Photoelectric equipment director simulation device and simulation method

Abstract

The invention discloses a photoelectric equipment director simulation device and a simulation method, the photoelectric equipment director simulation device comprises a central control unit, a servo control system real-time simulation machine, a power level motor simulator and an image generation system real-time simulation machine, the central control unit sets a servo system model and preset imaging parameters, the servo control system real-time simulation machine loads the servo system model, and the power level motor simulator loads the image generation system real-time simulation machine. Servo system model simulation data are output, a power level motor simulator simulates a power load of a motor of the optoelectronic equipment director, and an image generation system real-time simulator simulates the optoelectronic equipment director to obtain a simulation image; the central control unit, the servo control system real-time simulation machine, the power level motor simulator and the image generation system real-time simulation machine are all electrically connected with the rear-end information processing and power driving machine. According to the method, an actual scene is simulated through semi-physical simulation, the photoelectric equipment director is simulated to capture image data, and the development iteration efficiency of a photoelectric equipment information processing algorithm is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of semi-physical simulation technology, specifically to a device and method for simulating a pointer for an optoelectronic device. Background Technology

[0002] Currently, optoelectronic pointing devices typically acquire image data in real-world scenarios. This involves placing several drones and / or unmanned vehicles (UAVs) in actual environments such as forests or deserts, with each drone or UAV equipped with an optoelectronic pointing device to capture image data. However, this method is susceptible to weather conditions, making it difficult to acquire large amounts of image data in a short period. Furthermore, the cost is prohibitively high when simulating large numbers of drones and / or UAVs. Therefore, for practical experiments, the development and iteration of optoelectronic information processing algorithms, as well as the verification of functional performance, are hampered by two main issues: firstly, the high cost of experiments, the inability to arbitrarily adjust the information processing algorithms for verification, and secondly, the difficulty in reproducing certain unique operating scenarios.

[0003] If pure digital simulation is used, it is difficult to establish accurate mathematical models for some components or subsystems of optoelectronic equipment, making pure digital simulation more difficult, and the accuracy is limited by the model. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a photoelectric device pointer simulation device and method. By simulating actual scenarios through semi-physical simulation, the device simulates the photoelectric device pointer capturing image data, effectively improving the development and iteration efficiency of photoelectric device information processing algorithms, reducing the time and economic cost of verifying the functional performance of photoelectric device information processing algorithms, and demonstrating promising application prospects.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0006] According to a first aspect of this application, a photoelectric device pointer simulation device is provided, comprising: The central control unit is used to set the servo system model and preset imaging parameters; A real-time simulator for servo control systems is used to load servo system models, perform servo system model simulation, output servo system model simulation data for optoelectronic device pointers, and obtain pointer attitude information and latitude and longitude altitude of simulated optoelectronic device pointers based on the servo system model simulation data for optoelectronic device pointers, thereby generating detector attitude information and imaging spatial position of optical detectors. Power level motor simulator, used to simulate the power load of the motor of an optoelectronic device pointer; The image generation system real-time simulator is used to generate simulated images of the optical detector based on preset imaging parameters and the detector attitude information and imaging spatial position of the optical detector. Among them, the central control unit, the servo control system real-time simulator, the power level motor simulator, and the image generation system real-time simulator are all configured to be electrically connected to the back-end information processing and power drive. The servo control system real-time simulator responds to the first servo control command of the back-end information processing and power drive, and the image generation system real-time simulator responds to the first image processing control command of the back-end information processing and power drive.

[0007] In some embodiments of this application, based on the aforementioned scheme, a standard preprocessing module is further included, which is used to convert the first data generated by the servo control system real-time simulator and the image generation system real-time simulator into second data that meets the interface protocol of the back-end information processing and power drive, and to convert the first servo control command of the back-end information processing and power drive into the second servo control command that meets the interface protocol of the servo control system real-time simulator, and to convert the first image processing control command of the back-end information processing and power drive into the second image processing control command that meets the interface protocol supported by the image generation system real-time simulator. The first data includes servo system model simulation data and simulation image, and the standard preprocessing module is configured to be electrically connected to the back-end information processing and power drive.

[0008] In some embodiments of this application, based on the aforementioned scheme, the real-time simulator of the servo control system includes a first industrial computer and a first PCIE communication card. The first industrial computer is used to load the servo system model and perform servo system model simulation operation. The first PCIE communication card is used to output servo system model simulation data. The first industrial computer is provided with a first PCIE interface, and the first PCIE communication card is inserted into the first PCIE interface.

[0009] In some embodiments of this application, based on the aforementioned scheme, the real-time simulator of the image generation system includes a second industrial control computer and a second PCIE communication card. The second industrial control computer is used to generate a simulated image based on preset imaging parameters and imaging spatial position and attitude information obtained by the real-time simulator of the servo control system. The second PCIE communication card is used to output the simulated image. The second industrial control computer is provided with a second PCIE interface, and the second PCIE communication card is inserted into the second PCIE interface.

[0010] In some embodiments of this application, based on the aforementioned scheme, the servo control system real-time simulator is provided with a first network interface, the power level motor simulator is provided with a second network interface and a power interface, the image generation system real-time simulator is provided with a third network interface, the standard preprocessing module is provided with a fourth network interface, and the central control unit is provided with a fifth network interface. The first, second, third, fourth, and fifth network interfaces are all connected to the network switch via network cables, while the power interface is connected to the back-end information processing and power drive unit via electrical wires.

[0011] In some embodiments of this application, based on the aforementioned scheme, the power level motor simulator, the image generation system real-time simulator, the standard preprocessing module, and the central control unit are the communication counterparts of the servo control system real-time simulator; The servo control system real-time simulator, back-end information processing and power drive unit are the communication counterparts of the power-level motor simulator; The servo control system real-time simulator, standard preprocessing module, and central control unit are the communication counterparts of the image generation system real-time simulator; The servo control system real-time simulator, the image generation system real-time simulator, and the back-end information processing and power drive unit are the communication counterparts of the standard preprocessing module; The real-time simulators for the servo control system and the image generation system serve as the communication counterparts of the central control unit.

[0012] According to a second aspect of this application, a method for simulating a pointer in an optoelectronic device is provided, comprising: Set the servo system model and preset imaging parameters in the central control unit; The servo system model is loaded into the servo control system real-time simulator, the servo control system simulation operation is carried out, the first servo control command of the back-end information processing and power drive is responded to, and the simulation data of the servo system model of the photoelectric device pointer is output. Based on the simulation data of the servo system model of the photoelectric device pointer, the pointer attitude information and latitude and longitude of the photoelectric device pointer are obtained, and the detector attitude information and imaging spatial position of the optical detector are generated. Simulate actual power load using a power level motor simulator; The real-time simulator of the image generation system generates a simulated image of the optical detector based on preset imaging parameters, detector attitude information and imaging spatial position of the optical detector, and responds to the first image processing control command of the back-end information processing and power drive.

[0013] In some embodiments of this application, based on the aforementioned scheme, the first data generated by the servo control system real-time simulator and the image generation system real-time simulator is converted into second data that meets the interface protocol of the back-end information processing and power drive through a standard preprocessing module. The first servo control command of the back-end information processing and power drive is converted into the second servo control command that meets the interface protocol of the servo control system real-time simulator, and the first image processing control command of the back-end information processing and power drive is converted into the second image processing control command that meets the interface protocol supported by the image generation system real-time simulator. The first data includes servo system model simulation data and simulation image.

[0014] In some embodiments of this application, based on the aforementioned scheme, the servo control system real-time simulator receives the voltage-current conversion values ​​from the power-level motor simulator, performs hardware-in-the-loop simulation of multiple drive shaft systems at the power level or signal level, receives back-end information processing and motor control quantities from the power drive, calculates the motor control current based on the voltage-current conversion values ​​and motor control quantities, and generates simulated quantities of the rotor angle, angular velocity and current of the motor of the photoelectric device pointer under the set load torque, stator inertial angular velocity, motor model, rotating shaft system model, multi-axis dynamic model, multi-axis kinematic model or friction model, and simultaneously generates power device control signals and sends them to the power-level motor simulator. The real-time simulator of the servo control system generates the detector attitude information and imaging spatial position of the optical detector based on the pointer attitude information and latitude and longitude height of the pointer of the optoelectronic device, under the setting of the kinematic model, kinematic error parameters and carrier swaying vibration model of the optoelectronic device.

[0015] In some embodiments of this application, based on the aforementioned scheme, an image generation system real-time simulator is used to simulate and model the infrared radiation characteristics of the atmospheric environment, typical background, and typical target. Based on preset imaging parameters, the target imaging projection coordinates, infrared radiation characteristics, and atmospheric transmission are calculated using the detector attitude information and imaging spatial position of the optical detector, and the simulated image of the optical detector is output.

[0016] The beneficial effects of this application are as follows: This application provides a photoelectric device pointer simulation device and method, which adopts semi-physical simulation. The central control unit simulates the controller of the photoelectric device pointer, the servo control system real-time simulator simulates the servo control system of the photoelectric device pointer, the image generation system real-time simulator uses digital means to simulate the actual working scene and the expected scene of the photoelectric device, simulates the image captured by the photoelectric device pointer, and the standard preprocessing module simulates the conversion module of the photoelectric device pointer. This not only avoids complex mathematical modeling work, but also, compared with pure mathematical modeling, the physical simulation is closer to the real physical environment, and the simulation results are more reliable and accurate.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and are intended to explain the invention, but do not constitute an undue limitation thereof. In the drawings: Figure 1 This is an overall schematic diagram of a photoelectric device pointer simulation device according to the present invention; Figure 2 This is a schematic diagram illustrating the working process of a pointer simulation device for an optoelectronic device according to the present invention. Detailed Implementation

[0019] Specific embodiments of the invention will now be described in detail with reference to the accompanying drawings, which illustrate examples of the invention. Although the invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the invention to the embodiments described herein. Rather, it is intended to cover variations, modifications, and equivalents included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0020] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Note: The examples described below are merely specific examples and are not intended to limit the embodiments of the present invention to the specific steps, values, conditions, data, order, etc. Those skilled in the art can utilize the concept of the present invention to construct more embodiments not mentioned herein by reading this specification.

[0022] As the name suggests, semi-physical simulation involves both physical objects and computer simulation models in the entire simulation process, forming a closed-loop system. This allows researchers to easily replace parts that are difficult to model mathematically in a computer with physical objects. This approach avoids complex mathematical modeling work; furthermore, compared to pure mathematical modeling, semi-physical simulation, by using physical objects, more closely approximates the real physical environment, resulting in more reliable and accurate simulation results. However, currently, there are no semi-physical simulation devices or methods for simulating optoelectronic device pointers.

[0023] Figure 1 A schematic diagram of an optoelectronic device pointer simulation device according to the present invention is shown. Figure 2A schematic diagram illustrating the operation of a photoelectric device pointer simulation device according to the present invention is shown. According to a first aspect of this application, a photoelectric device pointer simulation device is provided, comprising: The central control unit is used to set the servo system model and preset imaging parameters; A real-time simulator for servo control systems is used to load servo system models, perform servo system model simulation, output servo system model simulation data for optoelectronic device pointers, and obtain pointer attitude information and latitude and longitude altitude of simulated optoelectronic device pointers based on the servo system model simulation data for optoelectronic device pointers, thereby generating detector attitude information and imaging spatial position of optical detectors. Power level motor simulator, used to simulate the power load of the motor of an optoelectronic device pointer; The image generation system real-time simulator is used to generate simulated images of the optical detector based on preset imaging parameters and the detector attitude information and imaging spatial position of the optical detector. Among them, the central control unit, the servo control system real-time simulator, the power level motor simulator, and the image generation system real-time simulator are all configured to be electrically connected to the back-end information processing and power drive. The servo control system real-time simulator responds to the first servo control command of the back-end information processing and power drive, and the image generation system real-time simulator responds to the first image processing control command of the back-end information processing and power drive.

[0024] This embodiment provides a photoelectric device pointer simulation device, which employs semi-physical simulation. The central control unit simulates the controller of the photoelectric device pointer, the servo control system real-time simulator simulates the servo control system of the photoelectric device pointer, and the image generation system real-time simulator uses digital means to simulate the actual working scenario and anticipated scenario of the photoelectric device, simulating the image captured by the photoelectric device pointer. The standard preprocessing module simulates the conversion module of the photoelectric device pointer. This not only avoids complex mathematical modeling work, but also, compared to pure mathematical modeling, uses physical simulation to more closely approximate the real physical environment, resulting in more reliable and accurate simulation results.

[0025] In some embodiments of this example, a standard preprocessing module is also included, which is used to convert the first data generated by the real-time simulator of the servo control system and the real-time simulator of the image generation system into second data that meets the interface protocol of the back-end information processing and power drive, and to convert the first servo control command of the back-end information processing and power drive into the second servo control command that meets the interface protocol of the real-time simulator of the servo control system, and to convert the first image processing control command of the back-end information processing and power drive into the second image processing control command that meets the interface protocol supported by the real-time simulator of the image generation system. The first data includes servo system model simulation data and simulation image, and the standard preprocessing module is configured to be electrically connected to the back-end information processing and power drive.

[0026] This embodiment employs a central control unit, a servo control system real-time simulator, a power-level motor simulator, an image generation system real-time simulator, and a standard preprocessing module to achieve semi-physical simulation. This avoids complex mathematical modeling. Furthermore, compared to pure mathematical modeling, using physical components more closely approximates the real physical environment, resulting in more reliable and accurate simulation results.

[0027] In this embodiment, the optoelectronic device is usually an optoelectronic tracking device, etc. The optoelectronic device pointer is set on the optoelectronic device. The optoelectronic device pointer usually refers to a device that uses the emission, reception or conversion of light to achieve direction positioning, target aiming or path guidance. Its core function is to determine the direction or target position through light signals (such as laser, infrared, visible light). The optoelectronic device pointer is usually a laser pointer, an infrared pointer, or a visible light-infrared dual-band pointer.

[0028] In some embodiments of this example, the real-time simulator of the servo control system includes a first industrial computer and a first PCIE communication card. The first industrial computer is used to load the servo system model and perform servo system model simulation. The first PCIE communication card is used to output servo system model simulation data. The first industrial computer is provided with a first PCIE interface, and the first PCIE communication card is inserted into the first PCIE interface.

[0029] Specifically, the first PCIe communication card performs the interface conversion function, outputting the simulation data from the real-time simulation software of the servo control system through the first network interface.

[0030] In some embodiments of this example, the real-time simulator of the image generation system includes a second industrial control computer and a second PCIE communication card. The second industrial control computer is used to generate a simulated image based on preset imaging parameters and imaging spatial position and attitude information obtained by the real-time simulator of the servo control system. The second PCIE communication card is used to output the simulated image. The second industrial control computer is provided with a second PCIE interface, and the second PCIE communication card is inserted into the second PCIE interface.

[0031] Specifically, the second PCIe communication card outputs the simulated image from the real-time emulator of the image generation system through the third network interface.

[0032] This device mainly consists of five parts: a real-time simulator for a servo control system, a power-level motor simulator, a real-time simulator for an image generation system, a standard preprocessing module, and a central control unit. These five parts are interconnected via a network, a simple and reliable interconnection method.

[0033] In some embodiments of this example, the servo control system real-time simulator is provided with a first network interface, the power level motor simulator is provided with a second network interface and a power interface, the image generation system real-time simulator is provided with a third network interface, the standard preprocessing module is provided with a fourth network interface, and the central control unit is provided with a fifth network interface.

[0034] The first, second, third, fourth, and fifth network interfaces are all connected to the network switch via network cables, while the power interface is connected to the back-end information processing and power drive unit via electrical wires.

[0035] In some embodiments of this example, the power level motor simulator, the image generation system real-time simulator, the standard preprocessing module, and the central control unit are the communication counterparts of the servo control system real-time simulator. The servo control system real-time simulator receives information from the power level motor simulator, the image generation system real-time simulator, the standard preprocessing module, and the central control unit through the first network interface.

[0036] In some embodiments of this example, the servo control system real-time simulator, the back-end information processing unit, and the power drive unit are the communication counterparts of the power level motor simulator. The power level motor simulator receives information from the servo control system real-time simulator through the second network interface, and receives information from the back-end information processing unit and the power drive unit through the power interface.

[0037] In some embodiments of this example, the servo control system real-time simulator, the standard preprocessing module, and the central control unit are the communication counterparts of the image generation system real-time simulator. The image generation system real-time simulator receives information from the servo control system real-time simulator, the standard preprocessing module, and the central control unit through a third network interface.

[0038] In some embodiments of this example, the servo control system real-time simulator, the image generation system real-time simulator, and the back-end information processing and power drive are the communication counterparts of the standard preprocessing module. The standard preprocessing module receives information from the servo control system real-time simulator and the image generation system real-time simulator through the fourth network interface. The standard preprocessing module is directly interconnected with the back-end information processing and power drive, and the interface is determined by the back-end information processing and power drive. The interface form is set according to the needs of the back-end information processing and power drive, which is highly flexible.

[0039] In some embodiments of this example, the real-time simulator of the servo control system and the real-time simulator of the image generation system are the communication counterparts of the central control unit, and the central control unit receives information from the real-time simulator of the servo control system and the real-time simulator of the image generation system through the fifth network interface.

[0040] According to a first aspect of this application, a method for simulating a pointer in an optoelectronic device is provided, such as... Figure 2 As shown, including: Set the servo system model and preset imaging parameters in the central control unit; The servo system model is loaded into the servo control system real-time simulator, the servo control system simulation operation is carried out, the first servo control command of the back-end information processing and power drive is responded to, and the simulation data of the servo system model of the photoelectric device pointer is output. Based on the simulation data of the servo system model of the photoelectric device pointer, the pointer attitude information and latitude and longitude of the photoelectric device pointer are obtained, and the detector attitude information and imaging spatial position of the optical detector are generated. Simulate actual power load using a power level motor simulator; The real-time simulator of the image generation system generates a simulated image of the optical detector based on preset imaging parameters, detector attitude information and imaging spatial position of the optical detector, and responds to the first image processing control command of the back-end information processing and power drive.

[0041] In some embodiments of this example, the first data generated by the real-time simulator of the servo control system and the real-time simulator of the image generation system are converted into second data that meets the interface protocol of the back-end information processing and power drive through a standard preprocessing module. The first servo control instructions of the back-end information processing and power drive are converted into second servo control instructions that meet the interface protocol of the real-time simulator of the servo control system. The first image processing control instructions of the back-end information processing and power drive are converted into second image processing control instructions that meet the interface protocol supported by the real-time simulator of the image generation system. The first data includes servo system model simulation data and simulation images.

[0042] In some embodiments of this example, the real-time simulator of the servo control system can receive the voltage-current conversion values ​​of the power level motor simulator (physical circuit + program), perform power level / signal level hardware-in-the-loop simulation of multiple drive shaft systems, receive the motor control quantities of the back-end information processing and power drive, including the motor angle and speed control quantities, and calculate the motor control current based on the voltage-current conversion values ​​and the motor control quantities.

[0043] Under the given conditions of load torque, stator inertial angular velocity, motor model, rotating shaft system model, multi-axis dynamics model, multi-axis kinematics model, and friction model, simulated quantities such as motor rotor angle, angular velocity, and current are generated. Simultaneously, the power device control signals required for the voltage and current simulation quantities are generated and sent to the power-level motor simulator. Furthermore, under the given conditions of optoelectronic device kinematic model, kinematic error parameters, and carrier swaying vibration model, simulated quantities of the rotor angle, angular velocity, and current of the optoelectronic device pointer motor are generated, along with power device control signals, which are also sent to the power-level motor simulator.

[0044] In some embodiments of this example, the power-level motor simulator supports collecting and converting the voltage and current on the motor power interface, sending them to the servo control system real-time simulator through the second network interface of the internal control circuit, and receiving power device control signals (such as voltage and current setpoint signals) from the servo control system real-time simulator through the second network interface to adjust the voltage and current on the motor power interface.

[0045] In some embodiments of this example, the real-time simulator of the image generation system can perform infrared radiation characteristic simulation modeling for atmospheric environment, typical background, and typical target. Based on preset imaging parameters and imaging spatial position and attitude information sent by the real-time simulator of the servo control system, it performs modeling processes such as target imaging projection coordinate calculation, infrared radiation characteristic calculation, and atmospheric transmission calculation, and outputs a simulated image. Simultaneously, it can simulate the actions of an actual infrared sensor, such as adjusting the field of view, by responding to external commands.

[0046] Specifically, the real-time simulator of the image generation system can perform infrared radiation characteristic simulation modeling for atmospheric environment, typical background, and typical targets, including: Set atmospheric environmental parameters, including temperature, humidity, air pressure, aerosol concentration, cloud parameters, etc. The infrared radiation transmission process in the atmosphere is described by the radiative transfer equation, which includes a low-resolution atmospheric transmittance model, a line-by-line integral model, and a neural network approximation model. Set typical backgrounds, which include static backgrounds and dynamic backgrounds. Static backgrounds include mountains and deserts, while dynamic backgrounds include seas and cities. Set typical targets, which include drones, unmanned vehicles, etc.

[0047] In some embodiments of this example, the standard preprocessing module serves as a relay station for the optoelectronic device pointer simulation device and the back-end information processing and power drive, and is responsible for converting data information into a bilaterally recognizable interface format.

[0048] In some embodiments of this example, the central control unit mainly controls the real-time simulator of the servo control system and the real-time simulator of the image generation system, and performs visual monitoring of operating parameters. It also features auxiliary functions such as simulation data recording and simulation data playback after the simulation is completed.

[0049] Specifically, this embodiment corresponds one-to-one with the above method embodiments. The functions of each module have been described in detail in the corresponding method embodiments, so they will not be repeated here.

[0050] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A pointer simulation device for photoelectric equipment, characterized in that, include: The central control unit is used to set the servo system model and preset imaging parameters; A real-time simulator for servo control systems is used to load servo system models, perform servo system model simulation, output servo system model simulation data for optoelectronic device pointers, and obtain pointer attitude information and latitude and longitude altitude of simulated optoelectronic device pointers based on the servo system model simulation data for optoelectronic device pointers, thereby generating detector attitude information and imaging spatial position of optical detectors. Power level motor simulator, used to simulate the power load of the motor of an optoelectronic device pointer; The image generation system real-time simulator is used to generate simulated images of the optical detector based on preset imaging parameters and the detector attitude information and imaging spatial position of the optical detector. Among them, the central control unit, the servo control system real-time simulator, the power level motor simulator, and the image generation system real-time simulator are all configured to be electrically connected to the back-end information processing and power drive. The servo control system real-time simulator responds to the first servo control command of the back-end information processing and power drive, and the image generation system real-time simulator responds to the first image processing control command of the back-end information processing and power drive.

2. The photoelectric device pointer simulation device according to claim 1, characterized in that: It also includes a standard preprocessing module, which is used to convert the first data generated by the real-time simulator of the servo control system and the real-time simulator of the image generation system into second data that meets the interface protocol of the back-end information processing and power drive, and to convert the first servo control instructions of the back-end information processing and power drive into second servo control instructions that meet the interface protocol of the real-time simulator of the servo control system, and to convert the first image processing control instructions of the back-end information processing and power drive into second image processing control instructions that meet the interface protocol supported by the real-time simulator of the image generation system. The first data includes servo system model simulation data and simulation images, and the standard preprocessing module is configured to be electrically connected to the back-end information processing and power drive.

3. The photoelectric device pointer simulation device according to claim 1, characterized in that: The real-time simulator for the servo control system includes a first industrial computer and a first PCIe communication card. The first industrial computer is used to load the servo system model and perform servo system model simulation. The first PCIe communication card is used to output servo system model simulation data. The first industrial computer is equipped with a first PCIe interface, and the first PCIe communication card is inserted into the first PCIe interface.

4. The photoelectric device pointer simulation device according to claim 1, characterized in that: The image generation system real-time simulator includes a second industrial control computer and a second PCIe communication card. The second industrial control computer is used to generate simulated images based on preset imaging parameters and imaging spatial position and attitude information obtained from the operation of the servo control system real-time simulator. The second PCIe communication card is used to output simulated images. The second industrial control computer is equipped with a second PCIe interface, and the second PCIe communication card is inserted into the second PCIe interface.

5. The photoelectric device pointer simulation device according to claim 2, characterized in that: The servo control system real-time simulator is equipped with a first network interface, the power level motor simulator is equipped with a second network interface and a power interface, the image generation system real-time simulator is equipped with a third network interface, the standard preprocessing module is equipped with a fourth network interface, and the central control unit is equipped with a fifth network interface. The first, second, third, fourth, and fifth network interfaces are all connected to the network switch via network cables, while the power interface is connected to the back-end information processing and power drive unit via electrical wires.

6. The photoelectric device pointer simulation device according to claim 4, characterized in that: The power level motor simulator, the image generation system real-time simulator, the standard preprocessing module, and the central control unit are the communication counterparts of the servo control system real-time simulator. The servo control system real-time simulator, back-end information processing and power drive unit are the communication counterparts of the power-level motor simulator; The servo control system real-time simulator, standard preprocessing module, and central control unit are the communication counterparts of the image generation system real-time simulator; The servo control system real-time simulator, the image generation system real-time simulator, and the back-end information processing and power drive unit are the communication counterparts of the standard preprocessing module; The real-time simulators for the servo control system and the image generation system serve as the communication counterparts of the central control unit.

7. A method for simulating a pointer in a photoelectric device, characterized in that, include: Set the servo system model and preset imaging parameters in the central control unit; The servo system model is loaded into the servo control system real-time simulator, the servo control system simulation operation is carried out, the first servo control command of the back-end information processing and power drive is responded to, and the simulation data of the servo system model of the photoelectric device pointer is output. Based on the simulation data of the servo system model of the photoelectric device pointer, the pointer attitude information and latitude and longitude of the photoelectric device pointer are obtained, and the detector attitude information and imaging spatial position of the optical detector are generated. Simulate actual power load using a power level motor simulator; The real-time simulator of the image generation system generates a simulated image of the optical detector based on preset imaging parameters, detector attitude information and imaging spatial position of the optical detector, and responds to the first image processing control command of the back-end information processing and power drive.

8. The photoelectric device pointer simulation method according to claim 7, characterized in that: The first data generated by the servo control system real-time simulator and the image generation system real-time simulator is converted into second data that meets the interface protocol of the back-end information processing and power drive through the standard preprocessing module. The first servo control command of the back-end information processing and power drive is converted into the second servo control command that meets the interface protocol of the servo control system real-time simulator. The first image processing control command of the back-end information processing and power drive is converted into the second image processing control command that meets the interface protocol supported by the image generation system real-time simulator. The first data includes servo system model simulation data and simulation image.

9. The photoelectric device pointer simulation method according to claim 7, characterized in that: The servo control system real-time simulator receives voltage-current conversion values ​​from the power-level motor simulator, performs power-level or signal-level hardware-in-the-loop simulation of multiple drive shaft systems, receives back-end information processing and motor control quantities from the power drive, calculates motor control current based on voltage-current conversion values ​​and motor control quantities, and generates simulated quantities of rotor angle, angular velocity and current of the motor of the photoelectric device pointer under set load torque, stator inertial angular velocity, motor model, rotating shaft system model, multi-axis dynamic model, multi-axis kinematic model or friction model. At the same time, it generates power device control signals and sends them to the power-level motor simulator. The real-time simulator of the servo control system generates the detector attitude information and imaging spatial position of the optical detector based on the pointer attitude information and latitude and longitude height of the pointer of the optoelectronic device, under the setting of the kinematic model, kinematic error parameters and carrier swaying vibration model of the optoelectronic device.

10. The photoelectric device pointer simulation method according to claim 7, characterized in that: The image generation system uses a real-time simulator to simulate and model the infrared radiation characteristics of the atmospheric environment, typical backgrounds, and typical targets. Based on preset imaging parameters, the system calculates the target imaging projection coordinates, infrared radiation characteristics, and atmospheric transmission using the detector attitude information and imaging spatial position of the optical detector, and outputs the simulated image of the optical detector.

Images