom and accurate positioning. The center of the upper platform 203 contains a screw hole 208, which can quickly disassemble and fix the laser generator 1, and the direction of the laser emitter can be controlled by controlling the posture of the upper platform 203. The lower platform 202 and the upper platform 203 are connected by a connecting rod 205 and a ball joint 204. The servo motor on the connecting rod 205 can control the extension and retraction of the connecting rod 205, thereby controlling the movement of the upper platform 203. The actual displacement of the base platform 2 after maneuvering and the direction of the laser generator 1 can be calculated through the posture changes of the upper and lower platforms, thereby realizing closed-loop control of the base platform 2 and effectively improving the accuracy of the platform after movement. The lower platform 202 is fixedly connected to a retractable light shield platform 207 by a fixed column 209. The edge of the platform has a detachable light shield 201 that can be removed as needed. If the laser warning device itself does not have a light shield structure, the test device can use its own light shield 201 to prevent the light emitted by the laser generator 1 from being disturbed by stray light during the test. Figure 3 , Figure 4 FIG. 2 is a schematic diagram of the unfolded light shield 201 .

[0067] The controller 3 is responsible for communicating with the host computer and controlling the basic platform 2 to point to the specified coordinate point according to the input, while controlling the intensity of the laser emitted by the laser generator.

[0068] The laser warning test equipment of the present invention can provide accurate and variable laser signals as input in the form of coordinates for the laser warning device. At the same time, since both the light shielding platform 207 and the laser generator 1 can be disassembled, they are easy to adjust according to the test conditions, effectively improving the test efficiency and test quality.

[0069] The upper and lower platforms each have an inertial measurement unit 206, and an OXYZ coordinate system is established, with the origin being the center of the lower platform 202, and the Z axis being perpendicular to the lower platform 202. The inertial measurement units 206 are respectively installed on the y axis of the upper and lower platforms. During the use of the test device, the attitude angle of the lower platform 202 relative to the inertial system can be measured by the inertial measurement unit 206. The attitude angle of the upper platform 203 relative to the inertial system is The coordinate system posture of the upper platform 203 relative to the lower platform 202 can be calculated.

[0070] The controller 3 uses STM32 as the core of the controller. First, it can control the intensity of the laser emitted by the laser generator 1 by controlling the current of the light source, and can also control the movement of the connecting rod 205 to make the laser generator 1 point to the specified coordinates. The tester can test the performance of the laser warning device by inputting the light intensity and the coordinates of the expected output in the host computer.

[0071] Figure 5 The internal structure of the laser generator 1 includes a laser light source 101 and a lens barrel 102. The lens barrel 102 includes a bolt 103 that can be fixed to the base platform 2. The laser generator 1 can be disassembled and replaced as needed during use. The light intensity emitted by the laser light source 101 can be changed by adjusting the current. A filter 104 and a collimator 105 are provided in the lens barrel 102. The intensity of the light emitted by the laser light source 101 can be adjusted by the current.

[0072] Figure 6 The flowchart of the controller 3 is shown in Figure 2. The controller 3 in the present invention has two main functions. One is to obtain the required current of the light source by calculating the light intensity, and then to control the light intensity of the laser generator 1 by controlling the output of the switching power supply. The other function of the controller 3 is to control the extension and contraction of each rod by accurately controlling the servo motor on the connecting rod 205, so as to achieve the precise pointing of the light beam. First, the desired coordinates (x0, y0) input in the host computer can be projected to obtain the desired upper platform posture. The calculation formula is as follows:

[0073]

[0074] Where h is the length of the laser generator 1, and then the desired posture The actual attitude measured by the inertial measurement unit Difference is used to obtain the input posture of the control model Here we choose to convert the posture Euler angle into the posture quaternion first, and then rotate based on the quaternion. The formula for converting the Euler angle to the quaternion is as follows:

[0075]

[0076] The quaternion calculation formula of the input posture is as follows:

[0077]

[0078] Right now:

[0079]

[0080] The obtained input posture quaternion is converted into a rotation matrix, and based on the inverse kinematics model of the stewart platform, the extension amount Δl of each link 205 can be obtained through the rotation matrix. The formula from quaternion to conversion matrix is:

[0081]

[0082] The inverse kinematics model is:

[0083] Δl i =Rp i +tb i (i=1…6)

[0084] where p i is the spherical joint coordinate of the upper platform, b i is the spherical joint coordinate of the lower platform, and t is the translation of the center of the upper platform 203 relative to the center of the lower platform 202.

[0085] After the expansion amount Δl is obtained, it is controlled through a three-loop PID model. The three-loop PID model is composed of a current loop, a speed loop, and a position loop from the inside to the outside. The motor model can be modeled in the current loop, thereby improving the inner loop feedback to an extended state observer, thereby changing the inner loop PID to LADRC to enhance control accuracy. Finally, a PWM signal is output to the servo motor of the basic platform, thereby completing high-precision control of the entire laser warning device.

[0086] The above description is only the best specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

[0087] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. An agile closed-loop controllable laser warning test device, comprising a laser generator (1), a base platform (2), a controller (3) and an inertial measurement unit (206), wherein: A laser generator (1) is used to receive a control instruction from a controller (3) and emit a laser of a specified laser intensity under the control of the controller; The basic platform (2) is used to receive instructions from the controller (3) and complete the posture adjustment operation so that the laser generator (1) points to a specified position; the basic platform (2) comprises a lower platform (202), an upper platform (203), a ball joint (204) and a connecting rod (205); the lower platform (202) and the upper platform (203) are connected by multiple groups of connecting rods (205) and ball joints (204); the two ends of each connecting rod (205) are respectively connected to the ball joints (204) on the lower platform (202) and the upper platform (203); and the laser generator (1) is fixed on the upper platform (203); The controller (3) is used to receive the desired coordinates (x0, y0) input by the host computer and the relative inertial system attitude angles of the lower platform (202) and the upper platform (203) sent by the inertial measurement unit (206), calculate the posture adjustment plan of the basic platform (2), and send a posture adjustment operation control instruction to the basic platform (2), and at the same time receive the laser intensity instruction expected by the host computer, and send an instruction containing the expected laser intensity to the laser generator (1); The inertial measurement unit (206) is arranged on the lower platform (202) and the upper platform (203) and is used to measure the attitude angles of the lower platform (202) and the upper platform (203) relative to the inertial system and send the results to the controller (3).

2. The agile closed-loop controllable laser warning test device according to claim 1, characterized in that: It also includes a light shield (201), which is fixedly connected to the lower platform (202). If the laser warning device to be tested itself does not have a light shield structure, the light shield (201) can be used to prevent the light emitted by the laser generator (1) from being disturbed by stray light during the test.

3. The agile closed-loop controllable laser warning test device according to claim 2, characterized in that: It also includes a light shield platform (207), which is fixedly connected to the lower platform (202) through a fixing column (209).

4. The agile closed-loop controllable laser warning test device according to claim 1, characterized in that: A servo motor is provided on the connecting rod (205), and the controller (3) controls the extension and retraction of the connecting rod (205) by controlling the servo motor, thereby controlling the positions of the lower platform (202) and the upper platform (203).

5. The agile closed-loop controllable laser warning test device according to claim 1, characterized in that: The laser generator (1) comprises a laser light source (101), a lens barrel (102), a bolt (103), a filter (104) and a collimator (105); the controller (3) controls the laser intensity of the laser light source (101) by adjusting the current; the laser generator (1) is fixed to an upper platform (203) by means of the bolt (103); the laser light source (101), the filter (104) and the collimator (105) are arranged in the lens barrel (102).

6. The agile closed-loop controllable laser warning test device according to claim 1, characterized in that: There are 6 groups of ball joints (204) and connecting rods (205) in total.

7. The agile closed-loop controllable laser warning test device according to claim 1, characterized in that: The method in which the controller (3) calculates the posture adjustment scheme of the basic platform (2) is as follows: (1) Establish an OXYZ coordinate system with the center of the lower platform (202) as the origin and the normal of the lower platform (202) as the Z axis; (2) The controller (3) receives the desired coordinates (x0, y0) input by the host computer and calculates the desired attitude angle of the upper platform (203) The calculation formula is as follows: Where h is the length of the laser generator (1); (3) The inertial measurement unit (206) measures the attitude angle of the lower platform (202) relative to the inertial system. Attitude angle of upper platform (203) relative to inertial system Send to the controller (3) to calculate the actual posture of the upper platform (203) (4) Expected attitude With actual posture Subtract to get input posture (5) Convert the attitude Euler angle to attitude quaternion, and then rotate based on the quaternion. The formula for converting Euler angle to quaternion is as follows: Input gesture The quaternion calculation formula is as follows: Right now: (6) The input posture obtained in step (5) The quaternion is converted into a rotation matrix. Based on the inverse kinematics model of the basic platform (2), the extension amount Δl of the connecting rod (205) is obtained through the rotation matrix. The inverse kinematics model is as follows: Δl i =Rp i +t-b i (i=1...6) where p i is the coordinate of the spherical joint i of the upper platform (203), b i is the spherical joint i coordinate of the lower platform (202), t is the translation amount of the center of the upper platform (203) relative to the center of the lower platform (202); R is calculated as follows: (7) According to the extension amount Δl of the connecting rod (205) calculated in step (6), a posture adjustment scheme of the basic platform (2) is obtained.

8. A method for testing using the agile closed-loop controllable laser warning test device according to any one of claims 1 to 7, characterized in that: The following steps are involved: (1) Establish an OXYZ coordinate system with the center of the lower platform (202) as the origin and the normal of the lower platform (202) as the Z axis; (2) The controller (3) receives the desired coordinates (x0, y0) input by the host computer and calculates the desired attitude angle of the upper platform (203) The calculation formula is as follows: Where h is the length of the laser generator (1); (3) The inertial measurement unit (206) measures the attitude angle of the lower platform (202) relative to the inertial system. Attitude angle of upper platform (203) relative to inertial system Send to the controller (3) to calculate the actual posture of the upper platform (203) (4) Controller (3) according to the desired posture and actual posture The extension amount Δl of the connecting rod (205) is calculated, and a control instruction is sent to the base platform (2) to control the extension of the connecting rod (205) to obtain the desired posture of the upper platform. (5) The controller (3) controls the laser generator (1) to output laser intensity according to the host computer instruction, and tests the performance of the laser warning device.

9. The method for testing an agile closed-loop controllable laser warning test device according to claim 8, characterized in that: The calculation method of the extension amount Δl of the connecting rod (205) in step (4) is as follows: (1) Expected attitude With actual posture Subtract to get input posture (2) Convert the attitude Euler angle to attitude quaternion, and then rotate based on the quaternion. The formula for converting Euler angle to quaternion is as follows: Input gesture The quaternion calculation formula is as follows: Right now: (3) The input posture obtained in step (2) The quaternion is converted into a rotation matrix. Based on the inverse kinematics model of the basic platform (2), the extension amount Δl of the connecting rod (205) is obtained through the rotation matrix. The inverse kinematics model is as follows: Δl i =Rp i +t-b i (i=1...6) where p i is the coordinate of the spherical joint i of the upper platform (203), b i is the spherical joint i coordinate of the lower platform (202), t is the translation amount of the center of the upper platform (203) relative to the center of the lower platform (202); R is calculated as follows:

10. The method for testing an agile closed-loop controllable laser warning test device according to claim 8, characterized in that: After the posture adjustment in step (4) is completed, test the actual posture If the expected attitude If there is a deviation, repeat the adjustment operation described in step (4) until the actual posture is The error is within the allowable range.

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