Laser communication device pat testing method and apparatus based on parallel robot

Abstract

The application 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 following steps: adopting a calibration device to calibrate the spatial coordinate relationship of two parallel robots installed in a preset target site; adopting the calibration device to calibrate the coordinate conversion relationship between the tail end of each parallel robot and the laser communication equipment installed thereon, and combining the spatial coordinate relationship to determine the position relationship between the two laser communication equipments; according to the position relationship, the two parallel robots are cooperatively controlled to operate according to a preset orbit intersection rule; operation data of the two laser communication equipments are acquired, and according to the operation data, evaluation indexes of the two laser communication equipments are determined; and according to the evaluation indexes, the operation of the two parallel robots is optimized, which is equivalent to a semi-physical simulation method, can effectively simulate real working conditions, and can efficiently and at low cost verify the performance of the laser communication load.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of free space laser communication, and in particular to a PAT testing method and device for a laser communication device based on parallel robots. BACKGROUND

[0002] With the rapid development of satellite communication technology, inter-satellite laser communication, as a highly efficient and high-capacity communication means, has gradually become a key technology for satellite networking. Laser communication payloads are widely used in various satellite platforms due to their large coverage area, high transmission rate, strong anti-interference capability, long action distance, and low equipment power consumption, etc. In particular, with the development of mega constellation networking technology, the importance of inter-satellite communication links is increasingly prominent. However, the acquisition, tracking and pointing (PAT) system of inter-satellite laser communication payloads is complex and has very high precision requirements, which poses a severe challenge to its large-scale application in mega constellation networking.

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

[0004] The present application provides a PAT testing method and device for a laser communication device based on parallel robots, to solve the technical problems of being unable to effectively simulate real dynamic working conditions and high testing cost in the prior art.

[0005] In one aspect, the present application provides a PAT testing method for a laser communication device based on parallel robots, comprising:

[0006] using a calibration device to calibrate the spatial coordinate relationship of the installation bases of the two parallel robots in a preset target site;

[0007] using the calibration device to calibrate the coordinate conversion relationship between the end of each of the two parallel robots and the laser communication device installed thereon respectively, and combining the spatial coordinate relationship to determine the positional relationship between the two laser communication devices;

[0008] According to the position relationship, two parallel robots are cooperatively controlled to operate according to preset track intersection rules.

[0009] Obtain operation data of two laser communication devices, and determine evaluation indexes of the two laser communication devices according to the operation data.

[0010] According to the evaluation indexes, the operation of the two parallel robots is optimized.

[0011] According to the present application, a laser communication device PAT test method based on parallel robots is provided, which adopts a calibration device to calibrate the spatial coordinate relationship of two parallel robots installed in a preset target site, including:

[0012] According to the spatial relationship of the preset target site, the installation position of the installation base of the two parallel robots is determined.

[0013] At least one prism is fixedly installed on the installation base of the two parallel robots.

[0014] A photoelectric theodolite is used to measure the spatial coordinates of the prisms of the two installation bases at multiple angles, and three-dimensional coordinate data of the two installation bases is obtained.

[0015] Based on the three-dimensional coordinate data, the spatial coordinate relationship between the two installation bases is established.

[0016] According to the present application, a laser communication device PAT test method based on parallel robots is provided, which adopts a calibration device to calibrate the coordinate conversion relationship between the end of each parallel robot and the laser communication device installed thereon, and determines the position relationship between the two laser communication devices in combination with the spatial coordinate relationship, including:

[0017] Using a photoelectric theodolite and a prism, the relative position and attitude between the end of each parallel robot and the laser communication device installed thereon are measured.

[0018] According to the relative position and attitude between the end of each parallel robot and the laser communication device installed thereon, a coordinate conversion relationship is established.

[0019] The coordinate conversion relationship is combined with the spatial coordinate relationship to determine the absolute position and attitude of the laser communication device installed thereon in a unified spatial coordinate system.

[0020] According to the absolute position and attitude of the laser communication device installed thereon, the position relationship between the two laser communication devices is determined.

[0021] According to the position relationship, the two parallel robots are controlled to run according to the preset orbit intersection rule, and the method comprises the following steps:

[0022] According to the relative position relationship between the two laser communication devices and the preset orbit intersection rule, the motion trajectory of each of the two parallel robots is determined;

[0023] The two parallel robots are controlled to run according to the respective motion trajectory, and the orbit intersection process under various motion conditions is simulated.

[0024] According to the laser communication device PAT test method based on the parallel robot provided by the application, the running data of the two laser communication devices is obtained, and the evaluation index of the two laser communication devices is determined according to the running data, and the method comprises the following steps:

[0025] In the cooperative running process of the two parallel robots, the running data is collected in real time through the sensor installed on the laser communication device;

[0026] The running data is preprocessed;

[0027] The preprocessed running data is analyzed in the frequency domain and the time domain, and each evaluation parameter is obtained;

[0028] Each evaluation parameter is compared with the corresponding preset parameter standard to determine the evaluation index of the two laser communication devices under the current running condition.

[0029] According to the laser communication device PAT test method based on the parallel robot provided by the application, the running data of the two laser communication devices is obtained, and the evaluation index of the two laser communication devices is determined according to the running data, and the method further comprises the following steps:

[0030] The obtained running data is transmitted to the digital twin platform of the laser communication device PAT created in advance in real time, the whole process of capturing and tracking the actual space laser communication load is simulated, and the simulation result is obtained;

[0031] The simulation result is compared with the measured running data in real time to obtain dynamic error data;

[0032] Based on the dynamic error data, an error compensation instruction is generated;

[0033] Based on the error compensation instruction, the motion trajectory or control parameter of the parallel robot is adjusted in real time.

[0034] According to the present invention, a PAT test method for laser communication devices based on parallel robots determines the respective motion trajectories of the two parallel robots based on the relative positional relationship between the two laser communication devices and a preset trajectory intersection rule, including:

[0035] Based on the relative positional relationship between the two laser communication devices and the preset track intersection rules, the theoretical motion trajectories of the two parallel robots are determined.

[0036] Based on the set dynamic disturbance factors, the theoretical motion trajectory is adjusted to obtain the actual motion trajectory of each.

[0037] The actual motion trajectory is decomposed into multiple motion stages, and motion parameters are set for each motion stage.

[0038] According to the PAT testing method for laser communication devices based on parallel robots provided by the present invention, the actual motion trajectories of each device are decomposed into multiple motion stages, and motion parameters are set for each motion stage, including:

[0039] Based on the relative positional relationship between the two laser communication devices and the preset orbit intersection rules, the key nodes of their respective motion trajectories are determined: wherein, the key nodes include the starting point, intermediate key points and the ending point;

[0040] Based on the key nodes of their respective motion trajectories, each motion trajectory is divided into multiple motion stages; wherein, the multiple motion stages include an initial acceleration stage, an intermediate transition stage, a meeting stage, and an end deceleration stage;

[0041] Set motion parameters for each stage of the motion.

[0042] According to the present invention, a PAT testing method for laser communication equipment based on parallel robots is provided, wherein optimizing the operation of the two parallel robots according to the evaluation index includes:

[0043] Based on the evaluation indicators, determine the factors affecting performance;

[0044] Based on the aforementioned influencing factors, the operation of the parallel robot is adjusted.

[0045] On the other hand, the present invention also provides a PAT testing device for laser communication equipment based on parallel robots, comprising:

[0046] The robot coordinate determination module is used to calibrate the spatial coordinate relationship of the installation foundations of two parallel robots in a preset target site using calibration equipment.

[0047] The communication position determination module is used to calibrate the coordinate transformation relationship between the ends of the two parallel robots and their respective installed laser communication devices using a calibration device, and to determine the positional relationship between the two laser communication devices in combination with the spatial coordinate relationship.

[0048] The trajectory operation module is used to coordinately control the two parallel robots to run according to a preset trajectory intersection rule based on the positional relationship;

[0049] An evaluation index module is used to acquire the operating data of the two laser communication devices and determine the evaluation index of the two laser communication devices based on the operating data.

[0050] An optimization module is used to optimize the operation of the two parallel robots based on the evaluation metrics.

[0051] The present invention provides a PAT testing method and apparatus for laser communication equipment based on parallel robots. It uses calibration equipment to calibrate the coordinate transformation relationship between the end effectors of two parallel robots and their respective installed laser communication devices. Combined with the spatial coordinate relationship, the positional relationship between the two laser communication devices is determined. Based on the positional relationship, the two parallel robots are coordinated to run according to a preset trajectory intersection rule. This is equivalent to a semi-physical simulation method, which can effectively simulate real working conditions, accurately evaluate the performance of the PAT system, and verify the performance of the laser communication payload efficiently and at low cost. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0053] Figure 1 This is a flowchart illustrating the PAT testing method for laser communication equipment based on parallel robots provided in an embodiment of the present invention.

[0054] Figure 2 This is a schematic diagram of the architecture for PAT testing of laser communication equipment based on parallel robots provided in an embodiment of the present invention;

[0055] Figure 3 This is a schematic diagram of the structure of the PAT testing device for laser communication equipment based on parallel robots provided in an embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0058] Figure 1 This is a flowchart illustrating the PAT testing method for laser communication equipment based on parallel robots provided in this embodiment of the invention. A parallel robot is a special type of robot structure consisting of multiple independent robotic arms connected together by joints. These robotic arms collectively support and control an end effector (such as a tool, gripper, or other device). Unlike traditional serial robots (where each joint of the robotic arms is connected sequentially to form a continuous kinematic chain), the multiple robotic arms of a parallel robot cooperate with each other during movement to complete the task.

[0059] See Figure 1 The PAT test method for laser communication equipment based on parallel robots may include the following steps 101 to 105.

[0060] Step 101: Use calibration equipment to calibrate the spatial coordinate relationship of the foundations of the two parallel robots in the preset target site.

[0061] In this step, the preset target site can be an optical anechoic chamber. An optical anechoic chamber can simulate the dark environment of space, providing a testing environment for the laser communication terminal that closely approximates real-world on-orbit operating conditions. The optical anechoic chamber effectively shields against interference from external natural light and ambient light, thereby improving the accuracy and reliability of the measurement. The brightness within the optical anechoic chamber can be set; no specific limitations are made here. Calibration equipment may include a prism and a photoelectric theodolite.

[0062] Step 101 may specifically include:

[0063] Step 1: Determine the installation positions of the mounting foundations for the two parallel robots based on the spatial relationship of the target site.

[0064] In this step, the installation positions of the two parallel robots can be pre-planned according to the spatial layout of the target site. These positions need to take into account the relative distance between the parallel robots, their range of motion, and their coordination with other equipment (such as laser beacon sources, sensors, etc.).

[0065] Step 2: Fix at least one prism on each of the two parallel robots.

[0066] In this step, prisms serve as reference points in the calibration process to accurately measure the spatial coordinates of the installation foundation. These prisms need to have high-precision geometric stability to ensure the accuracy of the measurement.

[0067] Step 3: Use an optical theodolite to measure the spatial coordinates of the two installation foundations from multiple angles to obtain the three-dimensional coordinate data of the two installation foundations;

[0068] In this step, a high-precision photoelectric theodolite is required to measure the prisms on each mounting base from different directions and angles. Multi-angle measurements can reduce measurement errors and improve the reliability of coordinate data.

[0069] Step 4: Based on the three-dimensional coordinate data, establish the spatial coordinate relationship between the two installation foundations;

[0070] This step uses three-dimensional coordinate data to determine the relative position and attitude relationship between the mounting bases of the two parallel robots, thereby establishing the spatial coordinate relationship between the two mounting bases.

[0071] The above steps enable high-precision coordinate calibration, ensuring the accuracy and reliability of the test.

[0072] Step 102: Use calibration equipment to calibrate the coordinate transformation relationship between the end effectors of the two parallel robots and their respective installed laser communication devices, and combine the spatial coordinate relationship to determine the positional relationship between the two laser communication devices.

[0073] Step 102 may specifically include:

[0074] Step 1: Using an optoelectronic theodolite and prism, measure the relative position and attitude between the end effectors of the two parallel robots and their respective installed laser communication devices.

[0075] This step involves installing prisms at the end of each parallel robot and on the laser communication device, and then using an optoelectronic theodolite to measure the position and orientation of these prisms from multiple angles.

[0076] Step 2: Establish coordinate transformation relationships based on the relative positions and orientations between the terminals and their respective installed laser communication devices;

[0077] This step utilizes the measured relative position and attitude data to establish coordinate transformation relationships through mathematical transformations (such as rotation matrices and translation vectors). This typically involves calculating homogeneous transformation matrices to ensure accurate transformations between coordinate systems. The coordinate transformation relationship between the end-effector and the laser communication device can be considered a local coordinate system.

[0078] Step 3: Combine the coordinate transformation relationship with the spatial coordinate relationship to determine the absolute position and orientation of each installed laser communication device in a unified spatial coordinate system;

[0079] In this step, the spatial coordinate relationship can be regarded as a global coordinate system. The absolute position and attitude of each laser communication device in a unified spatial coordinate system are calculated through coordinate transformation.

[0080] Step 4: Determine the positional relationship between the two laser communication devices based on their respective absolute positions and orientations.

[0081] This step can use the absolute position and attitude of each laser communication device obtained earlier to calculate their relative position and attitude, thereby obtaining the relative positional relationship. This can generally be achieved by calculating the coordinate difference and attitude difference.

[0082] The above steps improve the accuracy and effectiveness of the test by using a photoelectric theodolite and prism to measure the relative position and attitude, establish coordinate transformation relationships, and then determine the absolute position and attitude of the equipment.

[0083] Step 103: Based on their positional relationship, coordinate the control of the two parallel robots to run according to the preset track intersection rules.

[0084] Step 103 may specifically include:

[0085] Based on the relative positional relationship between the two laser communication devices and the preset track intersection rules, the motion trajectories of the two parallel robots are determined.

[0086] Two parallel robots are controlled to run along their respective trajectories to simulate the process of different tracks meeting under various motion conditions.

[0087] This step allows the testing to more closely resemble real-world spatial rendezvous scenarios, enabling a comprehensive evaluation of the PAT system's performance under varying motion conditions. This enhances the practicality and relevance of the testing, helping to identify and resolve potential problems in real-world applications. Generally, it can simulate multiple aspects, including changes in orbital parameters, relative motion parameters, attitude disturbances, environmental disturbances, changes in communication link parameters, and dynamic scene changes, ensuring the laser communication system can operate stably and efficiently in practical applications.

[0088] Step 104: Obtain the operating data of the two laser communication devices, and determine the evaluation indicators of the two laser communication devices based on the operating data.

[0089] Step 104 may specifically include:

[0090] Step 1: During the collaborative operation of the two parallel robots, operational data is collected in real time through sensors installed on the laser communication equipment;

[0091] In general, various sensors (such as angle sensors, acceleration sensors, light intensity sensors, etc.) can be installed on laser communication equipment. These sensors can monitor the equipment's operating data in real time, and the operating data can include key parameters such as attitude, position, and light intensity.

[0092] Step 2: Preprocess the running data;

[0093] Generally, preprocessing typically 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 ensures the accuracy of sensor data. Preprocessing may also include data formatting and preliminary screening to remove obviously erroneous or outlier data points.

[0094] Step 3: Perform frequency domain and time domain analysis on the preprocessed running data to obtain various evaluation parameters;

[0095] In this step, time-domain analysis refers to analyzing the changes in data over time, such as calculating statistical parameters like the signal's mean, variance, and peak value, to evaluate the device's performance changes at different time points. Frequency-domain analysis refers to transforming data from the time domain to the frequency domain using methods like Fourier transform, analyzing the signal's frequency components, such as calculating parameters like the signal's spectrum, bandwidth, and harmonics, to evaluate the device's performance at different frequencies. Through frequency and time-domain analysis, key parameters reflecting the performance of the laser communication device are extracted as evaluation parameters.

[0096] Step 4: Compare each evaluation parameter with its corresponding preset parameter standard to determine the evaluation index of the two laser communication devices under the current operating conditions;

[0097] The preset parameter standards in this step can be based on design requirements and performance indicators, with pre-defined standard values ​​or ranges for various evaluation parameters. These standard values ​​can be obtained based on theoretical calculations, historical data, or industry standards. The evaluation parameters obtained from frequency and time domain analysis are compared with the preset parameter standards to calculate deviations or compliance. For example, the deviation between the actual pointing accuracy and the standard value is calculated, and the acquisition time is evaluated to determine if it is within the allowable range. Based on the comparison results, a comprehensive evaluation index is generated.

[0098] The above steps can accurately and comprehensively evaluate the performance indicators of laser communication equipment, which helps to improve the accuracy and reliability of test results and enhance the overall performance of the PAT system.

[0099] Step 105: Optimize the operation of the two parallel robots based on the evaluation indicators.

[0100] In this embodiment, a calibration device is used to calibrate the coordinate transformation relationship between the end effectors of the two parallel robots and their respective installed laser communication devices. Combined with the spatial coordinate relationship, the positional relationship between the two laser communication devices is determined. Based on the positional relationship, the two parallel robots are coordinated to run according to the preset track intersection rules. This is equivalent to a semi-physical simulation method, which can effectively simulate real working conditions, accurately evaluate the performance of the PAT system, and verify the performance of the laser communication payload efficiently and at low cost.

[0101] In one embodiment of this specification, acquiring operational data from two laser communication devices and determining evaluation indicators for the two laser communication devices based on the operational data further includes:

[0102] Step 1: Transmit the acquired operational data in real time to the pre-created digital twin platform of the laser communication device PAT, and simulate the entire process of capturing and tracking the actual space laser communication payload to obtain the twin simulation results;

[0103] In this step, the digital twin platform is a virtual digital model corresponding to the actual physical system. During testing, real-time operational data (such as position, attitude, and light intensity) acquired from the laser communication equipment and the parallel robot are transmitted to this digital twin platform. Utilizing the modeling and simulation capabilities of the digital twin platform, the acquisition, tracking, and aiming process of the laser communication payload in a real-world environment is simulated based on the input operational data. The twin simulation results include virtual motion trajectories, attitude changes, and light intensity changes.

[0104] Step 2: Compare the results of the twin simulation with the measured operational data in real time to obtain dynamic error data;

[0105] In this step, the twin simulation results (such as position, attitude, light intensity, etc.) obtained from the twin simulation are compared point by point with the actual operating data, and the difference between the two is calculated, which is the dynamic error data.

[0106] Step 3: Generate error compensation instructions based on dynamic error data;

[0107] In this step, based on the magnitude and direction of the dynamic error data, corresponding error compensation instructions are generated through an algorithm. These error compensation instructions can be used to adjust the motion parameters of the parallel robot, change the control parameters of the laser communication equipment, etc.

[0108] Step 4: Based on error compensation instructions, adjust the motion trajectory or control parameters of the parallel robot in real time;

[0109] In this step, the error compensation command 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 the parameter adjustment of the control algorithm).

[0110] In this embodiment, dynamic optimization and error compensation of the testing process are realized, which further improves the accuracy and reliability of the test data, enhances the adaptability and intelligence of the testing system, and enables it to better cope with complex and ever-changing testing environments and requirements.

[0111] In one embodiment of this specification, the motion trajectories of the two parallel robots are determined based on the relative positional relationship between the two laser communication devices and a preset orbital intersection rule, including:

[0112] Step 1: Determine the theoretical motion trajectory of each of the two parallel robots based on the relative positional relationship between the two laser communication devices and the preset track intersection rules;

[0113] In this step, based on the relative positional relationship (such as distance and angle) between the two laser communication devices and combined with preset trajectory rendezvous rules (such as rendezvous speed and rendezvous time), the motion trajectory of the parallel robot under ideal conditions is calculated. The theoretical motion trajectory provides a reference benchmark for subsequent adjustments to the actual motion trajectory.

[0114] Step 2: Adjust the theoretical motion trajectory according to the set dynamic disturbance factors to obtain the actual motion trajectory of each.

[0115] In this step, dynamic disturbances can include satellite attitude jitter, changes in orbital parameters, and environmental interference. Based on these disturbances, the theoretical trajectory is corrected, for example, by adjusting parameters such as velocity, acceleration, and attitude, to simulate the dynamic changes during actual operation.

[0116] Step 3: Decompose each actual motion trajectory into multiple motion stages, and set motion parameters for each motion stage;

[0117] In this step, the motion trajectory is divided into multiple stages, such as the initial acceleration stage, the intermediate transition stage, the intersection stage, and the final deceleration stage. Motion parameters, such as linear velocity, angular velocity, acceleration, and attitude adjustment parameters, are set for each stage.

[0118] In this embodiment, by refining the motion trajectory planning and parameter settings, the motion accuracy and reliability of the parallel robot in the simulated inter-satellite laser communication payload rendezvous process are improved. This enables a more accurate simulation of the actual orbit rendezvous process and fully considers the impact of dynamic factors on the performance of the PAT system, thereby providing more reliable data support for the performance evaluation of laser communication equipment.

[0119] In one embodiment of this specification, the actual motion trajectory is decomposed into multiple motion stages, and motion parameters are set for each motion stage, including:

[0120] Based on the relative positional relationship between the two laser communication devices and the preset orbit intersection rules, the key nodes of their respective motion trajectories are determined: wherein, the key nodes include the starting point, intermediate key points and the ending point;

[0121] Based on the key nodes of their respective motion trajectories, each motion trajectory is divided into multiple motion stages; wherein, the multiple motion stages include an initial acceleration stage, an intermediate transition stage, a meeting stage, and an end deceleration stage;

[0122] Set motion parameters for each stage of the motion.

[0123] In this embodiment, key nodes such as the starting point, intermediate key points, and ending point can be determined to divide different motion stages. The starting point is the initial position where the parallel robot begins to move, the intermediate key points are points of velocity change, attitude adjustment, or trajectory turning points, and the ending point is the final position where the parallel robot completes the rendezvous task.

[0124] Initial acceleration phase: The motion process from the starting point to the first intermediate key point. The main task is to smoothly accelerate the parallel robot from a stationary state to a preset speed. Intermediate transition phase: Several transition phases are divided between intermediate key points. Each phase corresponds to a specific task requirement, such as speed adjustment, attitude correction, or trajectory fine-tuning. Intersection phase: A dedicated intersection phase is defined when approaching the intersection point. The motion parameters in this phase need to be precisely controlled to ensure that the laser communication equipment can accurately capture and track the target. Final deceleration phase: The motion process from the last intermediate key point to the end point. The main task is to smoothly decelerate the parallel robot from a moving state to a stationary state.

[0125] For each defined motion stage, motion parameters are set independently, including linear velocity, angular velocity, acceleration, and attitude adjustment parameters. Based on 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 task in each stage.

[0126] In one embodiment of this specification, optimizing the operation of two parallel robots based on evaluation metrics includes:

[0127] Based on the evaluation indicators, identify the factors that affect performance;

[0128] Adjust the operation of the parallel robots based on the influencing factors.

[0129] In this embodiment, evaluation metrics typically include pointing accuracy, acquisition time, tracking bandwidth, and disturbance robustness. Analyzing these metrics identifies which metrics fail to meet expectations or which metrics have a significant impact on overall performance. For example, if pointing accuracy is lower than expected, it may be due to inaccurate posture adjustment of the parallel robot; if the acquisition time is too long, it may be due to unreasonable motion trajectory planning.

[0130] Based on influencing factors, the operation of the parallel robot can be adjusted. For example, if the evaluation indicators show that there are problems with the motion trajectory (such as insufficient accuracy in the rendezvous phase), the motion trajectory can be replanned and the positions and motion parameters of key nodes can be optimized. If the evaluation indicators show that the response speed or accuracy of the control system is insufficient, the parameters of the control algorithm can be adjusted, such as the gain of the PID controller. If the evaluation indicators show that dynamic disturbances have a significant impact on performance, the dynamic compensation algorithm can be optimized to enhance the robustness of the system.

[0131] By analyzing and evaluating indicators to identify factors affecting performance and adjusting robot operation accordingly, problems discovered during testing can be addressed in a targeted manner, further improving the performance and stability of the PAT system, ensuring the accuracy and reliability of test results, and providing strong support for the optimized design and improvement of laser communication payloads.

[0132] In some other embodiments of this specification, the PAT test method for laser communication devices based on parallel robots further includes:

[0133] A quantum entangled light source is integrated into the laser communication device to generate entangled photon pairs, which are then sent to two laser communication devices respectively.

[0134] The relative positional deviation between two laser communication devices can be calculated in real time by measuring the quantum state correlation of entangled photon pairs.

[0135] The relative position deviation is fed back to the control system of the parallel robot to dynamically correct the motion trajectory or attitude parameters;

[0136] The quantum entangled light source has a measurement frequency higher than that of traditional optical sensors and is not affected by ambient light.

[0137] In this embodiment, the non-classical properties of quantum entanglement (such as hyperrange correlation) are utilized to achieve real-time deviation detection with nanometer-level precision, breaking through the accuracy limits of traditional optical calibration. Quantum measurements are unaffected by atmospheric disturbances or stray light, making them particularly suitable for simulating high-precision calibration requirements in deep space environments. Random perturbation simulation is introduced during the rendezvous process, and the anti-interference capability of the PAT system is tested by injecting controllable random errors.

[0138] 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;

[0139] Based on the relative motion trajectories of the two laser communication terminals, the curvature of the reflector is dynamically adjusted to cause a controllable deflection of the laser beam path.

[0140] By monitoring the changes in the position of the deflected light spot in real time, the impact of orbital disturbances on the communication link can be inferred, and compensation commands can be generated.

[0141] The curvature adjustment algorithm of the mirror array is optimized based on the light bending formula in general relativity, making the simulation environment closer to the deep space gravitational field conditions.

[0142] In this embodiment, the realism and reliability of the test environment are improved.

[0143] In some other embodiments of this specification, acoustic vortex generators are installed at the joints of the parallel robot to excite a controllable vortex field inside the mechanical structure using high-frequency sound waves (>20kHz).

[0144] The acoustic vortex field generates mechanical deformation at the microscale, simulating the thermally induced micro-vibration effect of a satellite in orbit;

[0145] By adjusting the frequency and phase of the acoustic vortex, the micro-vibration spectrum is made to match the inherent frequency characteristics of the target satellite;

[0146] Synchronously analyze acoustic vortex signals with the operating data of laser communication equipment to identify resonance points and dynamically suppress them.

[0147] In this embodiment, the realism and reliability of the test environment are improved.

[0148] Figure 2 This is a schematic diagram of the architecture for PAT testing of laser communication equipment based on parallel robots provided in an embodiment of the present invention. Figure 2 The system 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 perform the aforementioned PAT test method for laser communication devices based on parallel robots.

[0149] A first parallel robot 211 is installed at the end of the first mounting base 210, and a second parallel robot 221 is installed at the end of the second mounting base 220, ensuring a precise spatial coordinate relationship between the first parallel robot 211 and the second parallel robot 221 within a preset target site. A first laser communication terminal 213 is installed on the first parallel robot 211, and a second laser communication terminal 223 is installed on the second parallel robot 221, used to simulate the dynamic behavior of a satellite platform, including attitude adjustment and orbital rendezvous. A first high-speed camera 212 is installed on the first parallel robot 211, and a second high-speed camera 222 is installed on the second parallel robot 221, used to capture the dynamic behavior of the first laser communication terminal 213 and the second laser communication terminal 223.

[0150] Motion control computer 214 coordinates the movement of the first parallel robot 211 and the second parallel robot 221, ensuring they operate according to preset orbital rendezvous rules. Standard prism 215 serves as a reference point during calibration, aiding in the accurate measurement of the spatial coordinates of equipment such as the first mounting base 210 and the second mounting base 220. Laser beacon source 216 acts as a beacon for laser communication, simulating the laser signal from a target satellite. Optical anechoic chamber 217 provides a dark environment similar to space, reducing external interference and improving testing accuracy. Simulation computer 224 runs a digital twin platform, simulating the entire process of capturing and tracking an actual space laser communication payload. Twin display system 225 displays the simulation results of the digital twin platform for real-time monitoring and evaluation.

[0151] Based on the same general inventive concept, this invention also protects a PAT testing device for laser communication equipment based on a parallel robot, such as... Figure 3 As shown, Figure 3 This is a schematic diagram of the PAT testing device for laser communication equipment based on parallel robots provided in an embodiment of the present invention. The PAT testing device for laser communication equipment based on parallel robots provided by the present invention will be described below. The PAT testing device for laser communication equipment based on parallel robots described below can be referred to in correspondence with the PAT testing method for laser communication equipment based on parallel robots described above.

[0152] The PAT testing device for laser communication equipment based on parallel robots 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.

[0153] The robot coordinate determination module 301 is used to calibrate the spatial coordinate relationship of the installation foundations of two parallel robots in a preset target site using calibration equipment;

[0154] The communication position determination module 302 is used to calibrate the coordinate transformation relationship between the ends of the two parallel robots and their respective installed laser communication devices using a calibration device, and to determine the positional relationship between the two laser communication devices in combination with the spatial coordinate relationship.

[0155] The trajectory operation module 303 is used to coordinately control the two parallel robots to run according to a preset trajectory intersection rule based on the positional relationship;

[0156] The evaluation index module 304 is used to acquire the operating data of the two laser communication devices and determine the evaluation index of the two laser communication devices based on the operating data.

[0157] The optimization module 305 is used to optimize the operation of the two parallel robots according to the evaluation indicators.

[0158] Figure 4 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention.

[0159] like Figure 4 As shown, the electronic device may include a processor 410, a communication interface 420, a memory 430, and a communication bus 440. The processor 410, communication interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions from the memory 430 to execute the PAT test method for laser communication devices based on parallel robots.

[0160] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0161] 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 is able to execute the PAT test method for laser communication equipment based on parallel robots provided by the above methods.

[0162] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the PAT test method for laser communication devices based on parallel robots provided by the methods described above.

[0163] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0164] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This 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 cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A PAT test method for laser communication equipment based on parallel robots, characterized in that, include: The spatial coordinate relationship of the installation foundations of two parallel robots in a preset target site was calibrated using calibration equipment. The coordinate transformation relationship between the end effectors of the two parallel robots and their respective installed laser communication devices is calibrated using calibration equipment, and the positional relationship between the two laser communication devices is determined by combining the spatial coordinate relationship. Based on the positional relationship, the two parallel robots are coordinated and controlled to run according to a preset track intersection rule; Obtain operational data from the two laser communication devices, and determine evaluation indicators for the two laser communication devices based on the operational data; Based on the evaluation metrics, optimize the operation of the two parallel robots; Among them, a variable curvature mirror array is deployed in an optical darkroom to simulate the gravitational lensing effect in space; Based on the relative motion trajectories of the two laser communication terminals, the curvature of the reflector is dynamically adjusted to deflect the laser beam path. By monitoring the changes in the position of the light spot after deflection in real time, the impact of orbital disturbances on the communication link can be inferred, and compensation commands can be generated.

2. The PAT test method for laser communication equipment based on parallel robots according to claim 1, characterized in that, The step of calibrating the spatial coordinate relationship of the installation foundations of two parallel robots in a preset target site using calibration equipment includes: Based on the spatial relationship of the preset target site, determine the installation positions of the installation foundations for the two parallel robots; At least one prism is fixedly installed on each of the two parallel robots. A photoelectric theodolite was used to measure the spatial coordinates of the two prisms of the installation foundation from multiple angles, and the three-dimensional coordinate data of the two installation foundations were obtained. Based on the three-dimensional coordinate data, a spatial coordinate relationship is established between the two installation foundations.

3. The PAT test method for laser communication equipment based on parallel robots according to claim 1, characterized in that, The step of using calibration equipment to calibrate the coordinate transformation relationship between the end effectors of the two parallel robots and their respective installed laser communication devices, 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, the relative position and attitude between the ends of the two parallel robots and their respective installed laser communication devices were measured. Establish coordinate transformation relationships based on the relative positions and orientations between the terminals and their respective installed laser communication devices; By combining the coordinate transformation relationship with the spatial coordinate relationship, the absolute position and orientation of each installed laser communication device in a unified spatial coordinate system are determined. The positional relationship between the two laser communication devices is determined based on the absolute position and orientation of their respective installed laser communication devices.

4. The PAT test method for laser communication equipment based on parallel robots according to claim 1, characterized in that, The step of coordinating the control of the two parallel robots to operate according to a preset orbital intersection rule based on the positional relationship includes: Based on the relative positional relationship between the two laser communication devices and the preset track intersection rules, the motion trajectories of the two parallel robots are determined. Two parallel robots are controlled to run along their respective trajectories to simulate the process of different tracks meeting under various motion conditions.

5. The PAT test method for laser communication equipment based on parallel robots according to claim 1, characterized in that, The step of acquiring operational data from the two laser communication devices and determining evaluation indicators for the two laser communication devices based on the operational data includes: During the collaborative operation of the two parallel robots, operational data is collected in real time through sensors installed on the laser communication equipment; The operational data is preprocessed; Frequency and time domain analyses were performed on the preprocessed runtime data to obtain various evaluation parameters. By comparing each evaluation parameter with its corresponding preset parameter standard, the evaluation indicators of the two laser communication devices under the current operating conditions are determined.

6. The PAT test method for laser communication equipment based on parallel robots according to claim 5, characterized in that, The step of acquiring operational data from the two laser communication devices and determining evaluation indicators for the two laser communication devices based on the operational data further includes: The acquired operational data is transmitted in real time to the digital twin platform of the pre-created laser communication device PAT, and the twin simulation simulates the entire process of capturing and tracking the actual space laser communication payload to obtain the twin simulation results. The results of the twin simulation are compared with the measured operational data in real time to obtain dynamic error data; Based on the dynamic error data, an error compensation instruction is generated; Based on the error compensation command, the motion trajectory or control parameters of the parallel robot are adjusted in real time.

7. The PAT test method for laser communication equipment based on parallel robots according to claim 4, characterized in that, Based on the relative positional relationship between the two laser communication devices and the preset orbital intersection rules, the motion trajectories of the two parallel robots are determined, including: Based on the relative positional relationship between the two laser communication devices and the preset track intersection rules, the theoretical motion trajectories of the two parallel robots are determined. Based on the set dynamic disturbance factors, the theoretical motion trajectory is adjusted to obtain the actual motion trajectory of each. The actual motion trajectory is decomposed into multiple motion stages, and motion parameters are set for each motion stage.

8. The PAT test method for laser communication equipment based on parallel robots according to claim 7, characterized in that, The actual motion trajectories are decomposed into multiple motion stages, and motion parameters are set for each motion stage, including: Based on the relative positional relationship between the two laser communication devices and the preset orbit intersection rules, the key nodes of their respective motion trajectories are determined: wherein, the key nodes include the starting point, intermediate key points and the ending point; Based on the key nodes of their respective motion trajectories, each motion trajectory is divided into multiple motion stages; wherein, the multiple motion stages include an initial acceleration stage, an intermediate transition stage, a meeting stage, and an end deceleration stage; Set motion parameters for each stage of the motion.

9. The PAT test method for laser communication equipment based on parallel robots according to claim 1, characterized in that, Optimizing the operation of the two parallel robots based on the evaluation metrics includes: Based on the evaluation indicators, determine the factors affecting performance; Based on the aforementioned influencing factors, the operation of the parallel robot is adjusted.

10. A PAT testing device for laser communication equipment based on parallel robots, characterized in that, The apparatus uses the PAT testing method for laser communication equipment based on parallel robots as described in any one of claims 1 to 9, and the apparatus comprises: The robot coordinate determination module is used to calibrate the spatial coordinate relationship of the installation foundations of two parallel robots in a preset target site using calibration equipment. The communication position determination module is used to calibrate the coordinate transformation relationship between the ends of the two parallel robots and their respective installed laser communication devices using a calibration device, and to determine the positional relationship between the two laser communication devices in combination with the spatial coordinate relationship. The trajectory operation module is used to coordinately control the two parallel robots to run according to a preset trajectory intersection rule based on the positional relationship; An evaluation index module is used to acquire the operating data of the two laser communication devices and determine the evaluation index of the two laser communication devices based on the operating data. An optimization module is used to optimize the operation of the two parallel robots based on the evaluation metrics.

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