Method and device for measuring, regulating and controlling surface shape of large rope net antenna based on force-position fusion vision measurement

Abstract

The invention discloses a large rope net antenna surface shape measurement and regulation method based on force-position fusion vision measurement, and relates to the field of antenna precision control and optimization. In order to solve the problems of high cost, high structural complexity and limited regulation and control precision of a measurement system in the prior art, the invention provides an efficient regulation and control method. The method comprises the following steps: acquiring displacement data of upper and lower cable net nodes and extension spring mark points, and recording images; preprocessing the image data, and extracting actual coordinates of the mark points; the actual coordinates are compared with the design coordinates, node displacement errors are calculated, and the root-mean-square error value of the antenna reflecting surface is obtained through a profile error formula; based on the root-mean-square error value, the deformation amount of a piezoelectric actuator and the deformation amount of a spring are calculated, and driving voltage and tension parameters are determined; and generating a control instruction according to a calculation result, and optimizing regulation and control. The method is suitable for design and maintenance of the spacecraft antenna, and has the advantages of high precision, low cost and easy operation.

Description

Technical Field

[0001] The invention relates to the field of antenna precision control and optimization, and specifically to a method for antenna surface precision control based on force-position fusion visual measurement. Background Art

[0002] With the development of modern aerospace technology, satellite-borne antennas play a vital role in space missions, and their performance is directly related to the quality of signal reception and transmission. In order to meet higher data transmission requirements, satellite-borne antennas are developing towards large aperture, high gain and high precision. In this field, mesh antennas have gradually become an important antenna form in deep space exploration, communication satellites and earth observation satellites due to their light weight, high folding and storage ratio and low launch cost.

[0003] Mesh antennas usually use an upper and lower cable net structure, and the shape of its reflective surface is determined by an elastic system formed by multiple tension cables and springs. In order to ensure the accuracy of the reflective surface of the antenna after deployment, current technologies mainly rely on the following methods:

[0004] Measurement technology based on position sensors

[0005] By installing high-precision position sensors at the cable net nodes, the displacement data of each node is measured in real time, and the length of the tension cable is adjusted according to the measurement results to achieve active adjustment of the surface accuracy. This method can achieve high measurement accuracy, but because sensors need to be installed at each node, the equipment cost is high, the wiring is complicated, and the overall weight and energy consumption of the system will increase.

[0006] Measurement technology based on force sensors

[0007] Force sensors are installed on the tension cables to measure the stress at each node, and combined with the data from the position sensors for comprehensive analysis to determine the antenna's surface error and adjustment plan. Although this method is more comprehensive in mechanical analysis, similar to position sensors, the widespread deployment of force sensors will also increase the complexity and cost of the system.

[0008] Multi-camera visual measurement technology

[0009] In recent years, multi-camera based visual measurement technology has gradually become a research hotspot. By setting markers at the nodes of the cable net, a multi-camera system is used to measure their position and displacement. Although this method can reduce the number of sensors, the equipment cost and installation difficulty caused by the multi-camera configuration have not been fundamentally solved.

[0010] The existing technology has the following problems in practical application:

[0011] High cost of measurement system: Since a large number of sensors or multi-camera systems are required, the equipment cost and maintenance expenses increase significantly, which is not conducive to large-scale application.

[0012] High structural complexity: The arrangement of sensors and cameras requires additional mechanical design, while complex circuit connections and power supply requirements increase the weight and energy consumption of the system.

[0013] Limited control accuracy: Existing methods lack accurate measurement of the spring deformation and its influence on the displacement of the cable net nodes, making it difficult to achieve high-precision active control of the antenna surface shape. Summary of the invention

[0014] In order to solve the technical defects in the prior art, such as high cost of the measurement system, high structural complexity and limited control accuracy in the existing antenna surface shape accuracy control work, the technical solution provided by the present invention is as follows:

[0015] The surface measurement and control method of large-scale rope net antenna based on force-position fusion visual measurement includes:

[0016] The steps of collecting displacement data of target upper and lower cable net nodes and stretch spring marking points, and recording image data;

[0017] The step of preprocessing the image data includes extracting and matching the features of the marking points and extracting the actual coordinates of the marking points;

[0018] The actual coordinates of the marking point are compared with the preset design coordinates, the node displacement error is calculated, and the root mean square error value of the antenna reflection surface is obtained by substituting the error into the shape error formula;

[0019] The step of calculating the deformation amount and spring deformation amount of the target piezoelectric actuator based on the root mean square error value of the antenna reflection surface, and determining the driving voltage and tension parameters;

[0020] The step of generating a control instruction according to the driving voltage and tension parameters.

[0021] Furthermore, a preferred embodiment is provided, in which the feature extraction of the marking point is based on a feature recognition algorithm of template matching.

[0022] Furthermore, a preferred embodiment is provided, in which the deformation amount and spring deformation amount of the target piezoelectric actuator are calculated by an error inversion algorithm.

[0023] Furthermore, a preferred embodiment is provided, in which the driving voltage and tension parameters are determined by combining the voltage-deformation relationship formula. Further, a preferred embodiment is provided, in which the preprocessing also includes image noise removal.

[0024] Based on the same inventive concept, the present invention also provides a large-scale rope net antenna surface shape measurement and control device based on force-position fusion visual measurement, including:

[0025] A module for collecting displacement data of target upper and lower cable net nodes and stretch spring marking points, and recording image data;

[0026] A module for preprocessing the image data, including extraction and matching of marker features, and extraction of actual coordinates of the marker points;

[0027] A module for comparing the actual coordinates of the marking point with the preset design coordinates, calculating the node displacement error, and substituting it into the shape error formula to obtain the root mean square error value of the antenna reflection surface;

[0028] A module for calculating the deformation amount and spring deformation amount of a target piezoelectric actuator based on the root mean square error value of the antenna reflective surface, and determining the driving voltage and tension parameters;

[0029] A module for generating control instructions according to the driving voltage and tension parameters.

[0030] Based on the same inventive concept, the present invention also provides a large-scale rope net antenna surface shape measurement and control system based on force-position fusion visual measurement, and the system is used to implement the method described, including:

[0031] Ring trusses are used to support and fix the upper and lower cable net surfaces;

[0032] The upper cable mesh surface and the lower cable mesh surface include at least three nodes, and the nodes are connected by vertical tension cables;

[0033] A vertical tension cable, which is connected in series with a piezoelectric actuator and a tension spring;

[0034] Marking points are set on each node of the upper cable mesh surface and the lower cable mesh surface and the tension spring;

[0035] A camera is used to observe the cable net surface node marking points of the upper cable net nodes and the lower cable net nodes in the upper cable net surface and the lower cable net surface, and to observe the displacement data of the spring marking points of the tension spring;

[0036] The tension spring transmits the tension through the deformation amount, so as to adjust the node positions of the upper cable net surface and the lower cable net surface.

[0037] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes the described method.

[0038] Based on the same inventive concept, the present invention also provides a computer, including a processor and a storage medium. When the processor reads a computer program stored in the storage medium, the computer executes the method described.

[0039] Based on the same inventive concept, the present invention also provides a computer program product, which is a computer program. When the computer program is executed, the method described above is implemented.

[0040] Compared with the prior art, the technical solution provided by the present invention is beneficial in that:

[0041] This solution replaces the displacement sensors and force sensors used in traditional methods by arranging markers on the upper and lower cable net nodes and springs, and using visual cameras to measure the displacement of these markers and the deformation of the springs. This method significantly reduces the equipment cost of the measurement system. Compared with solutions that rely on high-precision sensors, it not only saves hardware expenses, but also reduces subsequent maintenance costs.

[0042] By using a combination of piezoelectric actuators and tension springs to adjust the length of the tension cable, this solution avoids complex circuit connections and power supply design, and simplifies the system structure. Compared with the traditional method that requires the installation of multiple sets of sensors, this method reduces the need for additional mechanical design, reduces the weight and energy consumption of the system, and improves the integration and reliability of the equipment.

[0043] By measuring node displacement and spring deformation through visual cameras, this solution can calculate and control the shape error of the antenna reflector in real time, improving the control accuracy. Compared with multi-camera visual measurement technology, this solution only needs two cameras to complete a large range of accurate measurements, significantly reducing the difficulty of equipment deployment while ensuring the accuracy and stability of the measurement results.

[0044] Visual measurement replaces traditional sensors, making measurement and control no longer dependent on the accuracy of single-point sensors. This approach improves the system's adaptability to environmental changes. Compared with traditional methods, it can maintain high accuracy while avoiding system performance degradation caused by sensor failure, thereby improving the stability and anti-interference ability of the overall system.

[0045] It is suitable for use in the design and maintenance of spacecraft antennas. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a front view of the antenna surface accuracy measurement and control system device;

[0047] Figure 2 This is a side view of the antenna surface accuracy measurement and control system device;

[0048] Figure 3This is a top view of the antenna surface accuracy measurement and control system device;

[0049] Figure 4 Assign a schematic diagram to a marker point.

[0050] Among them, 1 is the annular truss, 2 is the upper cable net surface, 3 is the lower cable net surface, 4 is the upper cable net node, 5 is the lower cable net node, 6 is the piezoelectric actuator, 7 is the tension spring, 8 is the vertical tension cable, 9 is the cable net surface node marking point, 10 is the spring marking point, and 11 is the camera. DETAILED DESCRIPTION

[0051] In order to make the advantages and benefits of the technical solution provided by the present invention more clearly reflected, the technical solution provided by the present invention is now further described in detail with reference to the accompanying drawings, specifically:

[0052] Embodiment 1: This embodiment provides a large-scale rope net antenna surface shape measurement and control method based on force-position fusion visual measurement, including:

[0053] The steps of collecting displacement data of target upper and lower cable net nodes 5 and stretch spring 7 marking points, and recording image data;

[0054] The step of preprocessing the image data includes extracting and matching the features of the marking points and extracting the actual coordinates of the marking points;

[0055] The actual coordinates of the marking point are compared with the preset design coordinates, the node displacement error is calculated, and the root mean square error value of the antenna reflection surface is obtained by substituting the error into the shape error formula;

[0056] The step of calculating the deformation amount and spring deformation amount of the target piezoelectric actuator 6 based on the root mean square error value of the antenna reflection surface, and determining the driving voltage and tension parameters;

[0057] The step of generating a control instruction according to the driving voltage and tension parameters.

[0058] Specifically, they include:

[0059] Nodal displacement measurement

[0060] The marking points at the positions of the upper and lower cable net nodes 5 are observed by the visual camera 11 to obtain the actual displacement of the nodes and calculate the shape accuracy of the antenna reflection surface.

[0061] Detailed description: Marking points are arranged at the upper and lower cable nodes 5 of the antenna cable network. The marking points of each node are observed in real time by a visual camera 11 installed outside the device, and their actual coordinates are recorded. The actual coordinates obtained by observation are compared with the design coordinates to calculate the displacement error of the node. The error data is further calculated by the formula to calculate the root mean square (RMS) error value of the antenna reflector surface, which is used to evaluate the shape accuracy of the current antenna reflector surface.

[0062] Displacement error calculation and adjustment

[0063] The shape error value of the antenna reflector is calculated using the node displacement data, and the deformation amount of the piezoelectric actuator 6 and the deformation amount of the spring that need to be adjusted are calculated based on the error value.

[0064] Detailed description: The node displacement data obtained in step 1 is input into the processor, and the RMS error value of the current antenna reflector is calculated by a preset error formula. Based on the error value, the processor determines the deformation amount of the piezoelectric actuator 6 and the deformation amount of the tension spring 7 that need to be adjusted through an inversion algorithm. This calculation result is used as the input data for adjusting the voltage and applying the tension in the subsequent steps to ensure that the adjustment can accurately reflect the current error.

[0065] Voltage and force calculation

[0066] According to the deformation of the piezoelectric actuator 6, the corresponding driving voltage and force are calculated to provide parameter support for achieving precise control.

[0067] Detailed description: The deformation of the piezoelectric actuator 6 calculated in step 2 is converted into a corresponding driving voltage value through the voltage-deformation relationship formula of the piezoelectric ceramic. The voltage value is further combined with the output mechanical model of the piezoelectric ceramic to calculate the magnitude of the force corresponding to the spring deformation. The piezoelectric coefficient and proportional coefficient involved in the mechanical output model of the piezoelectric ceramic are determined by experimental calibration to ensure the accuracy and repeatability of the calculation.

[0068] Tension adjustment and surface control

[0069] By applying voltage to the piezoelectric actuator 6, a tensile force is generated to act on the spring, thereby adjusting the cable net nodes and completing the shape control.

[0070] Detailed description: According to the voltage parameters calculated in step 3, a corresponding driving voltage is applied to the piezoelectric actuator 6 to generate a specific deformation, thereby applying tension through the tension spring 7. Since the tension spring 7 is connected to the vertical tension cable 8, the deformation of the spring further pulls the node positions of the upper and lower cable nets to change, thereby realizing active adjustment of the antenna surface error. The adjustment process responds in real time, and the control accuracy is ensured through the feedback mechanism of the processor.

[0071] Accuracy test

[0072] Measure the node displacement and spring deformation again, calculate the adjusted RMS error value, and verify whether the surface accuracy meets expectations.

[0073] Detailed description: After the adjustment is completed, the displacement data of the upper and lower cable net nodes 5 and the spring marking point 10 are re-observed through the visual camera 11, and the measurement data is input into the processor to recalculate the RMS error value of the antenna reflection surface. If the error value is lower than the preset threshold, the shape adjustment is completed; if the error value still exceeds the threshold, return to step 2 to recalculate the adjustment amount and iterate until the accuracy requirement is met.

[0074] Implementation method 2: This implementation method is a further limitation of the large-scale rope net antenna surface measurement and control method based on force-position fusion visual measurement provided in implementation method 1, and the feature extraction of marker points is based on a feature recognition algorithm based on template matching.

[0075] Implementation method three: This implementation method is a further limitation of the large rope net antenna surface shape measurement and control method based on force-position fusion visual measurement provided in implementation method one, and calculates the deformation and spring deformation of the target piezoelectric actuator 6 through an error inversion algorithm.

[0076] Implementation method 4: This implementation method is a further limitation of the large-scale rope net antenna surface shape measurement and control method based on force-position fusion visual measurement provided in implementation method 1, and determines the driving voltage and tension parameters by combining the voltage-deformation relationship formula.

[0077] Implementation method five: This implementation method is a further limitation of the large-scale rope net antenna surface shape measurement and control method based on force-position fusion visual measurement provided in implementation method one, and the preprocessing also includes image noise removal.

[0078] Embodiment 6: This embodiment provides a large-scale rope net antenna surface shape measurement and control device based on force-position fusion visual measurement, including:

[0079] A module for collecting displacement data of target upper and lower cable net nodes 5 and stretch spring 7 marking points, and recording image data;

[0080] A module for preprocessing the image data, including extraction and matching of marker features, and extraction of actual coordinates of the marker points;

[0081] A module for comparing the actual coordinates of the marking point with the preset design coordinates, calculating the node displacement error, and substituting it into the shape error formula to obtain the root mean square error value of the antenna reflection surface;

[0082] A module for calculating the deformation amount and spring deformation amount of the target piezoelectric actuator 6 based on the root mean square error value of the antenna reflection surface, and determining the driving voltage and tension parameters;

[0083] A module for generating control instructions according to the driving voltage and tension parameters.

[0084] Embodiment 7: This embodiment provides a large-scale rope net antenna surface shape measurement and control system based on force-position fusion visual measurement. The system is used to implement the method provided in embodiment 1, including:

[0085] The annular truss 1 is used to support and fix the upper and lower cable net surfaces 3;

[0086] The upper cable mesh surface 2 and the lower cable mesh surface 3 include at least three nodes, and the nodes are connected by vertical tension cables 8;

[0087] A vertical tension cable 8 is connected in series with a piezoelectric actuator 6 and a tension spring 7;

[0088] Marking points are set on each node of the upper cable mesh surface 2 and the lower cable mesh surface 3 and the tension spring 7;

[0089] The camera 11 is used to observe the cable net surface node marking points 9 of the upper cable net node 4 and the lower cable net node 5 in the upper cable net surface 2 and the lower cable net surface 3, and observe the displacement data of the spring marking point 10 of the tension spring 7;

[0090] The tension spring 7 transmits the tension through the deformation amount, so as to adjust the node positions of the upper cable net surface 2 and the lower cable net surface 3.

[0091] Specifically, they include:

[0092] Framework

[0093] The device uses a ring truss 1 as the main frame, and combines the upper and lower layers of cable net surfaces to form the basic skeleton of the antenna.

[0094] Detailed description: The ring truss 1 serves as the bearing and supporting structure of the device. The upper cable net surface 2 and the lower cable net surface 3 are connected and fixed at a specified position through the ring truss 1. The cable net surface is composed of a number of nodes and tension cables. The tension of the cable net is used to keep the surface stable. The number of nodes of the upper and lower cable nets is equal. Each node is the intersection of the tension cable and is used to install the tension spring 7 and the piezoelectric actuator 6.

[0095] Control system

[0096] The displacement adjustment of the cable net nodes is achieved by connecting the tension spring 7 and the piezoelectric actuator 6 in series through the vertical tension cable 8.

[0097] Detailed description: Each vertical tension cable 8 is connected to the corresponding nodes of the upper and lower cable nets, and is connected in series with a set of tension springs 7 and piezoelectric actuators 6. The stiffness coefficient of the tension spring 7 is calibrated by experiments to adapt to different tension requirements, and the piezoelectric actuator 6 controls its deformation through the driving voltage, thereby adjusting the tension distribution of the tension cable and realizing precise control of the node displacement.

[0098] Vision measurement system

[0099] The nodes and spring marking points 10 are observed by the visual camera 11 to achieve real-time measurement of displacement and deformation.

[0100] Detailed description: The device is equipped with two high-precision visual cameras 11 to observe the marking points on the upper and lower cable net nodes 5 and the tension spring 7 respectively. The marking points are designed with reflective or high contrast so that the visual camera 11 can accurately capture them under different lighting conditions. The visual camera 11 is connected to the processor to transmit the measurement data in real time for subsequent calculations.

[0101] Node layout

[0102] The nodes of the upper and lower cable nets are connected by tension cables and marked with installation points for position measurement and tension control.

[0103] Detailed description: Each layer of the cable net contains multiple nodes, and the nodes are connected by tension cables to form a grid structure. The node position layout is optimized according to the design requirements of the antenna's reflective surface, and each node is equipped with a marking point for visual observation. The node layout design simplifies the overall installation and debugging of the device while meeting the mechanical requirements.

[0104] The operation method is:

[0105] The overall frame of the device is formed by the annular truss 1, and the upper cable net surface 2 and the lower cable net surface 3 are respectively connected to the annular truss 1 to form the basic structural frame of the antenna. Multiple nodes in the upper cable net surface 2 and the lower cable net surface 3 are respectively used as upper cable net nodes 4 and lower cable net nodes 5, and are connected to each other through vertical tension cables 8.

[0106] A piezoelectric actuator 6 and a tension spring 7 are installed in series on each vertical tension cable 8 to adjust the tension distribution of the vertical tension cable 8 and realize the displacement adjustment of the upper cable net node 4 and the lower cable net node 5. Cable net surface node marking points 9 and spring marking points 10 are respectively set at the upper cable net node 4, the lower cable net node 5 and the two ends of the tension spring 7 for subsequent displacement measurement.

[0107] The camera 11 is used to observe the cable net surface node marking points 9 of the upper cable net node 4 and the lower cable net node 5 and the spring marking points 10 of the tension spring 7 in real time. After the camera 11 collects the image data, the processor pre-processes the image, including feature extraction and matching of the marking points, and then extracts the actual coordinates of each marking point. By comparing the actual coordinates with the designed coordinates, the displacement errors of the upper cable net node 4 and the lower cable net node 5 are calculated, and the root mean square (RMS) error value of the antenna reflector surface is calculated according to the formula.

[0108] Using the RMS error value, the system calculates the deformation of the piezoelectric actuator 6 and the deformation of the tension spring 7 through a preset error inversion algorithm. According to the voltage-deformation relationship formula, the voltage value required to drive the piezoelectric actuator 6 and the corresponding tension parameter are further calculated. By driving the piezoelectric actuator 6, a tension is generated to adjust the deformation of the tension spring 7, thereby pulling the vertical tension cable 8 to adjust the position of the upper cable net node 4 and the lower cable net node 5, so as to achieve precise adjustment of the antenna surface shape.

[0109] After adjustment, the displacement data of the cable net surface node marking point 9 and the spring marking point 10 are collected again through the camera 11, and the shape surface error value is recalculated to verify whether the adjusted shape surface accuracy meets the preset requirements. If the error does not reach the target value, the above process is repeated, and the control parameters of the piezoelectric actuator 6 are iteratively adjusted until the RMS error of the antenna reflection surface meets the requirements. Finally, the displacement data of the adjusted cable net surface nodes and tension springs 7, as well as the shape surface error results are recorded in the database, and an analysis report is generated for subsequent optimization reference.

[0110] Embodiment 8: This embodiment provides a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes the method provided in embodiment 1.

[0111] Embodiment 9: This embodiment provides a computer, including a processor and a storage medium. When the processor reads a computer program stored in the storage medium, the computer executes the method provided in embodiment 1.

[0112] Embodiment 10: This embodiment provides a computer program product, which is a computer program. When the computer program is executed, the method provided in embodiment 1 is implemented.

[0113] Implementation Method XI: Combination Figure 1-4 This embodiment is described in detail by using specific examples to further describe the technical solution provided above. Specifically:

[0114] In order to solve the problems of high cost of measurement unit, large space occupied, increased power consumption, reduced control stability, etc. in the active control link of mesh antenna surface accuracy, this embodiment proposes a new antenna surface accuracy measurement and control system device.

[0115] The measuring device proposed in this embodiment is composed of the upper and lower cable nets of the mesh antenna, the annular truss 1, the vertical tension cable 8, the piezoelectric actuator 6, the tension spring 7, the marking point and the visual camera 11. The node positions of the upper and lower cable nets are adjusted by the vertical tension cable 8 equipped with the piezoelectric actuator 6 and the tension spring 7, so as to achieve the purpose of surface adjustment. It is necessary to measure the node displacement of the cable net and the deformation of the spring by the visual camera 11, and the specific implementation steps are as follows:

[0116] Step 1: Observe the z-axis displacement of the marking point at the position of the antenna cable network node through vision (such as camera 11), that is, the coordinate error Δz between the actual coordinate and the ideal coordinate, and calculate the surface accuracy of the antenna reflector at this time. The surface accuracy of the antenna reflector is generally described by the root mean square (RMS) error. The surface RMS error of the cable network antenna reflector can be expressed as

[0117]

[0118] Where z j is the actual coordinate of the z-axis of the front cable net node, is the z-axis design coordinate of the front cable net node, and m is the number of front cable net nodes;

[0119] Step 2: Substitute the measured node displacement Δz into the formula to calculate the RMS error value, and return it to the processor for calculation, and pre-calculate the deformation Δl of the piezoelectric actuator 6 and the spring deformation ΔL that need to be adjusted according to the displacement relationship;

[0120] Δz=Δl-ΔL (2)

[0121] Step 3: Calculate the voltage V and force F required by the piezoelectric ceramic through the relationship between the deformation Δl of the piezoelectric actuator 6 and the voltage V. The proportional coefficient is the piezoelectric coefficient d 33 and coefficient d;

[0122] Δl=d 33 V (3)

[0123] F=dV (4)

[0124] Step 4: Apply a corresponding voltage V to the piezoelectric ceramic actuator to generate a corresponding tension F, which acts on the spring, causing the spring to deform ΔL and then pull the cable net node to generate a displacement Δz, thereby realizing active control of the cable net surface. Since the tension spring 7 is connected to the traction rope, the force F on the tension spring 7 is k is equal to the pulling force F on the traction rope, thereby further determining the control amount of the piezoelectric actuator 6, and the calculation formula is as follows, where k is the spring stiffness coefficient:

[0125] F=F k =k·ΔL (5)

[0126] Step 5: Visually observe the spring deformation ΔL and node displacement Δz, and calculate the RMS error value again to check the surface accuracy.

[0127] In the measurement and control system device proposed in this embodiment, the main frame is composed of a truss and upper and lower cable net surfaces 3, and the surface adjustment actuation system is composed of upper and lower nodes, vertical tension cables 8 and the piezoelectric actuators 6 and tension springs 7 installed thereon, as well as a visual camera 11. The piezoelectric actuator 6 is used as the main force and displacement distribution coordination and actuation device.

[0128] This embodiment uses a camera 11 to observe the deformation of each tension spring 7 to calculate the rope tension, observes the node displacement of each upper and lower cable net to obtain the surface information of the mesh antenna, and then actively adjusts the deformation of each spring and the displacement of each node through the piezoelectric actuator 6. This solution can replace the force and position information that can only be observed by many groups of force sensors and displacement sensors by using only one camera 11. Therefore, it can solve the problems of high cost of measurement units, complex circuit connections, increased power consumption, and increased control complexity in traditional solutions.

[0129] The technical solution provided by the present invention is further described in detail above through several specific implementation modes in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific implementation modes described above are not intended to be used as limitations on the present invention. Any reasonable modification and improvement of the present invention, combination of implementation modes and equivalent substitution within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A large-scale rope net antenna surface shape measurement and control method based on force-position fusion visual measurement, characterized in that: include: The steps of collecting displacement data of target upper and lower cable net nodes and stretch spring marking points, and recording image data; The step of preprocessing the image data includes extracting and matching the features of the marking points and extracting the actual coordinates of the marking points; The actual coordinates of the marking point are compared with the preset design coordinates, the node displacement error is calculated, and the root mean square error value of the antenna reflection surface is obtained by substituting the error into the shape error formula; The step of calculating the deformation amount and spring deformation amount of the target piezoelectric actuator based on the root mean square error value of the antenna reflection surface, and determining the driving voltage and tension parameters; The step of generating a control instruction according to the driving voltage and tension parameters.

2. The large-scale rope net antenna surface shape measurement and control method based on force-position fusion visual measurement according to claim 1 is characterized in that: Marker point feature extraction is based on the feature recognition algorithm of template matching.

3. The large-scale rope net antenna surface shape measurement and control method based on force-position fusion visual measurement according to claim 1 is characterized in that: The deformation and spring deformation of the target piezoelectric actuator are calculated using the error inversion algorithm.

4. The large-scale rope net antenna surface shape measurement and control method based on force-position fusion visual measurement according to claim 1 is characterized in that: The driving voltage and tension parameters are determined based on the voltage-deformation relationship formula.

5. The large-scale rope net antenna surface shape measurement and control method based on force-position fusion visual measurement according to claim 1 is characterized in that: The preprocessing also includes image noise removal.

6. A large-scale rope net antenna surface shape measurement and control device based on force-position fusion visual measurement, characterized in that: include: A module for collecting displacement data of target upper and lower cable net nodes and stretch spring marking points, and recording image data; A module for preprocessing the image data, including extraction and matching of marker features, and extraction of actual coordinates of the marker points; A module for comparing the actual coordinates of the marking point with the preset design coordinates, calculating the node displacement error, and substituting it into the shape error formula to obtain the root mean square error value of the antenna reflection surface; A module for calculating the deformation amount and spring deformation amount of a target piezoelectric actuator based on the root mean square error value of the antenna reflective surface, and determining the driving voltage and tension parameters; A module for generating control instructions according to the driving voltage and tension parameters.

7. A large-scale rope net antenna surface shape measurement and control system based on force-position fusion visual measurement, characterized in that: The system is used to implement the method described in claim 1, comprising: Ring trusses are used to support and fix the upper and lower cable net surfaces; The upper cable mesh surface and the lower cable mesh surface include at least three nodes, and the nodes are connected by vertical tension cables; A vertical tension cable, which is connected in series with a piezoelectric actuator and a tension spring; Marking points are set on each node of the upper cable mesh surface and the lower cable mesh surface and the tension spring; A camera is used to observe the cable net surface node marking points of the upper cable net nodes and the lower cable net nodes in the upper cable net surface and the lower cable net surface, and to observe the displacement data of the spring marking points of the tension spring; The tension spring transmits the tension through the deformation amount, so as to adjust the node positions of the upper cable net surface and the lower cable net surface.

8. A computer storage medium for storing a computing program, characterized in that: When the computer program is read by a computer, the computer executes the method of claim 1 .

9. A computer, comprising a processor and a storage medium, characterized in that: When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 1 .

10. A computer program product, being a computer program, characterized in that When the computer program is executed, the method of claim 1 is implemented.

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