Agile closed-loop controllable laser warning test device and test method thereof

Abstract

The application relates to a kind of agile closed-loop controllable laser warning test devices and test methods thereof, and belongs to the field of optical signal simulator device design method, comprising laser generator, base platform and controller, the base platform includes lower platform, upper platform, spherical hinge and connecting rod, and the lower platform and the upper platform are connected by multiple groups of connecting rods and spherical hinges.The application provides accurate and variable laser signals in the form of coordinates as input through the base platform structure design, the light shield platform and the laser generator can be disassembled, and it is easy to adjust according to the test conditions, effectively improves the test efficiency and test quality, the structure is compact, mobile agile, high degree of freedom, accurate positioning.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of optical signal simulator device design method, and particularly relates to a sensitive closed-loop controllable laser warning test device and a test method thereof. BACKGROUND

[0002] The laser warning technology refers to the technology for detecting the incident direction, wavelength and code of laser. At present, whether the laser warning system can work normally is mainly detected by irradiating the laser warning sensor with the laser signal emitted by the laser source equipment. This method can only qualitatively detect the laser warning system and cannot completely test whether the laser warning system can accurately judge the incident direction. At present, the development of related equipment is more focused on the light source, and the use is mainly handheld, which is very inconvenient. Therefore, a test device is urgently needed to perform closed-loop test on the laser warning system and verify whether the working performance is reliable. SUMMARY

[0003] The application aims at the existing problems of lack of special test device for the current laser warning and low control precision of the optical simulator, and provides a sensitive closed-loop controllable laser warning test device and a test method thereof. The accurate and variable laser signal in the form of coordinates is provided as the input through the design of the basic platform structure and the test calculation method, the light shield platform and the laser generator can be disassembled, and the test efficiency and test quality are effectively improved by adjusting according to the test conditions.

[0004] The above-mentioned object of the application is mainly realized by the following technical scheme:

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

[0006] The laser generator is used for receiving the control instruction of the controller and emitting the laser with the specified intensity under the control of the controller.

[0007] The basic platform is used for receiving the instruction of the controller and completing the pose adjustment operation to make the laser generator point to the specified position. The basic platform comprises a lower platform, an upper platform, a spherical hinge and a connecting rod. The lower platform and the upper platform are connected through a plurality of connecting rods and spherical hinges. The two ends of each connecting rod are connected with the spherical hinges on the lower platform and the upper platform, respectively. The laser generator is fixed on the upper platform (203).

[0008] The controller is used for receiving the expected coordinates (x0, y0) input by the upper computer and the relative inertial attitude angle of the lower platform and the upper platform sent by the inertial measurement unit, calculating the pose adjustment scheme of the basic platform, sending the pose adjustment operation control instruction to the basic platform, receiving the expected laser intensity instruction of the upper computer, and sending the instruction containing the expected laser intensity to the laser generator.

[0009] An inertial measurement unit (IMU) is installed on the lower and upper platforms to measure the attitude angles of the lower and upper platforms relative to the inertial frame and send the results to the controller.

[0010] It also includes a light shield, which is fixedly connected to the lower platform. If the laser alarm 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 with by stray light during the test.

[0011] It also includes a sunshade platform, which is fixed to the lower platform by a fixing column.

[0012] A servo motor is installed on the connecting rod. 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 and upper platforms.

[0013] The laser generator includes a laser source, a lens barrel, bolts, a filter, and a collimating lens. The controller controls the laser intensity of the laser source by adjusting the current. The laser generator is fixed to the upper platform by bolts. The laser source, filter, and collimating lens are arranged inside the lens barrel.

[0014] There are a total of 6 sets of ball joints and connecting rods.

[0015] The method for the controller to calculate the pose adjustment scheme of the basic platform 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 from 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 attitude angle of the platform relative to the inertial frame is measured by the inertial measurement unit. The attitude angle of the platform relative to the inertial frame The data is sent to the controller to calculate the actual posture of the upper platform.

[0021] (4) The desired posture with actual posture The input pose is obtained by subtraction.

[0022] (5) Convert the attitude Euler angles to attitude quaternions, and then perform rotations on the quaternions. The formula for converting Euler angles to quaternions is as follows:

[0023]

[0024] Input posture The formula for calculating quaternions 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 / retraction Δl of the link 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 Let i be the coordinate of the ball joint on the upper platform (203), and b i Let i be the coordinate of the ball joint of the lower platform (202), and t be the translation of the center of the upper platform relative to the center of the lower platform; the formula for calculating R is as follows:

[0031]

[0032] (7) Based on the linkage extension amount Δl calculated in step (6), the basic platform pose adjustment scheme is obtained;

[0033] The method for testing the agile closed-loop controllable laser alarm test device includes 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 from 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 attitude angle of the platform relative to the inertial frame is measured by the inertial measurement unit. The attitude angle of the platform relative to the inertial frame The data is sent to the controller to calculate the actual posture of the upper platform.

[0039] (4) The controller determines the desired attitude and actual posture The linkage extension / retraction amount Δl is calculated, and control commands are sent to the base platform to control the linkage extension / retraction and obtain the desired attitude of the upper platform.

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

[0041] The calculation method for the linkage extension Δl in step (4) is as follows:

[0042] (1) Desired posture with actual posture The input pose is obtained by subtraction.

[0043] (2) Convert the attitude Euler angles to attitude quaternions, and then perform rotations on the quaternions. The formula for converting Euler angles to quaternions is as follows:

[0044]

[0045] Input posture The formula for calculating quaternions 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 / retraction Δl of the link 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 Let i be the coordinate of the ball joint on the upper platform, and b be the coordinate of the ball joint on the upper platform. i Let i be the coordinate of the ball joint on the lower platform, and t be the translation of the center of the upper platform relative to the center of the lower platform; the formula for calculating R is as follows:

[0052]

[0053] After the attitude adjustment described in step (4) is completed, test the actual attitude. If it matches the desired posture If there is a deviation, repeat the adjustment operation described in step (4) until the actual posture is achieved. 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. This invention designs the structure of the light emitter, thereby replacing the handheld laser alarm testing device and realizing precise and continuous control of the beam direction.

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

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

[0058] 4. This invention designs a control algorithm for the laser alarm test device, realizing closed-loop accurate control and light intensity control of the platform. Attached Figure Description

[0059] Figure 1 This is a schematic diagram illustrating the working principle of the laser alarm testing device of the present invention;

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

[0061] Figure 3 This is a front view of the laser alarm testing device of the present invention with the light shield deployed;

[0062] Figure 4 This is a top view of the laser alarm testing device of the present invention with the light shield deployed;

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

[0064] Figure 6 This is a flowchart illustrating the operation of the controller of the present invention. Detailed Implementation

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

[0066] Figure 1 The diagram shown illustrates the working principle of the laser alarm testing device of this invention. Figure 2The diagram shows a schematic of the base platform 2. The laser alarm testing 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 the Stewart platform, including a ball joint 204, a connecting rod 205, a lower platform 202, and an upper platform 203. Its characteristic is that there are at least two kinematic chains between the base and the end effector, allowing for longitudinal, lateral, lifting, rolling, pitching, and yaw movements. Compared to traditional two-axis turntables, the base platform 2 has advantages such as compact structure, agile maneuverability, high degrees of freedom, and accurate positioning. The upper platform 203 contains a screw hole 208 at its center, allowing for quick disassembly and fixation of the laser generator 1. The direction of the laser emitter can be controlled by controlling the pose 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. A servo motor on the connecting rod 205 can control its extension and retraction, thereby controlling the movement of the upper platform 203. The actual displacement of the base platform 2 after its movement and the pointing direction of the laser generator 1 can be calculated from the pose changes of the upper and lower platforms, achieving closed-loop control of the base platform 2 and effectively improving the accuracy of the platform's movement. A retractable light-shielding platform 207 is fixedly connected to the lower platform 202 via a fixed column 209. This platform has a detachable light-shielding cover 201 at its edge, which can be removed as needed. If the laser alarm device itself does not have a light-shielding cover structure, the testing device can use its built-in light-shielding cover 201 to prevent stray light interference from the light emitted by the laser generator 1 during the test. Figure 3 , Figure 4 The diagram shown is a schematic 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 alarm testing equipment of the present invention can provide a precise and variable laser signal as input in coordinate form for the laser alarm device. At the same time, since both the light shield platform 207 and the laser generator 1 can be disassembled, they are easy to adjust according to the test conditions, which effectively improves the test efficiency and test quality.

[0069] Each platform has an inertial measurement unit 206. An OXYZ coordinate system is established, with the origin at the center of the lower platform 202 and the Z-axis perpendicular to the lower platform 202. The inertial measurement units 206 are installed on the Y-axis of the upper and lower platforms respectively. During the use of the testing device, the attitude angle of the lower platform 202 relative to the inertial frame can be measured by the inertial measurement units 206. The attitude angle of platform 203 relative to the inertial frame is The attitude of the upper platform 203 relative to the lower platform 202 coordinate system can then be calculated.

[0070] Controller 3 uses an STM32 microcontroller as its core. It can control the intensity of the laser emitted by laser generator 1 by controlling the current of the light source, and it can also control the movement of linkage 205 to point laser generator 1 to a specified coordinate. Testers can input the light intensity and desired output coordinates into the host computer to test the performance of the laser alarm device.

[0071] Figure 5 The internal structure of the laser generator 1 includes a laser source 101 and a lens barrel 102. The lens barrel 102 contains bolts 103 for fixing 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 source 101 can be varied by adjusting the current. The lens barrel 102 contains a filter 104 and a collimating lens 105. The intensity of the light emitted by the laser source 101 can also be adjusted by the current.

[0072] Figure 6 This is a flowchart of the controller 3's operation. In this invention, controller 3 has two main functions: first, to calculate 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; second, to precisely control the extension and retraction of each link by controlling the servo motor on the connecting rod 205, thereby achieving precise beam pointing. This is achieved by first projecting the desired coordinates (x0, y0) input from the host computer to obtain the desired upper platform posture. The calculation formula is as follows:

[0073]

[0074] In the formula, h is the length of laser generator 1, and then the desired orientation is... The actual attitude measured by the inertial measurement unit The input attitude of the control model is obtained by subtraction. Here, we first convert the attitude Euler angles to attitude quaternions, and then perform rotations on the quaternions. The formula for converting Euler angles to quaternions is as follows:

[0075]

[0076] The formula for calculating the quaternion of the input attitude is as follows:

[0077]

[0078] Right now:

[0079]

[0080] The obtained input attitude quaternions are converted into rotation matrices. Based on the inverse kinematics model of the Stewart platform, the extension / retraction Δl of each link 205 can be obtained through the rotation matrix. The formula for converting quaternions to transformation matrices is as follows:

[0081]

[0082] The inverse kinematics model is as follows:

[0083] Δl i =Rp i +tb i (i = 1…6)

[0084] Where p i Let b be the coordinate of the ball joint on the upper platform. i Let t be the ball joint coordinate of the lower platform, and t be the translation of the center of the upper platform 203 relative to the center of the lower platform 202.

[0085] After obtaining the expansion / contraction amount Δl, control is achieved through a three-loop PID model. From the inside out, the three loops are the current loop, speed loop, and position loop. The current loop can be used to model the motor, thus improving the inner loop feedback to an extended state observer, and converting the inner loop PID to LADRC, enhancing control accuracy. Finally, a PWM signal is output to the servo motor of the base platform, completing the high-precision control of the entire laser alarm device.

[0086] The above description is only the best specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the protection scope of the present invention.

[0087] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. An agile closed-loop controllable laser alarm testing device, comprising a laser generator (1), a base platform (2), a controller (3), and an inertial measurement unit (206), wherein: The laser generator (1) is used to receive control commands from the controller (3) and emit lasers of a specified intensity under the control of the controller. The base platform (2) is used to receive instructions from the controller (3) and complete the pose adjustment operation so that the laser generator (1) is pointed to the specified position. The base platform (2) includes 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 sets of connecting rods (205) and ball joints (204). The two ends of each connecting rod (205) are connected to the ball joints (204) on the lower platform (202) and the upper platform (203) respectively. The laser generator (1) is fixed on the upper platform (203). Controller (3) is used to receive the desired coordinates input from the host computer. The attitude angles of the lower platform (202) and the upper platform (203) relative to the inertial frame sent by the inertial measurement unit (206) are used to calculate the pose adjustment scheme of the base platform (2) and send the pose adjustment operation control command to the base platform (2). At the same time, the desired laser intensity command of the host computer is received and the command containing the desired laser intensity is sent to the laser generator (1). An inertial measurement unit (206) is set on the lower platform (202) and the upper platform (203) to measure the attitude angles of the lower platform (202) and the upper platform (203) relative to the inertial frame and send the results to the controller (3). The method by which the controller (3) calculates the pose adjustment scheme of the base 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 input from the host computer. The desired upper platform (203) attitude angle was calculated. 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 frame. The attitude angle of the upper platform (203) relative to the inertial frame ( ), sent to controller (3), and the actual attitude of the upper platform (203) is calculated. ); (4) The desired posture ( ) and actual posture ( The difference is used to obtain the input pose. ); (5) Convert the attitude Euler angles to attitude quaternions, and then perform rotations based on the quaternions. The formula for converting Euler angles to quaternions is as follows: Input attitude ( The formula for calculating quaternions 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 Δl of the link (205) is obtained through the rotation matrix. The inverse kinematics model is as follows: in Let i be the coordinate of the ball joint on the upper platform (203). Let i be the coordinate of the ball joint of the lower platform (202). R is the translation of the center of the upper platform (203) relative to the center of the lower platform (202); the formula for calculating R is as follows: (7) Based on the extension amount Δl of the connecting rod (205) calculated in step (6), the pose adjustment scheme of the base platform (2) is obtained.

2. The agile closed-loop controllable laser alarm testing 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 alarm device to be tested does not have a light shield structure, the light emitted by the laser generator (1) during the test can be prevented from being interfered with by stray light through the light shield (201).

3. The agile closed-loop controllable laser alarm testing device according to claim 2, characterized in that: It also includes a sunshade platform (207), which is fixed to the lower platform (202) by a fixing column (209).

4. The agile closed-loop controllable laser alarm testing device according to claim 1, characterized in that: A servo motor is installed on the link (205). The controller (3) controls the extension and retraction of the link (205) by controlling the servo motor, thereby controlling the pose of the lower platform (202) and the upper platform (203).

5. The agile closed-loop controllable laser alarm testing device according to claim 1, characterized in that: The laser generator (1) includes a laser source (101), a lens barrel (102), a bolt (103), a filter (104), and a collimating lens (105). The controller (3) controls the laser intensity of the laser source (101) by adjusting the current. The laser generator (1) is fixed on the upper platform (203) by the bolt (103). The laser source (101), the filter (104), and the collimating lens (105) are arranged inside the lens barrel (102).

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

7. A method for testing using the agile closed-loop controllable laser alarm testing device as described in any one of claims 1 to 6, characterized in that: Includes the following steps: (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 input from the host computer. The desired upper platform (203) attitude angle was calculated. 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 frame. The attitude angle of the upper platform (203) relative to the inertial frame ( ), sent to controller (3), and the actual attitude of the upper platform (203) is calculated. ); (4) The controller (3) determines the desired attitude ( ) and actual posture ( The extension / retraction amount Δl of link (205) is calculated, and a control command is sent to the base platform (2) to control the extension / retraction of link (205) to obtain the desired attitude of the upper platform. ); (5) The controller (3) controls the laser generator (1) to output laser intensity according to the instructions of the host computer, and tests the performance of the laser alarm device.

8. The test method for an agile closed-loop controllable laser alarm test device according to claim 7, characterized in that: The calculation method for the extension Δl of the connecting rod (205) in step (4) is as follows: (1) The desired posture ( ) and actual posture ( The difference is used to obtain the input pose. ); (2) Convert the attitude Euler angles to attitude quaternions, and then perform rotations based on the quaternions. The formula for converting Euler angles to quaternions is as follows: Input attitude ( The formula for calculating quaternions is as follows: Right now: (3) The input posture obtained in step (2) is ( The quaternion is converted into a rotation matrix. Based on the inverse kinematics model of the basic platform (2), the extension Δl of the link (205) is obtained through the rotation matrix. The inverse kinematics model is as follows: in Let i be the coordinate of the ball joint on the upper platform (203). Let i be the coordinate of the ball joint of the lower platform (202). R is the translation of the center of the upper platform (203) relative to the center of the lower platform (202); the formula for calculating R is as follows: 。 9. The test method for an agile closed-loop controllable laser alarm test device according to claim 7, characterized in that: After the attitude adjustment described in step (4) is completed, the actual attitude is tested. If it is consistent with the desired posture ( If there is a deviation, repeat step (4) to adjust the posture until the actual posture is correct. The error is within the allowable range.

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