Digital twin prototype construction method of photoelectric turret

Abstract

The invention relates to a method for constructing a digital twin prototype of a photoelectric turret, which comprises the following steps of: performing simulation modeling on a chip-level CPU of the photoelectric turret based on a QEMU virtual machine technology, performing simulation modeling on a three-dimensional optical machine structure of a photoelectric turret product based on a Un-ity 3D technology, and performing integrated verification on a chip-level CPU simulation environment and a three-dimensional multidisciplinary simulation model. According to the method, multiple means such as the QEMU virtual machine technology and the Un-ity 3D technology are utilized, the digital twin prototype of the photoelectric turret product is constructed, the physical characteristics and the operation environment of the photoelectric turret are effectively simulated, the digital twin body of the photoelectric turret is constructed in the laboratory environment, and the digital twin prototype of the photoelectric turret product is obtained. And the efficiency and quality of product research and development and test verification are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of optoelectronic turrets, and in particular to a method for constructing a digital twin prototype of an optoelectronic turret. Background Art

[0002] The optoelectronic turret is an optoelectronic device that uses gyro stabilization technology. It usually includes multiple optical sensors such as infrared thermal imagers, visible light camera systems and laser rangefinders. It has the function of isolating the movement of the carrier to keep the angle of the aiming line stable in inertial space. It can be carried on various carrier platforms such as helicopters, fixed-wing aircraft, UAVs, ships and vehicles. It can be used in military fields such as reconnaissance, aiming, and missile guidance, and can also be used in non-military fields such as search and rescue, anti-smuggling, security, environmental monitoring, and forest fire prevention.

[0003] As a precision optoelectronic device, it has important applications in military and industrial fields. Traditional optoelectronic turret product design, research and development, and test verification usually rely on physical prototypes, which have problems such as high cost, complex debugging, and difficulty in simulating extreme working conditions. Therefore, there is an urgent need for a digital twin prototype construction method for the optoelectronic turret. A digital twin of the optoelectronic turret can be constructed in a laboratory environment to greatly improve the efficiency and quality of product research and development and test verification, and solve the above-mentioned problems.

[0004] Through virtualization technology and three-dimensional digital modeling, digital twin technology can effectively simulate the physical properties and operating environment of the optoelectronic turret, build a digital twin of the optoelectronic turret in a laboratory environment, and greatly improve the efficiency and quality of product research and development and testing and verification. Summary of the invention

[0005] In view of this, the present invention proposes a method for constructing a digital twin prototype of an optoelectronic turret, which accurately simulates the underlying CPU hardware processor, gyroscope, code disk, motor and three-dimensional physical appearance of the optoelectronic turret, and constructs a set of digital optoelectronic turret products to ensure that the real optoelectronic turret software can run normally in a virtual environment, and interact with other virtual components of the optoelectronic turret to complete normal interaction and various functional operations, thereby solving the technical problems that the existing optoelectronic turret product design, research and development, and test verification rely on physical prototypes, which are costly, complex to debug, and difficult to simulate extreme working conditions.

[0006] In order to achieve the above technical objectives, the specific technical solutions adopted by the present invention are:

[0007] A method for constructing a digital twin prototype of an optoelectronic turret comprises the following steps:

[0008] S1. Chip-level CPU simulation modeling of optoelectronic turret based on QEMU virtual machine technology;

[0009] S2. Simulate and model the three-dimensional optomechanical structure of optoelectronic turret products based on Unity 3D technology;

[0010] S3, integrated verification of chip-level CPU simulation environment and three-dimensional multidisciplinary simulation model;

[0011] S4. The real software source code of the optoelectronic turret product is loaded and injected, and the digital twin prototype is adaptively generated.

[0012] Furthermore, in step S1, the chip-level CPU hardware processor involved in the optoelectronic turret is mainly digitally modeled and simulated, including PPC, ARM, and DSP processors. Based on QEMU virtual machine technology, the target machine instruction code is translated into the host machine instruction code using binary instruction set translation technology to ensure that the real optoelectronic turret product software can run normally in the virtual environment; at the same time, the chip-level CPU hardware processor peripheral protocol chip, driver and other bus interfaces are simulated to ensure that the software can interact with external components normally in the virtual environment.

[0013] Furthermore, in step S1, by using QEMU virtual machine technology, the CPU processor and peripheral interface of the optoelectronic turret can be accurately simulated to provide a highly consistent virtual operating environment for the real software of the optoelectronic turret product, including:

[0014] S101, Processor Simulation

[0015] Using QEMU-based open source virtualization technology, the embedded processors used in optoelectronic turret products are simulated, including PPC, ARM, DSP and other processors. The simulation not only covers the architecture and instruction set of the processor, but also includes key modules such as its registers and memory management. Through this precise processor simulation, the embedded software source code can be run in a virtual environment without modification.

[0016] S102, peripheral interface simulation

[0017] In addition to processor simulation, various peripheral interfaces in the optoelectronic turret are also simulated, including 429 interface, RS422 interface, CAN interface, SRIO interface, etc. Through the accurate simulation of these interfaces, it can ensure that the real embedded software can have normal data interaction with external real devices or virtual devices in the virtual environment.

[0018] Furthermore, in step S2, three-dimensional mathematical modeling is performed on the three-dimensional physical appearance, built-in infrared sensor, television sensor, laser rangefinder, gyroscope, code disk and other electromechanical models involved in the optoelectronic turret, and then simulation is performed based on Unity 3D technology; at the same time, the kinematic models of the gyroscope and code disk are simulated and modeled to simulate the operating mechanism of the real gyroscope and code disk, ensuring that the motion characteristics of the optoelectronic turret in the digital space are basically consistent with the real product.

[0019] Furthermore, in step S2, the three-dimensional optical-mechanical structure multidisciplinary simulation modeling includes the following steps:

[0020] S201, Simulation creation of three-dimensional mechanical structure

[0021] Use Unity 3D simulation to create a digital 3D model of the optoelectronic turret, accurately restore its physical appearance and internal structure, and use Unity 3D's built-in physics engine to realize the motion behavior of the optoelectronic turret, such as rotation, tilt, and jitter.

[0022] S202, gyro encoder simulation

[0023] By analyzing the operating mechanism of the real gyroscope and code disk, it is abstracted into a mathematical motion algorithm model, and the rotation speed and angular velocity change rate of the virtual photoelectric turret are collected in real time for real-time feedback.

[0024] S203, Photoelectric turret sensor simulation

[0025] The underlying CPU hardware, built-in optical-mechanical structure, built-in secondary gyroscope, code disk, etc. of the infrared sensor, TV sensor, and laser rangefinder were simulated respectively.

[0026] S204. Simulation of image excitation

[0027] In order to collect images, this project also simulates and renders the external environment of the optoelectronic turret, covering terrain, buildings, targets, weather and other conditions to provide image input that is close to reality.

[0028] Furthermore, in step S3, the underlying CPU hardware simulation environment is integrated with the three-dimensional multidisciplinary model through middleware and RT IDDS network communication protocol, and data interaction between the CPU hardware simulation environment and the three-dimensional multidisciplinary model is achieved.

[0029] Furthermore, in step S4, according to the characteristics of the real optoelectronic turret product constructed, the application layer software source code of the product is loaded into the CPU hardware simulation environment, and parameter tuning is performed.

[0030] Further, step S4 includes the following steps:

[0031] S401, In-situ loading of software source code

[0032] The system control software, servo control software, target detection software, and sensor software involved in the real optoelectronic turret product are loaded and injected into the CPU hardware simulation environment constructed in step S1.

[0033] S402, Performance Parameters Tuning

[0034] According to the characteristics of the real optoelectronic turret product constructed, the common parameters such as the three-dimensional optomechanical structure size, servo boundaries, gyroscopes, code disks, motors, etc. are optimized and adapted in the digital simulation environment to generate a digital twin prototype with basically the same functions and performance as the real product.

[0035] By adopting the above technical solution, the present invention can also bring the following beneficial effects:

[0036] 1. The present invention mentions a method for constructing a digital twin prototype of an optoelectronic turret, which utilizes QEMU virtual machine technology, Unity 3D technology and other means to effectively simulate the physical characteristics and operating environment of the optoelectronic turret, and construct a digital twin of the optoelectronic turret in a laboratory environment, thereby greatly improving the efficiency and quality of product research and development and testing and verification, supporting the digital research and development process of optoelectronic turret products, internal and external field fault location, and modification of product lines, and helping product research and development to gradually form a digital research and development capability of "rapid iteration of digital space and one-time formation of physical space".

[0037] 2. The digital twin prototype construction method of the optoelectronic turret mentioned in the present invention supports the preliminary demonstration, design, and bidding work of equipment products such as optoelectronic turrets, provides tool chain support for the agile R&D method of equipment products, reduces dependence on hardware products, accelerates the software and hardware R&D process, and achieves the effect of reducing costs and increasing efficiency.

[0038] 3. The present invention mentions a method for constructing a digital twin prototype of an optoelectronic turret, which ensures that the real optoelectronic turret software can operate normally in a virtual environment through accurate simulation of the underlying CPU hardware processor, gyroscope, encoder, motor and three-dimensional physical appearance of the optoelectronic turret, and interacts with other virtual components of the optoelectronic turret to complete normal interactions and various functional operations. It is widely expanded to the construction and delivery of digital equipment / parallel equipment in the fields of vehicles, ships, missiles and other military equipment, industrial equipment, etc., and supports the digital equipment testing and performance evaluation of related units. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 This is a flow chart of a method for constructing a digital twin prototype of an optoelectronic turret mentioned in the present invention. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0042] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0043] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present invention, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0044] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0045] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0046] Example 1

[0047] In one embodiment of the present invention, see Figure 1 , a method for constructing a digital twin prototype of an optoelectronic turret, comprising the following steps:

[0048] S1. Chip-level CPU simulation modeling of optoelectronic turret based on QEMU virtual machine technology;

[0049] S101, chip-level CPU processor simulation;

[0050] We choose to build a certain type of optoelectronic turret carried by a helicopter, and analyze its built-in underlying CPU hardware, which are PPC8641D, PPC 2020, DSP 2407A, DSP C6657 and other processors;

[0051] According to the above CPU hardware characteristics, select the appropriate QEMU version, and then convert and translate the corresponding instruction sets of processors such as PPC 8641D, PPC 2020, DSP 2407A, DSP C6657 to x86 platform instructions based on the QEMU open source framework and related technologies;

[0052] Configure the memory, registers, addresses, channel numbers, etc. of the simulated processor models such as PPC, ARM, and DSP to ensure that they are basically consistent with the real processor being simulated, so that the upper application layer software can run directly without modification.

[0053] S102, peripheral protocol chip, driver interface simulation;

[0054] A certain type of optoelectronic turret was selected, and its internal and external cross-linking relationships, built-in protocol chips, and bus interface types were analyzed, which were GJB 289A, ARI NC429, RS422, CAN bus, and SRIO interface.

[0055] The open source framework and related technologies provided by QEMU are used to build the above-mentioned protocol chips, bus interfaces, etc. for simulation modeling and develop corresponding driver models.

[0056] S2. Simulate and model the three-dimensional optomechanical structure of optoelectronic turret products based on Unity 3D technology;

[0057] S201, Simulation creation of three-dimensional mechanical structure

[0058] According to a certain type of optoelectronic turret being constructed, the size and color of the three-dimensional appearance, optical window, two-axis four-frame servo platform, and internal sensor are abstracted respectively;

[0059] The Unity 3D technology was used to simulate and create digital three-dimensional models, and the built-in kits were used for appearance and color rendering to ensure that the appearance and structure of the optoelectronic turret were basically consistent with the actual one.

[0060] S202, gyro encoder simulation

[0061] According to the constructed photoelectric turret, the models and parameter attributes of the mechanical gyroscope, encoder, motor and other components are analyzed, the motion mechanism is analyzed, and the mathematical motion algorithm model, logical processing flow, input parameters, output parameters, etc. are abstracted;

[0062] Use Python language for software design and implementation, and develop it into a general middleware for external interface calls.

[0063] S203, Photoelectric turret sensor simulation

[0064] According to the constructed optoelectronic turret, the types and characteristics of the infrared sensors, TV sensors and laser rangefinders carried by it are analyzed;

[0065] The above-mentioned virtual machine technology and three-dimensional simulation technology are used respectively to simulate the underlying CPU hardware, built-in optical-mechanical structure, built-in secondary gyroscope, code disk, etc. of infrared sensors, TV sensors, and laser rangefinders, and developed into general middleware for external interface calls.

[0066] S204. Simulation of image excitation

[0067] Analyze the external environmental stimuli required for the normal operation of the optoelectronic turret, including terrain, buildings, static targets, dynamic targets, weather, visibility and other conditions;

[0068] Use Unity 3D built-in kit and C / C++ language to develop corresponding external stimuli such as terrain, buildings, static targets, dynamic targets, and develop external stimuli such as weather and visibility to provide image input that is close to reality.

[0069] S3, chip-level CPU simulation environment and three-dimensional multidisciplinary simulation model integration verification

[0070] S301, integrating the PPC8641 D model, PPC2020 model, DSP2407A model, DSP6657 model, GJB 289A, ARI NC429, RS422, CAN bus, and SRIO interface simulated in the above process;

[0071] S302. According to the bus protocol characteristics of the constructed optoelectronic turret, develop corresponding middleware to complete the integration of chip-level CPU and three-dimensional multidisciplinary model.

[0072] S4. Load and inject the real software source code of the optoelectronic turret product, and adapt and generate the digital twin prototype;

[0073] S401. According to the characteristics of a certain type of optoelectronic turret application layer software product constructed, the application layer software components are analyzed to be system control software, servo control software, target detection software, and sensor software, and the application layer software source code of the product is loaded in situ into the CPU hardware simulation environment, and the corresponding executable file is started;

[0074] S402, then according to the three-dimensional appearance of a certain type of optoelectronic turret, the size of the optical window, the two-axis four-frame servo platform, the three-dimensional appearance of the internal sensor, the driving parameters of the gyroscope and the encoder, the performance parameters are adjusted and optimized, and the functions and performance are compared with the actual optoelectronic turret product functions and performances until the functions of both parties are basically consistent.

[0075] In summary, the method of the present invention utilizes QEMU virtual machine technology, Unity 3D technology and other means to construct a digital twin prototype of the optoelectronic turret product, effectively simulates the physical properties and operating environment of the optoelectronic turret, and constructs a digital twin of the optoelectronic turret in a laboratory environment, greatly improving the efficiency and quality of product research and development and testing and verification.

[0076] The above is only a 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 thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for constructing a digital twin prototype of an optoelectronic turret, characterized in that: The steps include: S1. Chip-level CPU simulation modeling of optoelectronic turret based on QEMU virtual machine technology; S2. Simulate and model the three-dimensional optomechanical structure of optoelectronic turret products based on Unity 3D technology; S3, integrated verification of chip-level CPU simulation environment and three-dimensional multidisciplinary simulation model; S4. Load and inject the real software source code of the optoelectronic turret product to generate a digital twin prototype.

2. The method for constructing a digital twin prototype of an optoelectronic turret according to claim 1, characterized in that: In step S1, the chip-level CPU hardware processor includes PPC, ARM, and DSP processors, wherein the target machine instruction code is translated into the host machine instruction code based on QEMU virtual machine technology and using binary instruction set translation technology, thereby ensuring that the real optoelectronic turret product software can run normally in the virtual environment, and the simulation chip-level CPU hardware processor is externally provided with a protocol chip and a drive bus interface.

3. The method for constructing a digital twin prototype of an optoelectronic turret according to claim 2, characterized in that: The step S1 includes processor simulation and peripheral interface simulation. The processor simulation includes simulation of processor internal architecture, instruction set, register and memory management. The peripheral interface simulation includes 429 interface, RS422 interface, CAN interface and SRIO interface.

4. The method for constructing a digital twin prototype of an optoelectronic turret according to claim 3, characterized in that: In the step S2, firstly, three-dimensional mathematical modeling is performed on the electromechanical model including the three-dimensional physical appearance, built-in infrared sensor, television sensor, laser rangefinder, gyroscope, and code disk involved in the photoelectric turret, and then simulation is performed based on Unity 3D technology, and the kinematic models of the gyroscope and the code disk are synchronously simulated and modeled to simulate the operation mechanism of the real gyroscope and the code disk.

5. The method for constructing a digital twin prototype of an optoelectronic turret according to claim 4, characterized in that: In the step S2, the three-dimensional optomechanical structure simulation modeling includes the simulation creation of the three-dimensional mechanical structure, the simulation of the gyro code disk, the simulation of the photoelectric turret sensor and the simulation of image excitation. In the three-dimensional optomechanical structure simulation modeling, the built-in physics engine of Unity 3D is used to realize the motion behavior of the optoelectronic turret, including rotation, tilt and jitter, and the physical appearance and internal structure are accurately restored to create a digital three-dimensional model of the optoelectronic turret; in the simulation of the gyro code disk, the operation mechanism of the real gyroscope and the code disk is analyzed and abstracted into a mathematical motion algorithm model, and the rotation speed and angular velocity change rate of the virtual optoelectronic turret are collected in real time for real-time feedback; the simulation of the optoelectronic turret sensor includes the simulation of the infrared sensor, the television sensor, the underlying CPU hardware of the laser rangefinder, the built-in optomechanical structure, the built-in secondary gyroscope and the code disk; in the simulation of the image excitation, the external environment of the optoelectronic turret is simulated and rendered at the same time, covering the terrain, buildings, targets and meteorological conditions, so as to provide image input close to reality.

6. The method for constructing a digital twin prototype of an optoelectronic turret according to claim 5, characterized in that: In the step S3, the underlying CPU hardware simulation environment and the three-dimensional multidisciplinary model are integrated through the middleware and the RTIDDS network communication protocol, and the data interaction between the CPU hardware simulation environment and the three-dimensional multidisciplinary model is realized.

7. The method for constructing a digital twin prototype of an optoelectronic turret according to claim 6, characterized in that: In step S4, according to the characteristics of the real optoelectronic turret product being constructed, the application layer software source code of the product is loaded into the CPU hardware simulation environment, and parameter tuning is performed.

8. The method for constructing a digital twin prototype of an optoelectronic turret according to claim 7, characterized in that: In the step S4, the software source code of the application layer of the product is loaded by respectively loading and injecting the system control software, servo control software, target detection software, and sensor software involved in the real optoelectronic turret product into the CPU hardware simulation environment constructed in step S1; the parameter tuning is specifically to optimize and adapt the general parameters such as the three-dimensional optical-mechanical structure size, servo boundary, gyroscope, code disk, motor, etc. in the digital simulation environment according to the characteristics of the real optoelectronic turret product constructed.

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