Device and method for testing maximum tracking angular velocity of photoelectric system

Abstract

A testing device for the maximum tracking angular velocity of a photoelectric system comprises a two-degree-of-freedom rotary table, an integrated light pipe assembly, a portal frame and a clock synchronization unit, the integrated light pipe assembly is installed on one side of an azimuth axis of the two-degree-of-freedom rotary table, and the integrated light pipe assembly comprises a collimator and a diaphragm; the portal frame is composed of two stand columns and a cross beam, the stand columns are located outside the two-degree-of-freedom rotary table, the cross beam is located above the two-degree-of-freedom rotary table, and a mounting plate is arranged below the cross beam. Before testing, the tested photoelectric system is mounted on a mounting plate of the portal frame, so that the center of the tested photoelectric system is longitudinally aligned with the rotating axis of the two-degree-of-freedom turntable, and the critical angular velocity corresponding to the timestamp obtained by the clock synchronization unit is recorded during testing. According to the device and the method, the adaptability problem of the two-degree-of-freedom turntable for testing a large-size and heavy-weight photoelectric system is solved, and the reading accuracy problem of the angular velocity of the two-degree-of-freedom turntable at the moment of tracking loss is solved.

Description

Technical Field

[0001] This invention relates to the field of photoelectric system testing, specifically to a testing device and method for the maximum tracking angular velocity of a photoelectric system. Background Technology

[0002] With the development of military weapon system technology, optoelectronic systems are widely used in armed helicopters, bombers, and various reconnaissance and strike unmanned aerial vehicles (UAVs) for target detection, identification, ranging, tracking, aiming, and attack guidance. Among these, the maximum tracking angular velocity, a key indicator of tracking capability, is the ability of an optoelectronic system to track dynamic or static targets at their maximum angular velocity.

[0003] Maximum tracking angular velocity testing typically employs a two-degree-of-freedom turntable and a portable collimator. The portable collimator is mounted on one side of the turntable's azimuth axis. During testing, the photoelectric system is positioned on the turntable's pitch axis, with the system's rotation axis coaxial with the turntable's pitch axis. The optical axis of the photoelectric system is aligned with the exit pupil optical axis of the portable collimator. An infrared or visible light target at infinity is provided to the system, and the photoelectric system aims at and tracks the target projected by the portable collimator. Maximum tracking angular velocity testing is divided into uniform target rotation and variable acceleration / deceleration tests. The uniform rotation test involves starting the target on the turntable at a low angular velocity, gradually increasing the rotation speed, and recording the critical angular velocity at which the photoelectric system can still stably lock onto the target. The variable acceleration test involves setting the target to perform sinusoidal or trapezoidal acceleration / deceleration motion, gradually increasing the peak angular acceleration from low to high until the photoelectric system experiences tracking lag or loss of lock; the corresponding maximum angular velocity is the dynamic limit.

[0004] Because the photoelectric system needs to be placed on the pitch axis of a two-degree-of-freedom turntable, its size and weight are limited by the size and load-bearing capacity of the turntable's pitch axis, resulting in significant limitations. Furthermore, during testing, the rotational speed of the two-degree-of-freedom turntable at the moment of target loss is typically read visually to determine the critical angular velocity at which the photoelectric system lags behind or loses lock on the target. However, the read angular velocity has a large error compared to the actual angular velocity, leading to inaccurate test results. To ensure the normal operation of the maximum tracking angular velocity test for the photoelectric system, a new device that meets the testing requirements is urgently needed. Summary of the Invention

[0005] To address the inability of existing two-degree-of-freedom turntables to meet the testing requirements for the maximum tracking angular velocity of optoelectronic systems, this invention proposes a testing device and method for the maximum tracking angular velocity of optoelectronic systems.

[0006] A testing device for the maximum tracking angular velocity of an optoelectronic system, the device comprising a two-degree-of-freedom turntable, characterized in that the device further comprises an integrated optical tube assembly, a gantry, and a clock synchronization unit, wherein: An integrated optical tube assembly is installed on one side of the azimuth axis of a two-degree-of-freedom turntable. The integrated optical tube assembly includes a body, a blackbody, a mirror, a collimator, a target, and an aperture. The blackbody and the mirror are fixed on one side of the body, and the collimator is fixed on the other side of the body with a through hole. The positions of the blackbody, the collimator, the mirror, and the through hole are corresponding. The target and the aperture are set inside the body near the blackbody. The emitted light path of the blackbody passes through the target, the aperture, the collimator, and the mirror in sequence, and finally exits horizontally from the through hole. The gantry consists of two columns and a crossbeam. The columns are located outside the two-degree-of-freedom turntable, the crossbeam is located above the two-degree-of-freedom turntable, and an installation plate is installed below the crossbeam. The clock synchronization unit includes a PCIe timing card installed in the two-degree-of-freedom turntable and the photoelectric system under test. The PCIe timing card provides timing through a satellite navigation system and is used to synchronize the working clocks of the two-degree-of-freedom turntable and the photoelectric system under test.

[0007] For integrated optical tube assemblies, the following improvements are also possible: Two lasers are also installed on the side of the through-hole in the machine body. The laser beams are directed towards the center of the rotation axis of the two-degree-of-freedom turntable and the center of the photoelectric system under test, providing a direct indication of the optical axis alignment, facilitating the observation and calibration of the optical axis, and improving debugging efficiency; Specifically, a lifting platform is installed at the bottom of the machine body. The lifting platform is a scissor-type manual lifting platform. The lifting platform is located between the machine body and the two-degree-of-freedom platform and is used to adjust the alignment of the integrated collimator assembly with the optical axis center of the photoelectric system under test. Specifically, the target is a cross-shaped target.

[0008] The following improvements are also made to the gantry frame: the uprights are lifting columns, and the mounting plate is provided with several mounting holes for quickly fixing photoelectric systems of different interfaces and volumes.

[0009] The bottom of the column is equipped with casters, which are movable casters with telescopic support legs. They are used to independently support the photoelectric system under test after the gantry is moved into place, thus eliminating vibration.

[0010] More preferably, the testing device also includes a multi-line laser level, which is placed outside the gantry. By adjusting the positions of the horizontal and vertical laser windows, the center of the photoelectric system under test is longitudinally aligned with the rotation axis of the two-degree-of-freedom turntable.

[0011] The testing method based on the above-mentioned testing device is characterized by the following steps: 1) Before testing, the photoelectric system under test is mounted on the mounting plate of the gantry. Then, the gantry is moved above the two-degree-of-freedom turntable so that the center of the photoelectric system under test is longitudinally aligned with the rotation axis of the two-degree-of-freedom turntable. During alignment, a multi-line laser level is used for calibration. Then, the height of the lifting column and the lifting platform are adjusted according to the size of the photoelectric system under test so that the integrated collimator assembly is aligned with the optical axis center of the photoelectric system under test. During adjustment, a laser is used for calibration.

[0012] 2) During the test, set the motion parameters of the two-degree-of-freedom turntable, start the two-degree-of-freedom turntable, observe the tracking of the photoelectric system, gradually increase the angular velocity value of the two-degree-of-freedom turntable, and when the photoelectric system under test lags behind or loses lock on the target, record the critical angular velocity corresponding to the timestamp obtained by the clock synchronization unit.

[0013] Furthermore, during testing, the switching between projecting and cutting off the target is achieved by opening and closing the aperture, completing the inertial tracking capability test of the sudden disappearance and reappearance of the target. During the maximum tracking angular velocity test, the two-degree-of-freedom stage rotates at a relatively high speed. Using the aperture, the cutting time can be precisely controlled, avoiding the danger of being hit by the two-degree-of-freedom stage when cutting manually.

[0014] Furthermore, the method for determining whether the photoelectric system under test is lagging behind or has lost lock on the target is as follows: using existing image recognition software, the target centroid coordinates are identified, and the position difference between the target centroid coordinates and the tracking crosshair center is calculated in real time. When the difference exceeds a predetermined value, it is determined that the target has lost lock.

[0015] Furthermore, the method for determining the target centroid is as follows: In the grayscale image, calculate the sum of the products of the x-coordinate and the corresponding pixel grayscale value, and the sum of the products of the y-coordinate and the corresponding pixel grayscale value, and then divide them by the total grayscale value of the target area to obtain the centroid coordinates.

[0016] The above solution solves the compatibility problem of testing large-volume and heavy optoelectronic systems on a two-degree-of-freedom turntable, as well as the problem of accurate reading of the angular velocity of the two-degree-of-freedom turntable at the moment of tracking loss. At the same time, the structure of the portable collimator is improved, realizing the engineering application of testing the maximum tracking angular velocity of the optoelectronic system and the accurate reading of the maximum tracking angular velocity data. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the integrated optical tube assembly of the present invention.

[0019] Figure 3 This is a schematic diagram of the test device for the maximum tracking angular velocity of an optoelectronic system without a lifting platform.

[0020] Among them, the two-degree-of-freedom turntable 1 and the integrated optical tube assembly 2 are included. Blackbody 2-1, Reflector 2-2, Collimator 2-3, Target 2-4, Aperture 2-5, Laser 2-6, Lifting Platform 2-7, Gantry 3, Column 3-1, Beam 3-2, Mounting Plate 3-3. Detailed Implementation

[0021] Example 1: A test device for the maximum tracking angular velocity of a photoelectric system, comprising a two-degree-of-freedom turntable 1, characterized in that the device further comprises an integrated optical tube assembly 2, a gantry 3, and a clock synchronization unit, wherein: The integrated light tube assembly 2 is installed on one side of the azimuth axis of the two-degree-of-freedom turntable 1. The integrated light tube assembly 2 includes a body, a blackbody 2-1, a reflector 2-2, a collimator 2-3, a target 2-4, and an aperture 2-5. The blackbody 2-1 and the reflector 2-2 are fixed on one side of the body, and the collimator 2-3 is fixed on the other side of the body and has a through hole. The positions of the blackbody 2-1, the collimator 2-3, the reflector 2-2, and the through hole correspond to each other. The target 2-4 and the aperture 2-5 are set on the side of the body near the blackbody 2-1. The emitted light path of the blackbody 2-1 passes through the target 2-4, the aperture 2-5, the collimator 2-3, and the reflector 2-2 in sequence, and finally exits horizontally from the through hole. A scissor-type manual lifting platform 2-7 is set below the body.

[0022] The integrated optical tube assembly 2 includes a collimator 2-1, an aperture 2-2, and two lasers 2-3. A lifting platform 2-4 is placed below the integrated optical tube assembly 2. The gantry 3 consists of two columns 3-1 and a crossbeam 3-2. The columns 3-1 are located outside the two-degree-of-freedom turntable 1 and are lifting columns. Wheels are installed at the bottom of the columns 3-1. The crossbeam 3-2 is located above the two-degree-of-freedom turntable 1, and a mounting plate 3-3 is installed below the crossbeam 3-2. The clock synchronization unit includes a PCIe timing card installed in the two-degree-of-freedom turntable 1 and the photoelectric system under test. The PCIe timing card achieves synchronization via the BeiDou system, used to synchronize the working clocks of the two-degree-of-freedom turntable 1 and the photoelectric system under test.

[0023] The testing method based on this device is as follows: 1) Before testing, mount the photoelectric system under test on the mounting plate 3-3 of the gantry 3. Then move the gantry 3 above the two-degree-of-freedom turntable 1, aligning the center of the photoelectric system under test longitudinally with the rotation axis of the two-degree-of-freedom turntable 1. Alignment can be assisted by a laser 2-3. Then, adjust the height of the lifting column and the lifting platform 2-4 according to the size of the photoelectric system under test, so that the integrated collimator 2-1 assembly 2 is aligned with the optical axis center of the photoelectric system under test. Adjustment can be assisted by a laser level.

[0024] 2) During testing, set the motion parameters of the two-degree-of-freedom turntable 1. Start the two-degree-of-freedom turntable 1 and observe the tracking of the photoelectric system. Gradually increase the angular velocity value of the two-degree-of-freedom turntable 1. When the photoelectric system under test lags behind or loses lock on the target, record the critical angular velocity corresponding to the timestamp obtained by the clock synchronization unit.

[0025] 2-1) Maximum tracking angular velocity test When the target rotates at a constant speed: a) The optoelectronic system is powered on and working normally, aiming at and tracking the target projected by the integrated light tube assembly 2; b) Set the uniform motion parameters of the azimuth axis of the two-degree-of-freedom turntable, start the turntable, and observe the tracking of the photoelectric system; c) The uniform motion value gradually increases. When the photoelectric system loses tracking, the timestamp on the test system at the moment of loss is recorded. Based on the timestamp, the angular velocity value of the two-degree-of-freedom turntable 1 at that time is its maximum tracking angular velocity value.

[0026] 2) When the target is a variable acceleration / deceleration rotation: a) The optoelectronic system is powered on and working normally, aiming at and tracking the target projected by the integrated light tube assembly 2; b) Set the motion parameters of the azimuth axis of the two-degree-of-freedom turntable, set it to the mode of uniform acceleration → uniform speed → uniform deceleration, start the turntable, and observe the tracking of the photoelectric system. c) The maximum speed value is gradually increased, and the tracking status of the photoelectric system is monitored. When the photoelectric system loses tracking, the timestamp on the test system is recorded at the moment of loss. Based on the timestamp, the angular velocity value of the two-degree-of-freedom turntable 1 at that time is its maximum tracking angular velocity value.

[0027] 2-2) Inertial tracking capability a) The optoelectronic system is powered on and working normally, aiming at and tracking the target projected by the integrated light tube assembly 2; b) Set the uniform motion parameters of the azimuth axis of the two-degree-of-freedom turntable, start the turntable, and observe the tracking of the photoelectric system; c) Based on the required duration of target disappearance according to the inertial tracking index, the light barrier 2-2 is closed by remote control via the integrated light tube assembly 2; d) The remote control system automatically opens the light barrier 2-2 according to the set time to observe the tracking of the photoelectric system in the test system and record the test results.

Claims

1. A testing device for the maximum tracking angular velocity of an optoelectronic system, the device comprising a two-degree-of-freedom turntable (1), characterized in that... The device also includes an integrated optical tube assembly (2), a gantry (3), and a clock synchronization unit, wherein: An integrated optical tube assembly is installed on one side of the azimuth axis of a two-degree-of-freedom turntable. The integrated optical tube assembly includes a body, a blackbody (2-1), a reflector (2-2), a collimator (2-3), a target (2-4), and an aperture (2-5). The blackbody and the reflector are fixed on one side of the body, and the collimator is fixed on the other side of the body with a through hole. The positions of the blackbody (2-1), the collimator (2-3), the reflector (2-2), and the through hole correspond to each other. The target (2-4) and the aperture (2-5) are set on the side of the body near the blackbody (2-1). The outgoing light path emitted by the blackbody (2-1) passes through the target (2-4), the aperture (2-5), the collimator (2-3), and the reflector (2-2) in sequence, and finally exits horizontally from the through hole. The gantry (3) consists of two columns (3-1) and a crossbeam (3-2). The columns (3-1) are located outside the two-degree-of-freedom turntable (1), and the crossbeam (3-2) is located above the two-degree-of-freedom turntable (1). An installation plate (3-3) is installed below the crossbeam (3-2). The clock synchronization unit includes a PCIe timing card installed in the two-degree-of-freedom turntable 1 and the photoelectric system under test. The PCIe timing card realizes timing through a satellite navigation system and is used to synchronize the working clocks of the two-degree-of-freedom turntable 1 and the photoelectric system under test.

2. The testing device for the maximum tracking angular velocity of a photoelectric system as described in claim 1, characterized in that... The integrated optical tube assembly also includes two lasers.

3. The testing device for the maximum tracking angular velocity of a photoelectric system as described in claim 1, characterized in that... The bottom of the integrated light tube assembly (2) is provided with a lifting platform (2-7), which is located between the body and the two-degree-of-freedom platform.

4. The testing device for the maximum tracking angular velocity of a photoelectric system as described in claim 1, characterized in that... The uprights (3-1) of the gantry frame (3) are lifting columns, and several mounting holes are provided on the mounting plate (3-3); the bottom of the uprights (3-1) is equipped with casters, which are mobile casters with telescopic support feet.

5. The testing device for the maximum tracking angular velocity of a photoelectric system as described in claim 1, characterized in that... It also includes a multi-line laser level, which is placed outside the gantry (3).

6. A test method based on the test device for the maximum tracking angular velocity of a photoelectric system according to claim 1, characterized in that... This will be implemented through the following steps: 1) Before testing, the photoelectric system under test is installed on the mounting plate (3-3) of the gantry (3). Then, the gantry (3) is moved above the two-degree-of-freedom turntable (1) so that the integrated collimator assembly is aligned with the optical axis center of the photoelectric system under test. The alignment is assisted by a laser (2-3). Then, the height of the lifting column and the lifting platform (2-4) is adjusted according to the size of the photoelectric system under test so that the center of the photoelectric system under test is longitudinally aligned with the rotation axis of the two-degree-of-freedom turntable (1). The adjustment is assisted by a laser level. 2) During the test, set the motion parameters of the two-degree-of-freedom turntable (1), start the two-degree-of-freedom turntable (1), observe the tracking of the photoelectric system, gradually increase the angular velocity value of the two-degree-of-freedom turntable (1), and when the photoelectric system under test lags behind or loses lock on the target, record the critical angular velocity corresponding to the timestamp obtained by the clock synchronization unit.

7. A method for testing the maximum tracking angular velocity of a photoelectric system as described in claim 6, characterized in that... During testing, the switching between projecting and cutting off the target is achieved by opening and closing the aperture (2-2), thus completing the inertial tracking capability test of the sudden disappearance and reappearance of the target.

8. A method for testing the maximum tracking angular velocity of a photoelectric system as described in claim 6, characterized in that... The method for determining whether the photoelectric system under test is lagging behind or has lost lock on the target is as follows: using existing image recognition software, the target centroid coordinates are identified, and the position difference between the target centroid coordinates and the tracking crosshair center is calculated in real time. When the difference exceeds a predetermined value, it is determined that the target has lost lock.

9. A method for testing the maximum tracking angular velocity of a photoelectric system as described in claim 6, characterized in that... The method for determining the target centroid is as follows: In the grayscale image, calculate the sum of the products of the x-coordinate and the corresponding pixel grayscale value, and the sum of the products of the y-coordinate and the corresponding pixel grayscale value, and then divide them by the total grayscale value of the target area to obtain the centroid coordinates.

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