An automated test system for a multi-channel radar power divider

Abstract

The application discloses an automatic test system of a multi-channel radar power divider, and relates to the technical field of radars. The automatic test system is uniformly controlled by an embedded system. The embedded system controls an execution robot to mount a power divider to be tested on a power divider fixing base. After a camera at the end effector of the execution robot combines with an image processing technology to position the positions of all ports of the power divider to be tested, the execution robot grasps radio frequency cables and inserts quick plug connectors at the ends of the radio frequency cables into corresponding ports of the power divider to be tested according to the positions of all ports of the power divider to be tested. Then, a radio frequency switch network is used to realize automatic switching of channels, and a vector network analyzer is used to realize automatic test and data collection. The automatic test system improves test efficiency, avoids manual operation and reading errors, and meets the actual production test requirements.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of radars, in particular to an automatic test system for a multi-channel radar power divider. BACKGROUND

[0002] The radar power divider is an important passive or active device in a phased array weather radar system, which can divide one input signal energy into two or more equal or unequal output energies, or inversely combine multiple signal energies into one output.

[0003] The performance of the radar power divider is an important part of ensuring the performance of the weather radar system, so testing the technical indicators of the radar power divider is an important link in the batch production process of the weather radar system. At present, the common method is mainly manual testing and recording data, but the radar power divider has the characteristics of a large number of channels (usually more than 30 channels), large volume (size length, width and thickness are more than 1100mm*300mm*20mm) and heavy weight. Manual testing of each radar power divider requires multiple plugging and unplugging of cables to switch between different channels for testing, which is low in testing efficiency and prone to human error. SUMMARY

[0004] In view of the above problems and technical needs, the application provides an automatic test system for a multi-channel radar power divider, and the technical scheme of the application is as follows:

[0005] An automatic test system for a multi-channel radar power divider, the automatic test system comprising a power divider fixing seat, an execution mechanical arm for completing pose calibration, an embedded system, a vector network analyzer and a radio frequency switch network;

[0006] The radio frequency switch network comprises two analyzer connection ports and K power divider connection ports, each analyzer connection port is connected to each power divider connection port through the radio frequency switch network; the integer parameter K is greater than or equal to 2;

[0007] The two analyzer connection ports of the radio frequency switch network are connected to two ports of the vector network analyzer through radio frequency links, and each power divider connection port is connected to one end of a radio frequency cable, and the other end of each radio frequency cable is equipped with a quick plug connector matched with the port specification of the radar power divider;

[0008] The embedded system is in communication connection with the radio frequency switch network, the vector network analyzer and the execution mechanical arm, and the automatic test method executed by the embedded system comprises:

[0009] controlling the execution robot arm to mount the power divider to be tested on the power divider fixing seat, and positioning the positions of the ports of the power divider to be tested through a camera at the end effector of the execution robot arm combined with image processing technology, the ports of the power divider to be tested including a combination port and a plurality of branch ports, and the total number of the ports being not more than K;

[0010] controlling the execution robot arm to grab the radio frequency cables and respectively inserting the quick connectors at the ends of the radio frequency cables into the corresponding ports of the power divider to be tested according to the positions of the ports of the power divider to be tested;

[0011] controlling the switch state of the radio frequency switch network to continuously turn on the radio frequency link between one analyzer connection port and the power divider connection port connected with the combination port of the power divider to be tested, and switch to turn on the radio frequency link between another analyzer connection port and the power divider connection port connected with the branch port, and analyzing the power channel between the combination port and the turned-on branch port in the power divider to be tested by using the vector network analyzer to obtain the test result of the power divider to be tested.

[0012] Further, the execution robot arm includes a stacking robot arm and a cable connection robot arm, the end effector of the stacking robot arm is a gripper, and the end effector of the cable connection robot arm is a three-fingered gripper.

[0013] The control of the embedded system on the execution robot arm during the test includes: controlling the stacking robot arm to grab and carry the power divider to be tested to the power divider fixing seat through the gripper, and controlling the cable connection robot arm to grab the hexagonal screw surface of the quick connector at the end of the radio frequency cable on the radio frequency cable placement rack and move to insert into the port of the power divider to be tested through the three-fingered gripper.

[0014] The control of the embedded system on the execution robot arm after the test is completed includes: controlling the cable connection robot arm to grab the hexagonal screw surface of the quick connector at the end of the radio frequency cable and pull out from the port of the tested power divider and place back on the radio frequency cable placement rack through the three-fingered gripper, and controlling the stacking robot arm to grab and carry the tested power divider away from the power divider fixing seat through the gripper and place on the placement rack of the tested power divider.

[0015] Further, each radio frequency cable has a unique cable identifier, and each port of the power divider to be tested has a unique port identifier, and the control method of the embedded system on the cable connection robot arm includes:

[0016] The control cable mechanical arm is controlled to move to the radio frequency cable placement rack and adjust the posture so that the camera at the end effector of the cable mechanical arm is directed to the cable marker of the radio frequency cable on the radio frequency cable placement rack. After the camera at the end effector of the cable mechanical arm acquires an image of the cable marker of the radio frequency cable to be grabbed and performs image recognition, the cable mechanical arm is controlled to grab the quick connector at the end of the radio frequency cable.

[0017] The control cable mechanical arm is controlled to move to the radio frequency cable placement rack and adjust the posture so that the camera at the end effector of the cable mechanical arm is directed to the cable marker of the radio frequency cable on the radio frequency cable placement rack. After the camera at the end effector of the cable mechanical arm acquires an image of the cable marker of the radio frequency cable to be grabbed and performs image recognition, the cable mechanical arm is controlled to grab the quick connector at the end of the radio frequency cable.

[0018] Further, the automatic testing method performed by the embedded system further comprises:

[0019] The control execution mechanical arm is controlled to install the calibration tooling on the power divider fixing seat. The calibration tooling comprises a normal working calibration power divider and a single-pole four-throw switch connected at each calibration port of the calibration power divider. The calibration tooling forms K calibration ports externally, and the calibration ports comprise a calibration combined port and a plurality of calibration branch ports. Each calibration port of the calibration tooling is connected to a fixed end of a single-pole four-throw switch. The first movable end of the single-pole four-throw switch is connected to the ground through a load resistor, the second movable end is connected to a port of the calibration power divider, the third movable end is suspended, and the fourth movable end is directly grounded. The calibration combined port of the calibration tooling is connected to the combined port of the calibration power divider, and the K-1 calibration branch ports of the calibration tooling are respectively connected to the K-1 branch ports of the calibration power divider. The embedded system is wirelessly connected to and controls each four-throw switch in the calibration tooling.

[0020] The control execution mechanical arm is controlled to grab the radio frequency cable connected to each of the K power divider connection ports and respectively insert it into the K calibration ports of the calibration tooling.

[0021] The control execution mechanical arm is controlled to grab the radio frequency cable connected to each of the K power divider connection ports and respectively insert it into the K calibration ports of the calibration tooling.

[0022] After the test result of the to-be-tested power divider is obtained, the test result of the to-be-tested power divider is corrected using the link calibration result.

[0023] Further, the control execution mechanical arm is controlled to grab the radio frequency cable connected to each of the K power divider connection ports and respectively insert it into the K calibration ports of the calibration tooling.

[0024] controlling the switch states of the radio frequency switch network to turn on a radio frequency link between one of the analyzer connection ports and a power divider connection port connected to the calibration port of the calibration fixture, and to turn on a radio frequency link between another of the analyzer connection ports and a power divider connection port connected to the kth calibration port of the calibration fixture, where the integer parameter 1≤k≤K;

[0025] controlling the single-pole four-throw switch connected to the calibration port to switch to the first active terminal, the first active terminal and the fourth active terminal in sequence and record the test results of the vector network analyzer, and controlling the single-pole four-throw switch connected to the kth calibration port to switch to the first active terminal, the first active terminal and the fourth active terminal in sequence and record the test results of the vector network analyzer, and controlling the single-pole four-throw switch connected to the calibration port to switch to the second active terminal and controlling the single-pole four-throw switch connected to the kth calibration port to switch to the second active terminal and record the test results of the vector network analyzer; performing SOLT calibration based on the test results of the vector network analyzer to obtain the link calibration results of the calibration port and the kth calibration port;

[0026] Let k=k+1 and execute the step of turning on a radio frequency link between another of the analyzer connection ports and a power divider connection port connected to the kth calibration port of the calibration fixture again until k=K.

[0027] A further technical solution is that the automatic test method performed by the embedded system further comprises:

[0028] When each interval of a predetermined length or the number of power dividers to be tested tested by the automatic test reaches a number threshold, the calibration fixture is tested again and the link calibration results are updated.

[0029] A further technical solution is that the automatic test system further comprises a host computer in network communication with the embedded system.

[0030] When the embedded system controls turning on a radio frequency link between one of the analyzer connection ports and a power divider connection port connected to the calibration port of the calibration fixture, and turning on a radio frequency link between another of the analyzer connection ports and a power divider connection port connected to the ith port, the embedded system obtains the voltage standing wave ratio of the calibration port and the ith port at each frequency point through the vector network analyzer, and obtains the logarithmic amplitude and phase between the calibration port and the ith port to obtain the power channel test data between the calibration port and the ith port and uploads the power channel test data to the host computer.

[0031] The host computer is used to aggregate the power channel test data between the calibration port and each port to obtain the test results of the power divider to be tested.

[0032] A further technical solution is that the host computer aggregates the power channel test data between the main port and each branch port to obtain a test result of the power divider to be tested, which includes:

[0033] Determining the voltage standing wave ratio of each port of the power divider to be tested at different frequencies;

[0034] And converting the logarithmic amplitude of each branch port to power and summing after forward transmission between the main port and each branch port, and then converting the sum to logarithmic amplitude to obtain the insertion loss of the power divider to be tested;

[0035] And calculating the deviation of the logarithmic amplitude of each branch port from the reference logarithmic amplitude when forward transmission between the main port and any ith branch port to obtain the port insertion loss deviation of the ith branch port;

[0036] And determining the maximum value of the logarithmic amplitude of each branch port when reverse transmission between the main port and each branch port to obtain the isolation of the power divider to be tested;

[0037] And determining the maximum value of the phase deviation absolute value between different branch ports according to the phase when forward transmission between the main port and each branch port;

[0038] And calculating the maximum value of the phase deviation absolute value between the phase when forward transmission between the main port and each branch port and the reference phase.

[0039] A further technical solution is that the execution robot further includes a fastening robot, and the end effector of the fastening robot is a screwdriver bit;

[0040] The control of the embedded system on the execution robot during the test process further includes: controlling the stacking robot to align the fastening screws on the power divider to be tested with the fixing holes on the power divider fixing seat when the stacking robot is controlled to grab and transport the power divider to be tested to the power divider fixing seat; and controlling the fastening robot to fasten the fastening screws on the power divider to be tested in the fixing holes on the power divider fixing seat through the screwdriver bit, and then controlling the cable robot to insert the RF cable end quick connector into the port of the power divider to be tested;

[0041] The control of the embedded system on the execution robot after the test is completed includes: controlling the cable robot to pull out the RF cable from the port of the power divider to be tested, and then controlling the fastening robot to loosen the fastening screws on the power divider to be tested from the fixing holes on the power divider fixing seat through the screwdriver bit, and then controlling the stacking robot to grab and transport the power divider after the test is completed away from the power divider fixing seat.

[0042] Further technical solutions are that the stacking mechanical arm, the fastening mechanical arm and the cable connecting mechanical arm are arranged in the mechanical arm sliding guide rail respectively, and the power divider fixing seat, the placing rack of the radio frequency cable, the placing rack of the power divider to be tested and the placing rack of the tested power divider are arranged at different operation stations along the mechanical arm sliding guide rail.

[0043] The beneficial technical effects of the present application are:

[0044] The present application discloses an automatic test system for a multi-channel radar power divider, which utilizes an embedded system for unified control, utilizes a mechanical arm combined with image recognition technology to perform various handling and cable connecting operations, utilizes a radio frequency switch network to realize automatic switching of channels, and utilizes a vector network analyzer to perform automatic testing and data aggregation, thereby not only improving test efficiency but also avoiding manual operation and reading errors, and better meeting the automatic test of large-volume and multi-channel radar power dividers in existing weather radar systems and meeting actual production test needs.

[0045] The system can also realize calibration during the automatic test process, thereby reducing the generation of measurement errors during the test process and improving test accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 is a working state schematic diagram of the automatic test system in an embodiment of the present application.

[0047] Figure 2 is another working state schematic diagram of the automatic test system in an embodiment of the present application.

[0048] Figure 3 is a structure schematic diagram of the quick connector at the end of each radio frequency cable in the present application.

[0049] Figure 4 is a structure schematic diagram of the end effector of the cable connecting mechanical arm in an embodiment.

[0050] Figure 5 is an internal structure schematic diagram of the radio frequency switch network in an example.

[0051] Figure 6 is a structure schematic diagram of the calibration tool in an embodiment.

[0052] Figure 7 is a flow schematic diagram of the automatic test method realized in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The specific embodiments of the present application will be further described below in combination with the drawings.

[0054] The application discloses an automatic test system of a multi-channel radar power divider, which is used for automatically testing a multi-channel radar power divider in a weather radar system. The multi-channel radar power divider comprises a plurality of ports, which comprise a plurality of branch ports and a plurality of combination ports. Each combination port and each branch port form a power channel, and a plurality of power channels are formed inside. When the multi-channel radar power divider is tested, each port and each power channel needs to be tested. For example, in an example, the multi-channel radar power divider comprises 31 ports, which are a combination port C and 30 branch ports S1-S30.

[0055] Please refer to Figure 1 The automatic test system of the application comprises a power divider fixing seat 110, an execution mechanical arm for completing pose calibration, an embedded system, a vector network analyzer and a radio frequency switch network.

[0056] The radio frequency switch network comprises two analyzer connection ports and K power divider connection ports, and an integer parameter K≥2. Since the multi-channel radar power divider to which the application is directed usually comprises more than 30 channels, K is actually greater than or equal to 31. Each analyzer connection port is connected to each power divider connection port through the radio frequency switch network. When the switch state of the radio frequency switch network is different, the analyzer connection port can be in communication with different power divider connection ports through the radio frequency switch network. The radio frequency switch network is built by a plurality of switch states variable gating switches, and the specific switch network architecture is built according to actual needs.

[0057] The two analyzer connection ports of the radio frequency switch network are connected to the two ports of the vector network analyzer through radio frequency links. Each power divider connection port of the radio frequency switch network is connected to one end of a radio frequency cable 120, and the other end of each radio frequency cable 120 is equipped with a fast plug connector 121 matched with the port specification of the radar power divider. In order to facilitate the description, the radio frequency cable 120 with the fast plug connector connected to the first to Kth analyzer connection ports of the radio frequency switch network is denoted as L1-LK. In order to facilitate storage and taking, in actual application, each radio frequency cable L1-LK is arranged on a radio frequency cable placing rack 130 through the fast plug connector, and the cable part can naturally droop. Since different radio frequency cables are connected to different power divider connection ports, in order to facilitate the distinction of the radio frequency cables at different power divider connection ports, each radio frequency cable has a unique cable identifier, and the radio frequency cable connection port of the radio frequency switch network connected by the radio frequency cable can be determined through the cable identifier of the radio frequency cable. In actual implementation, the cable identifier adopts an image identifier code such as a two-dimensional code or a bar code, so as to be recognized through image processing technology.

[0058] The embedded system is respectively connected in communication with the radio frequency switch network, the vector network analyzer and the execution mechanical arm. In actual application, the embedded system establishes network connection with the vector network analyzer, and the embedded system respectively controls the radio frequency switch network and the execution mechanical arm, and the communication control herein can adopt wired communication control or wireless communication control. In addition, the automatic test system further includes an upper computer, and the embedded system establishes network connection with the upper computer, and the embedded system is used for controlling the vector network analyzer, the radio frequency switch network and the execution mechanical arm to realize automatic test, and the acquired data is summarized to the upper computer for further data processing.

[0059] The automatic test method realized by the automatic test system of the application includes the following processes, and the following automatic test method is executed by the embedded system:

[0060] I. Assemble the power divider to be tested 100

[0061] The power divider to be tested 100 in the application is any multi-channel radar power divider, and the ports of the power divider to be tested 100 include a joint and a plurality of branch ports. Since the radio frequency switch network has only K power divider connection ports, the total number of ports of the power divider to be tested 100 that can be tested by the automatic test system does not exceed K. In order to distinguish different ports of the power divider to be tested 100, the power divider to be tested 100 has a unique port identifier at each port.

[0062] In this assembly stage, the embedded system controls the execution mechanical arm to install the power divider to be tested 100 on the power divider fixing seat 110, and locates the positions of the various ports in the power divider to be tested 100 through the camera at the end effector of the execution mechanical arm combined with image processing technology. Then the execution mechanical arm is controlled to grab the radio frequency cable and insert the quick plug 121 at the end of each radio frequency cable 120 into the corresponding port of the power divider to be tested 100 according to the positions of the various ports in the power divider to be tested.

[0063] In this process, the execution mechanical arm needs to complete a variety of different operations, and each operation is adapted to a different end effector to be executed. One way is to use a multifunctional end effector at the end of the execution mechanical arm, and to execute different operations by switching different end effectors. But in order to facilitate the parallel execution of different operations to improve efficiency, the execution mechanical arm includes a stacking mechanical arm 141 and a cable connection mechanical arm 142.

[0064] Then the control of the embedded system on the execution mechanical arm includes:

[0065] The embedded system controls the stacking mechanical arm 141 to grab the power divider to be tested 100 through the end effector, and the end effector of the stacking mechanical arm 141 is a gripper. The gripper adopts a jaw or a vacuum suction cup, such asFigure 1 Take the gripper of the palletizing robot 141 as an example. Then control the palletizing robot 141 to carry the power divider 100 to be tested to the power divider fixing seat 110, as shown in the figure. Figure 2

[0066] In addition, a camera is arranged at the end effector of the palletizing robot 141. In actual application, the power divider 100 to be tested is uniformly arranged at the placing rack of the power divider to be tested. After the embedded system controls the palletizing robot 141 to move to the placing rack of the power divider to be tested, the camera at the end effector of the palletizing robot 141 takes an image and locates the power divider to be tested by combining image processing technology, so as to accurately grasp the power divider 100 to be tested according to the positioning result. Similarly, when the embedded system controls the palletizing robot 141 to move the power divider 100 to be tested to the power divider fixing seat 110, the camera at the end effector of the palletizing robot 141 takes an image and locates the power divider fixing seat 110 by combining image processing technology, so as to accurately place the power divider 100 to be tested on the power divider fixing seat 110 according to the positioning result.

[0067] In order to facilitate installation, the power divider 100 to be tested generally has a fastening screw 101. In order to ensure the stability of the subsequent cable connection and test process, the power divider 100 to be tested can be fixed by using the fastening screw. The power divider fixing seat 110 has fixing holes 111, and the number and position of the fixing holes 111 are matched with the fastening screw on the power divider 100 to be tested. Figure 1 Take the power divider 100 to be tested with four fastening screws 101 as an example. The power divider fixing seat 110 has fixing holes 111. In order to facilitate the adaptation of different power dividers, the power divider fixing seat 110 is provided with multiple groups of different fixing holes to adapt to the fastening screws of different specifications of power dividers.

[0068] ​The execution robot arm further comprises a fastening robot arm 143, the end effector of the fastening robot arm 143 is a screwdriver bit. When the embedded system controls the palletizing robot arm 141 to accurately place the to-be-tested power divider 100 on the power divider fixing seat 110, the fastening screw 101 on the to-be-tested power divider 100 is aligned with the fixing hole 111 on the power divider fixing seat 110. Then the embedded system controls the fastening robot arm 143 to fasten the fastening screw 101 on the to-be-tested power divider 100 in the fixing hole 111 on the power divider fixing seat 110 through the screwdriver bit. A camera is also arranged at the end effector of the fastening robot arm 143, when the embedded system controls the fastening robot arm 143 to move to the power divider fixing seat 110, the camera at the end effector of the fastening robot arm 143 takes an image and locates the fastening screw 101 on the to-be-tested power divider 100 through image processing technology, so as to accurately act on the fastening screw 101 on the to-be-tested power divider 100 through the screwdriver bit according to the positioning result.

[0069] After the to-be-tested power divider 100 is assembled on the power divider fixing seat 110, the embedded system controls the cabling robot arm 142 to grasp the hexagonal screw surface of the quick connector at the end of the radio frequency cable on the radio frequency cable end placement rack 130 through the end effector and move to insert into the port of the to-be-tested power divider, as shown in Figure 2 The quick connector at the end of the radio frequency cable adopts a hexagonal nut form, as shown in Figure 3 Therefore, the end effector of the cabling robot arm 142 is a three-fingered clamp and the three-fingered clamp is adapted to the quick connector at the end of the radio frequency cable, please refer to Figure 4 .

[0070] A camera is also arranged at the end effector of the cabling robot arm 142, and the control of the cabling robot arm 142 by the embedded system specifically includes: the embedded system controls the cabling robot arm 142 to move to the radio frequency cable rack 130 and adjust the posture so that the camera at the end effector of the cabling robot arm 142 faces the cable marker of the radio frequency cable on the radio frequency cable rack 130, after the image of the cable marker of the radio frequency cable to be grabbed is acquired by the camera at the end effector of the cabling robot arm and image recognition is performed, the cabling robot arm 142 is controlled to grab the quick connector at the end of the radio frequency cable. Then the embedded system controls the cabling robot arm 142 to move the quick connector at the end of the radio frequency cable to the power divider fixed seat 110 and adjust the posture so that the camera at the end effector of the cabling robot arm faces the port marker on the power divider to be tested, the image of the power divider to be tested 100 is acquired by the camera at the end effector of the cabling robot arm 142 and image recognition is performed to determine the port marker of one of the vacant ports, and then the position of the port is determined by the coordinate conversion relationship determined during the calibration of the robot arm. Further control the cabling robot arm 142 to move the quick connector at the end of the radio frequency cable to the position of the port and insert it into the port, and record the corresponding relationship between the port marker and the cable marker of the radio frequency cable to record the plug-in corresponding relationship between the port and the radio frequency cable.

[0071] In order to improve the assembly and wiring efficiency, part of the above operations can be performed in parallel, for example, the embedded system controls the cabling robot arm 142 to move to the radio frequency cable rack 130 to grab the radio frequency cable while controlling the fastening robot arm 143 to tighten the fastening screw. Again, multiple cabling robot arms 142 are provided, and the above cabling operations are performed in parallel to quickly connect all ports of the power divider to be tested 100 with radio frequency cables. In addition, considering that the actual operation space is relatively large, the stacking robot arm 141, the fastening robot arm 143 and the cabling robot arm 142 are arranged in the robot arm sliding guide rail 150, and the power divider fixed seat 110, the radio frequency cable rack 130 and the rack of the power divider to be tested 100 are arranged at different operation stations along the robot arm sliding guide rail 150. After the stacking robot arm 141 moves to the rack of the power divider to be tested 100 to grab the power divider to be tested 100, it moves to the power divider fixed seat 110 to place the power divider to be tested 100 and then drives away from the power divider fixed seat 110. Then the fastening robot arm 143 moves to the power divider fixed seat 110 to tighten the fastening screw, and drives away from the power divider fixed seat 110 after tightening. After the cabling robot arm 142 moves to the radio frequency cable rack 130 to grab the radio frequency cable, it moves to the power divider fixed seat 110 to interface with the port of the power divider to be tested 100.

[0072] II. Automatic testing on all channels of the power divider to be tested 100

[0073] After the assembly is completed, the embedded system controls the switch state of the radio frequency switch network to continuously turn on the radio frequency link between one analyzer connection port and the power divider connection port connected with the junction C of the power divider 100 to be tested, and to switch on the radio frequency link between another analyzer connection port and the power divider connection port connected with each branch port of the power divider 100 to be tested, and to analyze the power channel between the junction port and the turned-on branch port in the power divider to be tested by using the vector network analyzer to obtain the test result of the power divider to be tested.

[0074] The power divider connection port of the radio frequency switch network to which each radio frequency cable is connected is fixed, and the correspondence between the radio frequency cable and the port is recorded when the radio frequency cable is inserted into the port of the power divider 100 to be tested, so that the power divider connection port connected with each port of the power divider 100 to be tested can be determined. After the circuit structure of the radio frequency switch network is determined in advance, the switch state when the analyzer connection port is connected with each power divider connection port can be determined, so that the analyzer connection port can be switched on to be connected with different ports of the power divider 100 to be tested.

[0075] The radio frequency switch network includes a first group of input networks, a second group of input networks, and an output network. The first group of input networks is formed by a plurality of switches and includes one input and K outputs. The second group of input networks is formed by a plurality of switches and includes one input and K outputs. The input of the first group of input networks and the input of the second group of input networks are respectively connected with two analyzer connection ports of the radio frequency switch network. The output network includes K single-pole double-throw switches. The two movable terminals of the same single-pole double-throw switch are respectively connected with one output of the first group of input networks and one output of the second group of input networks. The fixed terminal of the single-pole double-throw switch is connected with one power divider connection port of the radio frequency switch network. For example, in one example, as shown in Figure 5As shown, the radio frequency switch network includes 2 analyzer connection ports Q1 and Q2 respectively, and 36 power divider connection ports P1~P36 respectively. The radio frequency switch network internally includes 14 single-pole six-throw switches and 36 single-pole double-throw switches in total. The single-pole six-throw switches 1~7 form a first group of input networks, the single-pole six-throw switches 8~14 form a second group of input networks, and the 36 single-pole double-throw switches form an output network. The fixed end of the single-pole six-throw switch 1 is connected to the input of the first group of input networks as the analyzer connection port Q1. The six movable ends of the single-pole six-throw switch 1 are respectively connected to the fixed ends of the single-pole six-throw switches 2~7. All the 36 movable ends of the single-pole six-throw switches 2~7 are 36 outputs of the first group of input networks. The fixed end of the single-pole six-throw switch 8 is connected to the input of the second group of input networks as the analyzer connection port Q2. The six movable ends of the single-pole six-throw switch 8 are respectively connected to the fixed ends of the single-pole six-throw switches 9~14. All the 36 movable ends of the single-pole six-throw switches 9~14 are 36 outputs of the second group of input networks. The first output of the first group of input networks and the first output of the second group of input networks are connected to the two movable ends of the first single-pole double-throw switch in the output network. The fixed end of the first single-pole double-throw switch is connected to the power divider connection port P1. Similarly, other structures are also connected in this way until the power divider connection port P36 is connected.

[0076] After the radio frequency switch network is determined, the radio frequency link between any one of the analyzer connection ports and any one of the power divider connection ports is fixed and known. In combination with the connection relationship between the power divider connection ports and the ports of the power divider to be tested, the switch state when different ports of the power divider to be tested are switched on can be determined. For example, in the Figure 5 , the power divider connection ports P1~P30 correspond to the 30 branch ports S1~S30 of the power divider to be tested respectively, and the power divider connection port P31 is connected to the combined port C of the power divider to be tested. It can be determined that when the single-pole six-throw switch 1 is connected to the single-pole six-throw switch 2, the single-pole six-throw switch 2 is connected to the single-pole double-throw switch 1, and the single-pole double-throw switch 1 is connected to the single-pole six-throw switch 2, the port 1 of the vector network analyzer connected to the analyzer connection port Q1 is connected to the branch port S1 of the power divider to be tested, and the others are sequentially deduced.

[0077] When the radio frequency link between the one analyzer connection port and the power divider connection port connected with the combined port C of the power divider to be tested, and the radio frequency link between the other analyzer connection port and the power divider connection port connected with the i-th branch port are turned on, the test of the power channel between the combined port C and the i-th branch port by the vector network analyzer comprises: setting the analysis frequency range of the vector network analyzer to the frequency range used by the power divider to be tested 100, in one example, the power divider to be tested 100 is a radar power divider in a P-band weather radar system, and the vector network analyzer is set to P-band (470-500 MHz, frequency point 470 MHz). In addition, the test items of each display interface are set to S11, S22, S21 and S12, wherein S11 and S22 are set to output form VSWR, S21 and S12 are set to output form logarithmic amplitude and phase, and the corresponding acquisition frequency points of the display interface are set. Thus, the voltage standing wave ratio VSWR of the combined port and the i-th branch port at each frequency point is obtained by the vector network analyzer, and the logarithmic amplitude and phase between the combined port and the i-th branch port are obtained to obtain the power channel test data between the combined port and the i-th branch port, which is uploaded to the host computer.

[0078] After the power channel test data of the combined port and the i-th branch port are obtained by completing the above test, the radio frequency link between the other analyzer connection port and the power divider connection port connected with the i+1-th branch port is switched on, and the above test process is repeated until the test of all channels of the power divider to be tested 100 is completed.

[0079] Then the host computer summarizes the power channel test data between the combined port and each branch port to obtain the test result of the power divider to be tested, which comprises:

[0080] (1) determining the voltage standing wave ratio of each port of the power divider to be tested at different frequency points.

[0081] (2) according to the logarithmic amplitude of each branch port when the forward transmission between the combined port and each branch port is converted into power and summed and then converted into logarithmic amplitude, the insertion loss of the power divider to be tested is obtained.

[0082] (3) and the deviation of the logarithmic amplitude of each branch port from the reference logarithmic amplitude when the forward transmission between the combined port and the i-th branch port is calculated to obtain the port insertion loss deviation of the i-th branch port.

[0083] (4) determining the maximum value of the logarithmic amplitude of each branch port when the reverse transmission between the combined port and each branch port is obtained to obtain the isolation of the power divider to be tested.

[0084] (5) according to the phase between the combined port and each branch port when the forward transmission is determined, the maximum value of the absolute value of the phase deviation between different branch ports is determined.

[0085] (6) Calculate the maximum value of the absolute value of the phase deviation between the reference phase and the phase of the forward transmission between the combined port and each branch port.

[0086] After the test of the power divider 100 to be tested is completed, the control cable mechanical arm 142 pulls out the radio frequency cable from the port of the tested power divider 100 and places it back on the radio frequency cable rack 130. Similarly, during the pulling-out process, first, the control cable mechanical arm 142 moves to the tested power divider 100 of the power divider fixing seat 110, then the camera at the end effector of the cable mechanical arm 142 acquires an image and locates the quick connector at the end of the radio frequency cable by combining image recognition technology, so as to accurately locate the quick connector, then the control cable mechanical arm 142 adjusts the posture and uses the three-fingered gripper to grab the hexagonal screw surface of the quick connector at the end of the radio frequency cable, and pulls it out from the port of the tested power divider and moves to the radio frequency cable rack 130. Similarly, the camera at the end effector of the cable mechanical arm 142 acquires an image and locates the arrangement position on the radio frequency cable rack 130 by combining image recognition technology, so as to accurately place the radio frequency cable back on the radio frequency cable rack 130.

[0087] Then the control stacking mechanical arm 141 grabs the tested power divider from the power divider fixing seat 110 by the gripper and moves it to the tested power divider rack, and the tested power divider rack is also arranged at the corresponding operating station along the mechanical arm sliding guide rail 150. When the power divider is fastened on the power divider fixing seat 110 by the fastening screw, first, the control fastening mechanical arm 143 loosens the fastening screw on the tested power divider from the fixing hole on the power divider fixing seat 110 by the screwdriver bit, and then controls the stacking mechanical arm to grab and move the tested power divider from the power divider fixing seat. Similarly, when the control fastening mechanical arm 143 loosens the fastening screw, first, the control fastening mechanical arm 143 moves to the power divider on the power divider fixing seat 110, then the camera at the end effector of the fastening mechanical arm 143 takes an image and locates each fastening screw by combining image recognition technology, and then the fastening mechanical arm 143 loosens the fastening screw by the screwdriver bit at the end effector. When controlling the stacking mechanical arm 141 to transport the tested power divider, first, the control stacking mechanical arm 141 moves to the power divider on the power divider fixing seat 110, then the camera at the end effector of the stacking mechanical arm 141 takes an image and locates the entire power divider by combining image recognition technology, and then the stacking mechanical arm 141 holds the tested power divider by the gripper at the end effector and moves it to the rack. When placing, the camera at the end effector also combines image recognition technology to achieve accurate placement. Then the above method can be automatically repeated to continue testing the next power divider to be tested, so as to realize automatic testing.

[0088] On this basis, in order to improve the test accuracy, a calibration mechanism is also provided in an embodiment, including: before testing the power divider to be tested, first control the execution robot to install the calibration tool on the power divider fixing seat 110. Please refer to Figure 6 The calibration tool includes a normal working calibration power divider and a single-pole four-throw switch connected at each calibration port of the calibration power divider, and the calibration tool forms K calibration ports and the calibration ports include a calibration common port TC and multiple calibration branch ports. For example, corresponding to the case of K=36 in Figure 5 , Figure 6 Take the case of the calibration tool including a calibration common port TC and 35 calibration branch ports T1~T35. Each calibration port of the calibration tool is connected to the fixed end of a single-pole four-throw switch, the first movable end of the single-pole four-throw switch is grounded through a load resistor (such as 50Ω), the second movable end is connected to a port of the calibration power divider, the third movable end is suspended, and the fourth movable end is directly grounded. The calibration common port TC of the calibration tool is connected to the common port C of the calibration power divider, and the K-1 calibration branch ports of the calibration tool are respectively connected to the K-1 branch ports of the calibration power divider, and the embedded system wirelessly connects and controls the switch state of each four-throw switch in the calibration tool.

[0089] When the execution robot is controlled to install the calibration tool on the power divider fixing seat 110, the same method is used as when the power divider to be tested is installed, that is, the calibration tool is carried by the stacking robot and fastened by the fastening robot. Then control the execution robot to grab the K power divider connection ports respectively connected to the RF cables and insert them into the K calibration ports of the calibration tool, and use the cable robot to complete this operation and record the connection correspondence between the RF cables and the calibration ports. The same as the cable operation of the power divider to be tested, which will not be described here. Then control the vector network analyzer to switch to the calibration state and test the calibration tool to obtain the link calibration result. After the test of the power divider to be tested is completed and the test result is obtained, the test result of the power divider to be tested is corrected using the link calibration result, including:

[0090] Control the switch state of the RF switch network to turn on the RF link between one analyzer connection port Q1 and the power divider connection port connected to the calibration common port TC of the calibration tool, and turn on the RF link between another analyzer connection port Q2 and the power divider connection port connected to the kth calibration branch port of the calibration tool.

[0091] The single-pole four-throw switch of the calibration combined port is switched to the first active end, the third active end and the fourth active end in sequence, and the test results of the vector network analyzer are recorded; the single-pole four-throw switch of the kth calibration branch is switched to the first active end, the third active end and the fourth active end in sequence, and the test results of the vector network analyzer are recorded; the single-pole four-throw switch of the calibration combined port is switched to the second active end, and the single-pole four-throw switch of the kth calibration branch is switched to the second active end, and the test results of the vector network analyzer are recorded. Then, the SOLT calibration is performed based on the test results of the vector network analyzer to obtain the link calibration results of the calibration combined port and the kth calibration branch. The specific method and principle of the SOLT calibration are not repeated here. Let k=k+1 and execute the step of turning on the radio frequency link between the analyzer connection port and the kth calibration branch connection port of the calibration tool again, until k=K. Thus, the combination of all calibration combined ports and calibration branch ports can be tested and the link calibration results can be obtained. The standard plane can be moved from the ports 1 and 2 of the vector network analyzer to the interfaces of the quick plug connectors of the radio frequency cables. At this time, the vector network analyzer records the normalized incident voltage and reflected voltage at the calibration plane. In this way, the attenuation and phase change of the link (from the ports 1 and 2 of the vector network analyzer to the interfaces of the quick plug connectors of the radio frequency cables) can be calculated and recorded. Thus, the influence of the link on the test of the power divider can be controlled within a certain error range.

[0092] In addition, when each interval is a predetermined length or the number of power dividers to be tested tested by using the automatic test reaches a number threshold, the calibration tool is tested again and the link calibration results are updated to minimize the test error caused by mechanical loss of the radio frequency link, as shown in Figure 7

[0093] The above only describes the preferred embodiments of the present application, and the present application is not limited to the above embodiments. It can be understood that other improvements and changes directly derived or thought of by those skilled in the art without departing from the spirit and concept of the present application should be considered to be within the scope of protection of the present application.​

Claims

1. An automated test system for a multi-channel radar power divider, the system comprising: The automatic test system comprises a power divider fixing seat, an execution robot for completing pose calibration, an embedded system, a vector network analyzer and a radio frequency switch network; The radio frequency switch network comprises two analyzer connection ports and K power divider connection ports, each analyzer connection port is connected with each power divider connection port through the radio frequency switch network; integer parameter K≥2; The two analyzer connection ports of the radio frequency switch network are connected with two ports of the vector network analyzer through radio frequency links respectively, and each power divider connection port is connected with one end of a radio frequency cable, and the other end of each radio frequency cable is equipped with a quick plug connector matched with the port specification of the radar power divider; The embedded system is in communication connection with the radio frequency switch network, the vector network analyzer and the execution robot, and an automatic test method executed by the embedded system comprises: controlling the execution robot to install a power divider to be tested on the power divider fixing seat, and positioning the positions of each port of the power divider to be tested through a camera at the end effector of the execution robot combined with image processing technology, wherein the ports of the power divider to be tested comprise a joint port and a plurality of branch ports, and the total number of the ports is not more than K; controlling the execution robot to grab radio frequency cables and insert the quick plug connectors at the ends of the radio frequency cables into the corresponding ports of the power divider to be tested according to the positions of each port of the power divider to be tested; controlling the switch state of the radio frequency switch network to continuously turn on the radio frequency link between one analyzer connection port and the power divider connection port connected with the joint port of the power divider to be tested, and switch on the radio frequency link between the other analyzer connection port and the power divider connection port connected with each branch port, and analyze the power channel between the joint port and the branch port connected with the turned-on radio frequency link of the power divider to be tested by using the vector network analyzer to obtain the test result of the power divider to be tested.

2. The automated test system of claim 1, wherein, The execution robot comprises a stacking robot and a cable connection robot, the end effector of the stacking robot is a gripper, and the end effector of the cable connection robot is a three-fingered gripper; The control of the embedded system on the execution robot during the test process comprises: controlling the stacking robot to grab and carry the power divider to be tested to the power divider fixing seat through the gripper, and controlling the cable connection robot to grab the hexagonal screw surface of the quick plug connector at the end of the radio frequency cable on the radio frequency cable placement rack and move and insert it into the port of the power divider to be tested through the three-fingered gripper; The control of the embedded system on the execution robot after the test is completed comprises: controlling the cable connection robot to grab the hexagonal screw surface of the quick plug connector at the end of the radio frequency cable and pull it out from the port of the tested power divider and place it back on the radio frequency cable placement rack through the three-fingered gripper; and controlling the stacking robot to grab and carry the tested power divider from the power divider fixing seat through the gripper and place it on the placement rack of the tested power divider.

3. The automated test system of claim 2, wherein, Each radio frequency cable has a unique cable identifier, and each port of the power divider to be tested has a unique port identifier, and the control method of the embedded system on the cable connection robot comprises: The control cable mechanical arm is controlled to move to the radio frequency cable placement rack and adjust the posture so that the camera at the end effector of the cable mechanical arm is directed to the cable marker of the radio frequency cable on the radio frequency cable placement rack. After the camera at the end effector of the cable mechanical arm acquires the image of the cable marker of the radio frequency cable to be grabbed and performs image recognition, the cable mechanical arm is controlled to grab the quick connector at the end of the radio frequency cable. The control cable mechanical arm is controlled to move to the radio frequency cable placement rack and adjust the posture so that the camera at the end effector of the cable mechanical arm is directed to the cable marker of the radio frequency cable on the radio frequency cable placement rack. After the camera at the end effector of the cable mechanical arm acquires the image of the cable marker of the radio frequency cable to be grabbed and performs image recognition, the cable mechanical arm is controlled to grab the quick connector at the end of the radio frequency cable.

4. The automated test system of claim 1, wherein, The automatic test method performed by the embedded system further includes: The control execution mechanical arm is controlled to install the calibration tooling on the power divider fixed seat, the calibration tooling includes a normal working calibration power divider and a single-pole four-throw switch connected at each calibration port of the calibration power divider; the calibration tooling forms K calibration ports to the outside and the calibration ports include a calibration combined port and a plurality of calibration branch ports, each calibration port of the calibration tooling is connected to a fixed end of a single-pole four-throw switch, the first movable end of the single-pole four-throw switch is connected to the ground through a load resistor, the second movable end is connected to a port of the calibration power divider, the third movable end is suspended, and the fourth movable end is directly grounded; the calibration combined port of the calibration tooling is connected to the combined port of the calibration power divider, and the K-1 calibration branch ports of the calibration tooling are respectively connected to the K-1 branch ports of the calibration power divider; the embedded system is wirelessly connected to and controls each four-throw switch in the calibration tooling; The control execution mechanical arm is controlled to grab the radio frequency cable connected to each of the K power divider connection ports and respectively insert them into the K calibration ports of the calibration tooling; The vector network analyzer is controlled to switch to a calibration state and test the calibration tooling to obtain a link calibration result; After the test result of the to-be-tested power divider is obtained, the link calibration result is used to correct the test result of the to-be-tested power divider.

5. The automated test system of claim 4, wherein, The vector network analyzer is controlled to switch to a calibration state and test the calibration tooling to obtain a link calibration result, which includes: The switch state of the radio frequency switch network is controlled to turn on the radio frequency link between one analyzer connection port and the power divider connection port connected to the calibration combined port of the calibration tooling, and turn on the radio frequency link between another analyzer connection port and the power divider connection port connected to the kth calibration branch port of the calibration tooling, where the integer parameter 1≦k≦K. controlling the single-pole four-throw switch of the calibration combined port connection to switch to the first active end, the third active end and the fourth active end in turn and recording the test results of the vector network analyzer, and controlling the single-pole four-throw switch of the kth calibration branch port connection to switch to the first active end, the third active end and the fourth active end in turn and recording the test results of the vector network analyzer, and controlling the single-pole four-throw switch of the calibration combined port connection to switch to the second active end and controlling the single-pole four-throw switch of the kth calibration branch port connection to switch to the second active end and recording the test results of the vector network analyzer; performing SOLT calibration based on the test results of the vector network analyzer to obtain the link calibration results of the calibration combined port and the kth calibration branch port; Let k=k+1 and execute the step of turning on the radio frequency link between another analyzer connection port and the kth calibration branch port connection of the calibration fixture again until k=K.

6. The automated test system of claim 4, wherein, The automatic test method executed by the embedded system further comprises: When the number of the power dividers to be tested tested by the automatic test reaches a number threshold every interval of a predetermined length or continuously, the calibration fixture is tested again and the link calibration results are updated.

7. The automated test system of claim 1, wherein, The automatic test system further comprises a host computer in network communication with the embedded system; When the embedded system controls the radio frequency link between one analyzer connection port and the power divider connection port of the combined port of the power divider to be tested and the radio frequency link between another analyzer connection port and the power divider connection port of the ith branch port, the embedded system obtains the voltage standing wave ratio of the combined port and the ith branch port at each frequency point through the vector network analyzer, and obtains the logarithmic amplitude and phase between the combined port and the ith branch port to obtain the power channel test data between the combined port and the ith branch port and upload the power channel test data to the host computer; The host computer is used to aggregate the power channel test data between the combined port and each branch port to obtain the test results of the power divider to be tested.

8. The automated test system of claim 7, wherein, The host computer aggregates the power channel test data between the combined port and each branch port to obtain the test results of the power divider to be tested, which comprises: determining the voltage standing wave ratio of each port of the power divider to be tested at different frequencies; and converting the logarithmic amplitudes of each branch port into power and summing them up to obtain the insertion loss of the power divider to be tested; and calculating the deviation of the logarithmic amplitudes of each branch port from the reference logarithmic amplitude to obtain the port insertion loss deviation of the ith branch port when the combined port and the ith branch port are in forward transmission; and determining the maximum value of the logarithmic amplitudes of each branch port when the combined port and each branch port are in reverse transmission to obtain the isolation of the power divider to be tested; and determining the maximum value of the phase deviation absolute values between different branch ports according to the phase between the combined port and each branch port in forward transmission; and calculating the maximum value of the phase deviation absolute values between the phase between the combined port and each branch port in forward transmission and the reference phase.

9. The automated test system of claim 1, wherein, The end effector of the fastening mechanical arm is a screwdriver bit. The control of the embedded system on the execution of the mechanical arm during the test process further comprises: controlling the stacking mechanical arm to align the fastening screws on the power divider to be tested with the fixing holes on the power divider fixing seat when the stacking mechanical arm carries the power divider to be tested to the power divider fixing seat; and controlling the fastening mechanical arm to fasten the fastening screws on the power divider to be tested in the fixing holes on the power divider fixing seat through the screwdriver head, and then controlling the cable connecting mechanical arm to insert the RF cable end quick connector into the port of the power divider to be tested. The control of the embedded system on the execution of the mechanical arm after the test is completed comprises: controlling the cable connecting mechanical arm to pull out the RF cable from the port of the power divider to be tested, controlling the fastening mechanical arm to loosen the fastening screws on the power divider to be tested from the fixing holes on the power divider fixing seat through the screwdriver head, and then controlling the stacking mechanical arm to carry away the tested power divider from the power divider fixing seat.

10. The automated test system of claim 9, wherein, The stacking mechanical arm, the fastening mechanical arm and the cable connecting mechanical arm are respectively arranged in the mechanical arm sliding guide, and the power divider fixing seat, the placing rack of the RF cable, the placing rack of the power divider to be tested and the placing rack of the tested power divider are respectively arranged at different operation stations along the mechanical arm sliding guide.

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