Laser communication equipment PAT test method and device based on parallel robot

Abstract

The invention provides a laser communication equipment PAT test method and device based on parallel robots, and relates to the technical field of free space laser communication, and the method comprises the steps: employing calibration equipment to calibrate the space coordinate relation of an installation foundation of two parallel robots in a preset target site; calibration equipment is adopted to calibrate coordinate conversion relations between the tail ends of the two parallel robots and the laser communication equipment installed on the two parallel robots respectively, and the position relation between the two laser communication equipment is determined in combination with the space coordinate relation; according to the position relation, the two parallel robots are cooperatively controlled to operate according to a preset track intersection rule; acquiring operation data of the two laser communication devices, and determining evaluation indexes of the two laser communication devices according to the operation data; according to the evaluation indexes, the operation of the two parallel robots is optimized, which is equivalent to a semi-physical simulation method, the real working condition can be effectively simulated, and the performance of the laser communication load can be efficiently verified at low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of free space laser communication, and particularly to a PAT test method and device for a laser communication device based on a parallel robot. Background Art

[0002] With the rapid development of satellite communication technology, inter-satellite laser communication, as an efficient and high-capacity communication means, has gradually become a key technology for satellite networking. Laser communication payloads, with their significant advantages such as large coverage area, high transmission rate, strong anti-interference ability, long operating distance, and low device power consumption, are widely used in various satellite platforms. Especially with the development of the technology for networking giant constellations, the importance of inter-satellite communication links has become increasingly prominent. However, the acquisition, tracking, and pointing (PAT) system of inter-satellite laser communication payloads is complex and has extremely high precision requirements, which poses a severe challenge to its large-scale application in giant constellation networking.

[0003] Although existing evaluation methods can, to a certain extent, test the PAT system of laser communication payloads, they each have obvious limitations. For example, due to the simplification of the theoretical model and the limitation of computing resources, the pure mathematical simulation method often cannot accurately reflect the real working conditions, resulting in a large deviation between the simulation results and the actual situation; the static test method is difficult to simulate the influence of platform dynamic disturbances (such as satellite attitude jitter) on the PAT system and cannot comprehensively evaluate the robustness of the system; while the flight verification method, although the conditions are closest to the real situation, due to its high cost, long cycle, and the limitation of telemetry data volume, it cannot comprehensively and fully verify the long-term stability of the PAT system. The above defects restrict the mass production and wide application of inter-satellite laser communication payloads. Summary of the Invention

[0004] The present invention provides a PAT test method and device for a laser communication device based on a parallel robot to solve the technical problems in the prior art that it is impossible to effectively simulate real dynamic working conditions and the test cost is high.

[0005] On the one hand, the present invention provides a PAT test method for a laser communication device based on a parallel robot, including: Using a calibration device to calibrate the spatial coordinate relationship of the installation bases of two parallel robots in a preset target site; Using a calibration device to respectively calibrate the coordinate transformation relationship between the end of each of the two parallel robots and the laser communication device installed thereon, and combining the spatial coordinate relationship to determine the positional relationship between the two laser communication devices; According to the positional relationship, coordinately controlling the two parallel robots to operate according to a preset orbit rendezvous rule; Obtain the operation data of the two laser communication devices, and determine the evaluation indexes of the two laser communication devices according to the operation data; Optimize the operation of the two parallel robots according to the evaluation indexes.

[0006] According to a PAT test method for a laser communication device based on a parallel robot provided by the present invention, the method for calibrating the spatial coordinate relationship of the installation bases of two parallel robots in a preset target site by using a calibration device includes: Determine the installation positions of the installation bases of the two parallel robots according to the spatial relationship of the preset target site; Fix at least one prism on the installation bases of the two parallel robots respectively; Use an optoelectronic theodolite to measure the multi-angle spatial coordinates of the prisms on the two installation bases, and obtain the three-dimensional coordinate data of the two installation bases; Based on the three-dimensional coordinate data, establish the spatial coordinate relationship between the two installation bases.

[0007] According to a PAT test method for a laser communication device based on a parallel robot provided by the present invention, the method for respectively calibrating the coordinate transformation relationship between the ends of the two parallel robots and the laser communication devices installed thereon, and determining the positional relationship between the two laser communication devices in combination with the spatial coordinate relationship includes: Use an optoelectronic theodolite and a prism to measure the relative positions and postures between the ends of the two parallel robots and the laser communication devices installed thereon respectively; Establish a coordinate transformation relationship according to the relative positions and postures between the ends and the laser communication devices installed thereon; Combine the coordinate transformation relationship with the spatial coordinate relationship to determine the absolute positions and postures of the laser communication devices installed thereon in a unified spatial coordinate system; Determine the positional relationship between the two laser communication devices according to the absolute positions and postures of the laser communication devices installed thereon.

[0008] According to a PAT test method for a laser communication device based on a parallel robot provided by the present invention, the method for coordinately controlling the two parallel robots to operate according to a preset orbit rendezvous rule according to the positional relationship includes: Determine the respective motion trajectories of the two parallel robots according to the relative positional relationship between the two laser communication devices and the preset orbit rendezvous rule; Control the two parallel robots to operate according to their respective motion trajectories to simulate the off-orbit rendezvous process under various motion conditions.

[0009] A PAT test method for a laser communication device based on a parallel robot according to the present invention, the method of obtaining operation data of the two laser communication devices, and determining evaluation indexes of the two laser communication devices according to the operation data, includes: During the collaborative operation of two parallel robots, operation data is collected in real time by sensors installed on the laser communication device; Preprocess the operation data; Perform frequency-domain and time-domain analysis on the preprocessed operation data to obtain various evaluation parameters; Compare each evaluation parameter with its corresponding preset parameter standard to determine the evaluation indexes of the two laser communication devices under the current operating conditions.

[0010] A PAT test method for a laser communication device based on a parallel robot according to the present invention, the method of obtaining operation data of the two laser communication devices, and determining evaluation indexes of the two laser communication devices according to the operation data, further includes: Transmit the obtained operation data to the digital twin platform of the laser communication device PAT created in advance in real time, and the twin simulates the whole process of acquisition and tracking of the laser communication payload in the actual space to obtain a twin simulation result; Compare the twin simulation result with the measured operation data in real time to obtain dynamic error data; Generate an error compensation instruction based on the dynamic error data; Based on the error compensation instruction, adjust the motion trajectory or control parameters of the parallel robot in real time.

[0011] A PAT test method for a laser communication device based on a parallel robot according to the present invention, determining the respective motion trajectories of the two parallel robots according to the relative position relationship between the two laser communication devices and the preset orbit rendezvous rules, includes: Determine the respective theoretical motion trajectories of the two parallel robots according to the relative position relationship between the two laser communication devices and the preset orbit rendezvous rules; Adjust the theoretical motion trajectory according to the set dynamic disturbance factors to obtain their respective actual motion trajectories; Decompose their respective actual motion trajectories into multiple motion stages, and set motion parameters for each motion stage respectively.

[0012] A PAT test method for a laser communication device based on a parallel robot according to the present invention, decomposing their respective actual motion trajectories into multiple motion stages, and setting motion parameters for each motion stage respectively, includes: Determine the key nodes of their respective motion trajectories according to the relative position relationship between two laser communication devices and the preset orbit rendezvous rules: Among them, the key nodes include a starting point, intermediate key points, and an ending point; Divide their respective motion trajectories into multiple motion stages according to the key nodes of their respective motion trajectories: Among them, the multiple motion stages include an initial acceleration stage, an intermediate transition stage, a rendezvous stage, and an ending deceleration stage; Set motion parameters for each motion stage respectively.

[0013] According to a PAT test method for a laser communication device based on a parallel robot provided by the present invention, the optimizing the operation of the two parallel robots according to the evaluation index includes: Determine the influencing factors affecting the performance according to the evaluation index; Adjust the operation of the parallel robot based on the influencing factors.

[0014] On the other hand, the present invention also provides a PAT test device for a laser communication device based on a parallel robot, including: A robot coordinate determination module, configured to calibrate the spatial coordinate relationship of the installation bases of two parallel robots in a preset target site by using a calibration device; A communication position determination module, configured to calibrate the coordinate conversion relationship between the ends of the two parallel robots and the laser communication devices installed thereon respectively by using a calibration device, and determine the position relationship between the two laser communication devices in combination with the spatial coordinate relationship; A trajectory operation module, configured to cooperatively control the two parallel robots to operate according to a preset orbit rendezvous rule according to the position relationship; An evaluation index module, configured to obtain the operation data of the two laser communication devices, and determine the evaluation index of the two laser communication devices according to the operation data; An optimization module, configured to optimize the operation of the two parallel robots according to the evaluation index.

[0015] The PAT test method and device for a laser communication device based on a parallel robot provided by the present invention calibrate the coordinate conversion relationship between the ends of the two parallel robots and the laser communication devices installed thereon respectively by using a calibration device, and determine the position relationship between the two laser communication devices in combination with the spatial coordinate relationship. According to the position relationship, the two parallel robots are cooperatively controlled to operate according to a preset orbit rendezvous rule, which is equivalent to a semi-physical simulation method, can effectively simulate the real working condition, accurately evaluate the performance of the PAT system, and can verify the performance of the laser communication payload efficiently and at low cost. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0017] Figure 1 It is a schematic flow chart of the PAT test method for a laser communication device based on a parallel robot provided by an embodiment of the present invention; Figure 2 It is a schematic architecture diagram of the PAT test for a laser communication device based on a parallel robot provided by an embodiment of the present invention; Figure 3 It is a schematic structural diagram of a PAT test device for a laser communication device based on a parallel robot provided by an embodiment of the present invention; Figure 4 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0018] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0019] Figure 1 It is a schematic flow chart of the PAT test method for a laser communication device based on a parallel robot provided by an embodiment of the present invention. A parallel robot is a special robot structure, which consists of multiple independent robotic arms connected together by joints, and these robotic arms jointly support and control an end effector (such as a tool, fixture, or other device). Different from traditional serial robots (where each joint of the robotic arm is connected in sequence to form a continuous motion chain), the multiple robotic arms of a parallel robot cooperate with each other during movement to jointly complete tasks.

[0020] Refer to Figure 1 , the PAT test method for a laser communication device based on a parallel robot may include the following steps 101 to 105.

[0021] Step 101: Use a calibration device to calibrate the spatial coordinate relationship of the installation bases of two parallel robots in a preset target site.

[0022] In this step, the preset target site can be an optical darkroom, which can simulate the dark environment in space and provide a test environment close to the actual on-orbit operating conditions for the laser communication terminal. The optical darkroom can effectively shield the interference of external natural light and ambient light, thereby improving the accuracy and reliability of measurement. The brightness in the optical darkroom can be set, and no specific limitation is made here. The calibration equipment can include prisms and photoelectric theodolites.

[0023] Step 101 can specifically include: Step 1: Determine the installation positions of the installation bases of the two parallel robots according to the spatial relationship of the preset target site; In this step, according to the spatial layout of the preset target site, the installation positions of the two parallel robots can be pre-planned. These positions need to consider the relative distance between the parallel robots, the movement range, and the cooperation with other devices (such as laser beacon sources, sensors, etc.).

[0024] Step 2: Fix and install at least one prism on each of the installation bases of the two parallel robots; In this step, the prism is used as a reference point in the calibration process to accurately measure the spatial coordinates of the installation base. These prisms need to have high-precision geometric stability to ensure the accuracy of measurement.

[0025] Step 3: Use a photoelectric theodolite to measure the multi-angle spatial coordinates of the prisms on the two installation bases to obtain the three-dimensional coordinate data of the two installation bases; In this step, a high-precision photoelectric theodolite is required to measure the prisms on each installation base from different directions and angles. Multi-angle measurement can reduce measurement errors and improve the reliability of the coordinate data.

[0026] Step 4: Based on the three-dimensional coordinate data, establish the spatial coordinate relationship between the two installation bases; In this step, through the three-dimensional coordinate data, the relative position and attitude relationship between the installation bases of the two parallel robots can be determined, and then the spatial coordinate relationship between the two installation bases can be established.

[0027] The above steps can achieve high-precision coordinate calibration, ensuring the accuracy and reliability of the test.

[0028] Step 102: Use the calibration equipment to calibrate the coordinate transformation relationship between the end of each of the two parallel robots and the laser communication equipment installed thereon, and combine the spatial coordinate relationship to determine the position relationship between the two laser communication equipment.

[0029] Step 102 can specifically include: Step 1: Use an optoelectronic theodolite and a prism to measure the relative positions and attitudes between the end of each of the two parallel robots and the laser communication devices installed on them respectively. In this step, prisms can be installed on the end of each parallel robot and the laser communication device respectively, and the optoelectronic theodolite is used to measure the positions and attitudes of these prisms from multiple angles.

[0030] Step 2: Establish a coordinate transformation relationship based on the relative positions and attitudes between the end and the laser communication devices installed on them respectively. In this step, the measured relative position and attitude data can be used to establish a coordinate transformation relationship through mathematical transformations (such as rotation matrices and translation vectors). Usually, it involves the calculation of homogeneous transformation matrices to ensure the accuracy of the coordinate system transformation. The coordinate transformation relationship corresponding to the end and the laser communication device can be regarded as a local coordinate system.

[0031] Step 3: Combine the coordinate transformation relationship with the spatial coordinate relationship to determine the absolute positions and attitudes of the laser communication devices installed on them respectively in the unified spatial coordinate system. In this step, the spatial coordinate relationship can be regarded as a global coordinate system. The absolute positions and attitudes of each laser communication device in the unified spatial coordinate system are calculated through coordinate transformation.

[0032] Step 4: Determine the positional relationship between the two laser communication devices based on the absolute positions and attitudes of the laser communication devices installed on them respectively. In this step, the absolute positions and attitudes of each laser communication device obtained previously can be used to calculate their relative positions and attitudes, so as to obtain the relative positional relationship, which can generally be achieved through the calculation of coordinate differences and attitude differences.

[0033] The above steps improve the accuracy and effectiveness of the test by using an optoelectronic theodolite and a prism to measure relative positions and attitudes, establishing a coordinate transformation relationship, and then determining the absolute positions and attitudes of the devices.

[0034] Step 103: Coordinate and control the two parallel robots to operate according to the preset orbital rendezvous rules based on the positional relationship.

[0035] Step 103 may specifically include: Determine the respective motion trajectories of the two parallel robots according to the relative positional relationship between the two laser communication devices and the preset orbital rendezvous rules. Control the two parallel robots to operate according to their respective motion trajectories to simulate the off-orbit rendezvous process under various motion conditions.

[0036] This step enables the test to be closer to the real space rendezvous scenario, so as to comprehensively evaluate the performance of the PAT system under different motion conditions, enhancing the practicality and pertinence of the test, and helping to discover and solve problems that may occur in actual applications. Generally, it can simulate multiple aspects such as orbital parameter changes, relative motion parameters, attitude perturbations, environmental perturbations, communication link parameter changes, and dynamic scenario changes to ensure that the laser communication system can work stably and efficiently in actual applications.

[0037] Step 104: Obtain the operation data of the two laser communication devices, and determine the evaluation indicators of the two laser communication devices according to the operation data.

[0038] Step 104 can specifically include: Step 1: During the collaborative operation of the two parallel robots, the operation data is collected in real time through the sensors installed on the laser communication devices; Generally, various sensors (such as angle sensors, acceleration sensors, light intensity sensors, etc.) can be installed on the laser communication devices. These sensors can monitor the operation data of the devices in real time, and the operation data can include key parameters such as attitude, position, and light intensity.

[0039] Step 2: Preprocess the operation data; Generally, the preprocessing usually includes steps such as data filtering, noise reduction, and data calibration. For example, a low-pass filter is used to remove high-frequency noise, and data calibration is performed to ensure the accuracy of the sensor data. The preprocessing can also include data formatting and preliminary screening to remove obvious error or abnormal data points.

[0040] Step 3: Perform frequency-domain and time-domain analysis on the preprocessed operation data to obtain various evaluation parameters; In this step, time-domain analysis can refer to analyzing the changes of data in the time series, such as calculating statistical parameters such as the mean, variance, and peak value of the signal to evaluate the performance changes of the device at different time points. Frequency-domain analysis can refer to converting the data from the time domain to the frequency domain through methods such as Fourier transform, and analyzing the frequency components of the signal, such as calculating parameters such as the spectrum, bandwidth, and harmonics of the signal to evaluate the performance of the device at different frequencies. Through frequency-domain and time-domain analysis, key parameters that can reflect the performance of the laser communication device are extracted as evaluation parameters.

[0041] Step 4: Compare each evaluation parameter with its corresponding preset parameter standard to determine the evaluation indicators of the two laser communication devices under the current operating conditions; In this step, the preset parameter standards can, according to design requirements and performance indicators, preset the standard values or ranges of various evaluation parameters. These standard values can be obtained based on theoretical calculations, historical data, or industry standards. Compare the evaluation parameters obtained from frequency-domain and time-domain analyses with the preset parameter standards, and calculate the deviation or compliance. For example, calculate the deviation between the actual value and the standard value of the pointing accuracy, and evaluate whether the acquisition time is within the allowable range, etc. Generate a comprehensive evaluation index according to the comparison results.

[0042] The above steps can accurately and comprehensively evaluate the performance indicators of the laser communication device, help improve the accuracy and reliability of the test results, and help enhance the overall performance of the PAT system.

[0043] Step 105: Optimize the operation of the two parallel robots according to the evaluation index.

[0044] In this embodiment, a calibration device is used to calibrate the coordinate transformation relationship between the end of each of the two parallel robots and the laser communication device installed thereon respectively. Combining the spatial coordinate relationship, determine the positional relationship between the two laser communication devices. According to the positional relationship, cooperatively control the two parallel robots to operate according to the preset orbit rendezvous rules, which is equivalent to a hardware-in-the-loop simulation method. It can effectively simulate the real working conditions, accurately evaluate the performance of the PAT system, and can verify the performance of the laser communication payload efficiently and at low cost.

[0045] In an embodiment of this specification, to obtain the operation data of the two laser communication devices and determine the evaluation index of the two laser communication devices according to the operation data, it further includes: Step 1: Transmit the obtained operation data to the digital twin platform of the laser communication device PAT created in advance in real time. The twin simulates the entire capture and tracking process of the actual space laser communication payload to obtain the twin simulation result. In this step, the digital twin platform is a virtual digital model corresponding to the actual physical system. During the test, the real-time operation data (such as position, attitude, light intensity, etc.) obtained from the laser communication device and the parallel robots is transmitted to this digital twin platform. Utilize the modeling and simulation capabilities of the digital twin platform to simulate the capture, tracking, and aiming processes of the laser communication payload in the real space environment according to the input operation data. The twin simulation results include virtual motion trajectories, attitude changes, light intensity changes, etc.

[0046] Step 2: Compare the twin simulation result with the measured operation data in real time to obtain the dynamic error data. In this step, compare the twin simulation results (such as position, attitude, light intensity, etc.) obtained from the twin simulation with the actual operation data point by point, and calculate the difference between the two, which is the dynamic error data.

[0047] Step 3: Generate an error compensation instruction based on the dynamic error data; In this step, according to the magnitude and direction of the dynamic error data, corresponding error compensation instructions are generated through an algorithm. These error compensation instructions can be to adjust the motion parameters of the parallel robot, change the control parameters of the laser communication device, etc.

[0048] Step 4: Based on the error compensation instruction, adjust the motion trajectory or control parameters of the parallel robot in real time; In this step, the error compensation instruction is sent to the control system of the parallel robot to adjust its motion trajectory (such as speed, acceleration, attitude, etc.) or control parameters (such as parameter adjustment of the control algorithm).

[0049] In this embodiment, the dynamic optimization and error compensation of the test process are realized, further improving the accuracy and reliability of the test data, enhancing the adaptability and intelligent level of the test system, and being able to better cope with complex and changeable test environments and requirements.

[0050] In an embodiment of this specification, according to the relative position relationship between two laser communication devices and the preset orbital rendezvous rules, the respective motion trajectories of the two parallel robots are determined, including: Step 1: According to the relative position relationship between two laser communication devices and the preset orbital rendezvous rules, determine the respective theoretical motion trajectories of the two parallel robots; In this step, according to the relative position relationship (such as distance, angle, etc.) between two laser communication devices, combined with the preset orbital rendezvous rules (such as rendezvous speed, rendezvous time, etc.), the motion trajectory of the parallel robot under ideal conditions is calculated. The theoretical motion trajectory provides a reference benchmark for subsequent adjustment of the actual motion trajectory.

[0051] Step 2: Adjust the theoretical motion trajectory according to the set dynamic disturbance factors to obtain the respective actual motion trajectories; In this step, the dynamic disturbance factors can include satellite attitude jitter, orbital parameter change, environmental interference, etc. According to these disturbance factors, the theoretical motion trajectory is corrected, for example, adjusting parameters such as speed, acceleration, and attitude to simulate the dynamic changes in actual operation.

[0052] Step 3: Decompose the respective actual motion trajectories into multiple motion stages, and set motion parameters for each motion stage respectively; In this step, the motion trajectory is divided into multiple stages, such as the initial acceleration stage, the intermediate transition stage, the rendezvous stage, and the end deceleration stage. Motion parameters such as linear velocity, angular velocity, acceleration, and attitude adjustment parameters are set for each stage respectively.

[0053] In this embodiment, through refined motion trajectory planning and parameter setting, the motion accuracy and reliability of the parallel robot during the simulated inter-satellite laser communication payload rendezvous process are improved, enabling a more accurate simulation of the actual orbital rendezvous process, fully considering the influence of dynamic factors on the performance of the PAT system, and thus providing more reliable data support for the performance evaluation of laser communication equipment.

[0054] In an embodiment of this specification, the respective actual motion trajectories are decomposed into multiple motion stages, and motion parameters are set separately for each motion stage, including: According to the relative position relationship between two laser communication devices and the preset orbital rendezvous rules, the key nodes of their respective motion trajectories are determined: among them, the key nodes include the starting point, intermediate key points, and ending point; According to the key nodes of their respective motion trajectories, their motion trajectories are divided into multiple motion stages; among them, the multiple motion stages include an initial acceleration stage, an intermediate transition stage, a rendezvous stage, and an ending deceleration stage; Motion parameters are set separately for each motion stage.

[0055] In this embodiment, key nodes such as the starting point, intermediate key points, and ending point can be determined for dividing different motion stages. Among them, the starting point is the initial position where the parallel robot starts to move, the intermediate key points are speed change points, attitude adjustment points, or trajectory turning points, etc., and the ending point is the final position where the parallel robot completes the rendezvous task.

[0056] Initial acceleration stage: The motion process between the starting point and the first intermediate key point, and the main task is to smoothly accelerate the parallel robot from a stationary state to a preset motion speed. Intermediate transition stage: Several transition stages are divided between the intermediate key points, and each stage corresponds to a specific task requirement, such as speed adjustment, attitude correction, or trajectory fine-tuning, etc. Rendezvous stage: When approaching the rendezvous point, a special rendezvous stage is divided, and the motion parameters of this stage need to be precisely controlled to ensure that the laser communication equipment can accurately capture and track the target. Ending deceleration stage: The motion process between the last intermediate key point and the ending point, and the main task is to smoothly decelerate the parallel robot from a motion state to a stationary state.

[0057] For each divided motion stage, motion parameters are independently set, including linear velocity, angular velocity, acceleration, attitude adjustment parameters, etc. According to the task requirements and motion characteristics of each stage, the motion parameters are optimized and adjusted to ensure that the parallel robot can efficiently and accurately complete the predetermined tasks in each stage.

[0058] In an embodiment of this specification, according to the evaluation index, the operation of two parallel robots is optimized, including: Determine the influencing factors affecting performance according to the evaluation metrics; Adjust the operation of the parallel robot based on the influencing factors.

[0059] In this embodiment, the evaluation metrics generally include pointing accuracy, acquisition time, tracking bandwidth, anti-disturbance robustness, etc. Analyze these evaluation metrics to find out which metrics do not meet the expected standards or which metrics have a greater impact on the overall performance. For example, if the pointing accuracy is lower than expected, it may be because the attitude adjustment of the parallel robot is inaccurate; if the acquisition time is too long, it may be that the motion trajectory planning is unreasonable.

[0060] Adjust the operation of the parallel robot based on the influencing factors. For example, if the evaluation metrics show problems with the motion trajectory (such as insufficient accuracy in the rendezvous phase), the motion trajectory can be re-planned to optimize the positions and motion parameters of the key nodes; if the evaluation metrics show insufficient response speed or accuracy of the control system, the parameters of the control algorithm can be adjusted, such as the gains of the PID controller; if the evaluation metrics show that the dynamic disturbance has a greater impact on the performance, the dynamic compensation algorithm can be optimized to enhance the robustness of the system.

[0061] By analyzing the evaluation metrics to determine the factors affecting performance and adjusting the operation of the robot accordingly, it is possible to specifically solve the problems found in the testing process, further improve the performance and stability of the PAT system, ensure the accuracy and reliability of the test results, and provide strong support for the optimal design and improvement of the laser communication payload.

[0062] In some other embodiments of this specification, the PAT testing method for the laser communication device based on the parallel robot further includes: Integrate a quantum entanglement light source in the laser communication device to generate entangled photon pairs and send them to two laser communication devices respectively; Measure the quantum state correlation of the entangled photon pairs to calculate the relative position deviation between the two laser communication devices in real time; Feed back the relative position deviation to the control system of the parallel robot to dynamically correct the motion trajectory or attitude parameters; Among them, the measurement frequency of the quantum entanglement light source is higher than the sampling frequency of traditional optical sensors and is not affected by ambient light interference.

[0063] In this embodiment, the non-classical characteristics of quantum entanglement (such as long-distance correlation) are used to achieve real-time deviation detection with nanometer-level accuracy, breaking through the accuracy limit of traditional optical calibration. Quantum measurement is not affected by atmospheric disturbance or stray light, and is especially suitable for high-precision calibration requirements in simulated deep space environments. Introduce random perturbation simulation during the rendezvous process, and test the anti-interference ability of the PAT system by injecting controllable random errors.

[0064] In some other embodiments of this specification, a variable curvature mirror array is deployed in the optical darkroom to simulate the gravitational lensing effect in space; According to the relative motion trajectories of two laser communication terminals, the curvature of the mirror is dynamically adjusted to cause a controllable deflection of the laser beam path; By monitoring the change in the position of the deflected light spot in real time, the impact of orbital perturbations on the communication link is deduced, and a compensation instruction is generated; Among them, the curvature adjustment algorithm of the mirror array is optimized based on the light bending formula in the general theory of relativity, making the simulation environment closer to the deep space gravitational field conditions.

[0065] In this embodiment, the authenticity and reliability of the test environment are improved.

[0066] In some other embodiments of this specification, a sound vortex generator is installed at the joints of the parallel robot, and a controllable vortex field is excited inside the mechanical structure through high-frequency sound waves (>20 kHz); The sound vortex field generates mechanical deformations on the micro scale, simulating the thermally induced micro-vibration effect of the satellite in orbit; By adjusting the frequency and phase of the sound vortex, the micro-vibration spectrum is matched to the natural frequency characteristics of the target satellite; The sound vortex signal is synchronously analyzed with the operation data of the laser communication device to identify the resonance points and dynamically suppress them.

[0067] In this embodiment, the authenticity and reliability of the test environment are improved.

[0068] Figure 2 It is a schematic diagram of the architecture of the PAT test of the laser communication device based on the parallel robot provided by the embodiment of the present invention. Figure 2 It includes a first mounting base 210, a first parallel robot 211, a first high-speed camera 212, a first laser communication terminal 213, a motion control computer 214, a standard prism 215, a laser beacon source 216, an optical darkroom 217, a second mounting base 220, a second parallel robot 221, a second high-speed camera 222, a second laser communication terminal 223, a simulation computer 224, and a twin display system 225. This architecture can be used to execute the above-mentioned PAT test method of the laser communication device based on the parallel robot.

[0069] At the end of the first mounting base 210, the first parallel robot 211 is installed, and at the end of the second mounting base 220, the second parallel robot 221 is installed, ensuring that there is an accurate spatial coordinate relationship between the first parallel robot 211 and the second parallel robot 221 in the preset target site. The first laser communication terminal 213 is installed on the first parallel robot 211, and the second laser communication terminal 223 is installed on the second parallel robot 221, which is used to simulate the dynamic behavior of the satellite platform, including attitude adjustment and orbital rendezvous. The first high-speed camera 212 is installed on the first parallel robot 211, and the second high-speed camera 222 is installed on the second parallel robot 221, which is used to capture the dynamic behavior of the first laser communication terminal 213 and the second laser communication terminal 223.

[0070] The motion control computer 214 is used to coordinately control the motion of the first parallel robot 211 and the second parallel robot 221 to ensure that they operate according to the preset orbital rendezvous rules. The standard prism 215 is used as a reference point during the calibration process to help accurately measure the spatial coordinates of devices such as the first mounting base 210 and the second mounting base 220. The laser beacon source 216 serves as a beacon for laser communication and is used to simulate the laser signal of the target satellite. The optical darkroom 217 provides a dark environment similar to space, reduces external interference, and improves the test accuracy. The simulation computer 224 runs the digital twin platform to simulate the entire process of capture and tracking of the actual space laser communication payload. The twin display system 225 displays the simulation results of the digital twin platform for real-time monitoring and evaluation.

[0071] Based on the same general inventive concept, the present invention also protects a PAT test device for a laser communication device based on a parallel robot, as Figure 3 shown, Figure 3 is a schematic structural diagram of the PAT test device for a laser communication device based on a parallel robot provided by an embodiment of the present invention. The PAT test device for a laser communication device based on a parallel robot provided by the present invention will be described below. The PAT test device for a laser communication device based on a parallel robot described below can be mutually referred to corresponding to the PAT test method for a laser communication device based on a parallel robot described above.

[0072] The PAT test device for a laser communication device based on a parallel robot includes a robot coordinate determination module 301, a communication position determination module 302, a trajectory operation module 303, an evaluation index module 304, and an optimization module 305.

[0073] The robot coordinate determination module 301 is used to calibrate the spatial coordinate relationship between the mounting bases of two parallel robots in a preset target site by using calibration equipment; The communication position determination module 302 is used to calibrate the coordinate transformation relationship between the ends of the two parallel robots and the laser communication devices installed thereon respectively by using a calibration device, and determine the positional relationship between the two laser communication devices in combination with the spatial coordinate relationship; The trajectory operation module 303 is used to collaboratively control the two parallel robots to operate according to a preset orbit intersection rule based on the positional relationship; The evaluation index module 304 is used to obtain the operation data of the two laser communication devices and determine the evaluation indexes of the two laser communication devices according to the operation data; The optimization module 305 is used to optimize the operation of the two parallel robots according to the evaluation indexes.

[0074] Figure 4 It is a schematic structural diagram of the electronic device provided by the embodiment of the present invention.

[0075] As Figure 4 shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440. Among them, the processor 410, the communication interface 420, and the memory 430 complete communication with each other through the communication bus 440. The processor 410 can call the logical instructions in the memory 430 to execute the laser communication device PAT test method based on the parallel robot.

[0076] In addition, when the logical instructions in the above-mentioned memory 430 are implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0077] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the PAT test method for a laser communication device based on a parallel robot provided by each of the above methods.

[0078] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the PAT test method for a laser communication device based on a parallel robot provided by each of the above methods.

[0079] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0080] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A PAT testing method for a laser communication device based on a parallel robot, characterized in that, Including: Using a calibration device to calibrate the spatial coordinate relationship of the installation bases of two parallel robots in a preset target site; Using a calibration device to respectively calibrate the coordinate transformation relationship between the end of each of the two parallel robots and the laser communication device installed thereon, and combining the spatial coordinate relationship to determine the positional relationship between the two laser communication devices; According to the positional relationship, coordinately controlling the two parallel robots to operate according to the preset orbit rendezvous rules; Obtaining the operation data of the two laser communication devices, and determining the evaluation indexes of the two laser communication devices according to the operation data; Optimizing the operation of the two parallel robots according to the evaluation indexes.

2. The PAT testing method for the laser communication device based on a parallel robot according to claim 1, characterized in that The step of using a calibration device to calibrate the spatial coordinate relationship of the installation bases of two parallel robots in a preset target site includes: Determining the installation positions of the installation bases of the two parallel robots according to the spatial relationship of the preset target site; Fixing and installing at least one prism on the installation bases of the two parallel robots respectively; Using an optoelectronic theodolite to perform multi-angle spatial coordinate measurement on the prisms of the two installation bases to obtain the three-dimensional coordinate data of the two installation bases; Based on the three-dimensional coordinate data, establishing the spatial coordinate relationship between the two installation bases.

3. The PAT testing method for the laser communication device based on a parallel robot according to claim 1, wherein The step of using a calibration device to respectively calibrate the coordinate transformation relationship between the end of each of the two parallel robots and the laser communication device installed thereon, and combining the spatial coordinate relationship to determine the positional relationship between the two laser communication devices includes: Using an optoelectronic theodolite and a prism to respectively measure the relative position and attitude between the end of each of the two parallel robots and the laser communication device installed thereon; Establishing a coordinate transformation relationship according to the relative position and attitude between the end and the laser communication device installed thereon; Combining the coordinate transformation relationship with the spatial coordinate relationship to determine the absolute position and attitude of the laser communication device installed on each in a unified space coordinate system; Determining the positional relationship between the two laser communication devices according to the absolute position and attitude of the laser communication device installed on each.

4. The PAT testing method for the laser communication device based on a parallel robot according to claim 1, wherein The step of coordinately controlling the two parallel robots to operate according to the preset orbit rendezvous rules according to the positional relationship includes: Determining the respective motion trajectories of the two parallel robots according to the relative positional relationship between the two laser communication devices and the preset orbit rendezvous rules; Controlling the two parallel robots to operate according to their respective motion trajectories to simulate the off-orbit rendezvous process under various motion conditions.

5. The PAT testing method for the laser communication device based on a parallel robot according to claim 1, characterized in that, The step of obtaining the operation data of the two laser communication devices and determining the evaluation indexes of the two laser communication devices according to the operation data includes: During the coordinated operation of the two parallel robots, real-time collecting operation data through sensors installed on the laser communication devices; Performing preprocessing on the operation data; Performing frequency-domain and time-domain analysis on the preprocessed operation data to obtain various evaluation parameters; Comparing the various evaluation parameters with their respective corresponding preset parameter standards to determine the evaluation indexes of the two laser communication devices under the current operation conditions.

6. The PAT testing method for the laser communication device based on a parallel robot according to claim 5, wherein The step of obtaining the operation data of the two laser communication devices and determining the evaluation indexes of the two laser communication devices according to the operation data further includes: Transmitting the obtained operation data to the digital twin platform of the laser communication device PAT created in advance in real time, and the twin simulates the whole process of acquisition and tracking of the actual space laser communication payload to obtain a twin simulation result; Comparing the twin simulation result with the measured operation data in real time to obtain dynamic error data; Generating an error compensation instruction based on the dynamic error data; Based on the error compensation instruction, adjusting the motion trajectory or control parameters of the parallel robot in real time.

7. The PAT testing method for the laser communication device based on a parallel robot according to claim 4, wherein Determining the respective motion trajectories of the two parallel robots according to the relative position relationship between the two laser communication devices and the preset orbit rendezvous rules, including: Determining the respective theoretical motion trajectories of the two parallel robots according to the relative position relationship between the two laser communication devices and the preset orbit rendezvous rules; Adjusting the theoretical motion trajectory according to the set dynamic disturbance factors to obtain their respective actual motion trajectories; Decomposing the respective actual motion trajectories into multiple motion stages, and setting motion parameters for each motion stage respectively.

8. The PAT testing method for the laser communication device based on a parallel robot according to claim 7, characterized in that, Decomposing the respective actual motion trajectories into multiple motion stages, and setting motion parameters for each motion stage respectively, including: Determining the key nodes of their respective motion trajectories according to the relative position relationship between the two laser communication devices and the preset orbit rendezvous rules: wherein, the key nodes include a starting point, intermediate key points and an ending point; Dividing their respective motion trajectories into multiple motion stages according to the key nodes of their respective motion trajectories; wherein, the multiple motion stages include an initial acceleration stage, an intermediate transition stage, a rendezvous stage and an ending deceleration stage; Setting motion parameters for each motion stage respectively.

9. The PAT testing method for the laser communication device based on a parallel robot according to claim 1, characterized in that, The step of optimizing the operation of the two parallel robots according to the evaluation indexes includes: Determining the influencing factors affecting the performance according to the evaluation indexes; Adjusting the operation of the parallel robot based on the influencing factors.

10. A PAT testing device for a laser communication device based on a parallel robot, characterized in that, Including: A robot coordinate determination module for calibrating the spatial coordinate relationship of the installation bases of the two parallel robots in a preset target site by using a calibration device; A communication position determination module for calibrating the coordinate conversion relationship between the end of each of the two parallel robots and the laser communication device installed thereon by using a calibration device, and determining the position relationship between the two laser communication devices in combination with the spatial coordinate relationship; A trajectory operation module for coordinately controlling the two parallel robots to operate according to the preset orbit rendezvous rules according to the position relationship; An evaluation index module for obtaining the operation data of the two laser communication devices and determining the evaluation indexes of the two laser communication devices according to the operation data; An optimization module for optimizing the operation of the two parallel robots according to the evaluation indexes.

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