A precision optimization system and method for a high-precision targeting instrument

Abstract

This invention discloses a precision optimization system and method for high-precision shooting instruments, relating to the field of control optimization technology for high-precision shooting instruments. It solves the problem that traditional solutions struggle to maintain high precision in complex nonlinear systems and under random disturbances. The embodiments of this application utilize the collaborative sensing of a three-dimensional measurement unit and a beam-target coupling precision diagnostic unit, combined with multi-stage linkage of measurement, prediction, control, and diagnosis, to correct errors caused by nonlinear disturbances and random interference in real time, ensuring that shooting accuracy is unaffected by complex operating conditions. Simultaneously, based on a dynamic optimization model of each shooting data point, the control strategy is continuously iteratively optimized, allowing the precision of the high-precision shooting instrument to improve over time. This solves the problems of poor fault tolerance and long-term precision instability in traditional control methods, achieving continuous optimization and long-term stability of precision, meeting the precision requirements of high-precision shooting instruments during long-term operation.

Description

Technical Field

[0001] This invention relates to the field of high-precision target shooting instrument control and optimization technology, and in particular to a precision optimization system and method for high-precision target shooting instruments. Background Technology

[0002] High-precision shooting instruments place extremely high demands on the accuracy, stability, and fault tolerance of motion control. Shooting applications are characterized by "single chance and extremely high precision." Once the control deviation exceeds the allowable range, it will directly lead to the failure of the experiment or operation.

[0003] Currently, open-loop control or single closed-loop control methods are widely used in precision motion control systems to achieve motion attitude and position adjustment. Open-loop control requires no feedback loop, has a simple structure, and fast response speed, but it relies entirely on the inherent characteristics of the actuator and drive components, making it unable to sense nonlinear disturbances during system operation, and its control accuracy is insufficient to meet the requirements of high-end applications. Although single closed-loop control introduces a feedback measurement module, which can correct some system errors, its control model is difficult to accurately fit the nonlinear characteristics when facing complex nonlinear systems, and its ability to suppress external random disturbances is limited, easily leading to a decrease in control accuracy.

[0004] Therefore, there is a need for a precision optimization system and method for high-precision target shooting instruments. Summary of the Invention

[0005] To address the problem that existing technologies struggle to maintain the high precision of high-precision shooting instruments when dealing with complex nonlinear systems and random disturbances, this invention provides a precision optimization system and method for high-precision shooting instruments. This system continuously and effectively optimizes the precision of high-precision shooting instruments under complex nonlinear systems and random disturbances, enabling them to meet their precision requirements for extended periods of operation. The specific technical solution is as follows: In a first aspect, embodiments of this application provide a precision optimization system for a high-precision shooting instrument. The system includes a high-precision shooting instrument, a control unit, a three-dimensional measurement unit, a beam-target coupling precision diagnostic unit, and a cloud server. The control unit is connected to the high-precision shooting instrument, the three-dimensional measurement unit, the beam-target coupling precision diagnostic unit, and the cloud server. The three-dimensional measurement unit is used to acquire spatiotemporal data of the target pellet; the control unit is used to calculate the predicted coordinates of the target pellet at a future time based on the spatiotemporal data and the prediction model; the control unit is also used to drive the high-precision shooting instrument to emit an energy beam toward the predicted coordinates based on the predicted coordinates; the beam-target coupling accuracy diagnostic unit is used to measure the coupling deviation between the energy beam and the target pellet at that future time; the control unit is also used to send the coupling deviation to the cloud server; the cloud server is used to optimize the model parameters of the prediction model and / or drive the control parameters of the high-precision shooting instrument based on the coupling deviation, and sends the optimized model parameters and / or optimized control parameters to the control unit; the control unit is also used to update the prediction model based on the optimized model parameters, and / or update the control strategy of the high-precision shooting instrument based on the optimized control parameters.

[0006] Preferably, the coupling deviation includes positional coupling deviation and angular coupling deviation; the beam-target coupling accuracy diagnostic unit is also used to acquire the attitude data of the target; the control unit is also used to calculate the predicted attitude of the target at the future moment based on the attitude data and the prediction model, and drive the high-precision target-shooting instrument to emit an energy beam toward the predicted coordinates based on the predicted coordinates and the predicted attitude; the beam-target coupling accuracy diagnostic unit is specifically used to measure the positional coupling deviation and angular coupling deviation between the energy beam and the target at the future moment.

[0007] Preferably, the beam-target coupling accuracy diagnostic unit is specifically used to measure the position coupling deviation between the actual coordinates and the predicted coordinates of the target at a future time.

[0008] Preferably, the control unit is specifically used to send the coupling deviation, the spatiotemporal data, the predicted coordinates, and the control parameters for driving the high-precision shooting instrument to the cloud server; the cloud server optimizes the model parameters of the prediction model and / or the control parameters for driving the high-precision shooting instrument based on the coupling deviation, the spatiotemporal data, the predicted coordinates, and the control parameters for driving the high-precision shooting instrument.

[0009] Preferably, the high-precision target instrument includes a laser target instrument.

[0010] Preferably, the three-dimensional measurement unit includes a real-time measurement device for the flight trajectory of a target based on a multi-node orthogonal light curtain.

[0011] Preferably, the beam-target coupling accuracy diagnostic unit includes a beam-target coupling accuracy diagnostic device based on dual-backlight three-dimensional imaging.

[0012] Preferably, the prediction model is a Long Short-Term Memory (LSTM) model.

[0013] Preferably, the cloud server optimizes the model parameters of the prediction model and / or the control parameters driving the high-precision target shooting instrument based on the coupling bias using reinforcement learning or deep learning algorithms.

[0014] Secondly, embodiments of this application provide a method for optimizing the accuracy of a high-precision target shooting instrument, applied to the system described in the first aspect, the method comprising: A three-dimensional measurement unit acquires spatiotemporal data of the target pellet; the control unit calculates the predicted coordinates of the target pellet at a future time based on the spatiotemporal data and a prediction model; the control unit drives a high-precision firing instrument to emit an energy beam toward the predicted coordinates based on the predicted coordinates; a beam-target coupling accuracy diagnostic unit measures the coupling deviation between the energy beam and the target pellet at that future time; the control unit sends the coupling deviation to a cloud server; the cloud server optimizes the model parameters of the prediction model and / or the control parameters driving the high-precision firing instrument based on the coupling deviation, and sends the optimized model parameters and / or optimized control parameters to the control unit; the control unit updates the prediction model based on the optimized model parameters, and / or updates the control strategy for the high-precision firing instrument based on the optimized control parameters.

[0015] Preferably, the spatiotemporal data includes the attitude data of the target ball changing over time, and the coupling deviation includes positional coupling deviation and angular coupling deviation; after the three-dimensional measurement unit acquires the spatiotemporal data of the target ball, the method further includes: the control unit calculates the predicted attitude of the target ball at the future time based on the attitude data and the prediction model, and drives the high-precision target-shooting instrument to emit an energy beam toward the predicted coordinates based on the predicted coordinates and the predicted attitude; the beam-target coupling accuracy diagnostic unit measures the coupling deviation between the energy beam and the target ball at the future time, including: the beam-target coupling accuracy diagnostic unit measures the positional coupling deviation and angular coupling deviation between the energy beam and the target ball at the future time.

[0016] Compared with existing technologies, the beneficial effects of this invention are as follows: through the collaborative sensing of the three-dimensional measurement unit and the beam-target coupling accuracy diagnosis unit, combined with the linkage of multiple links of measurement, prediction, control, and diagnosis, errors caused by nonlinear disturbances and random interferences are corrected in real time, ensuring that the accuracy of the target shooting is not affected by complex working conditions; at the same time, based on the dynamic optimization model of each target shooting data, the control strategy can be continuously iteratively optimized, so that the accuracy of the high-precision target shooting instrument can be continuously improved with the running time, effectively solving the problems of poor fault tolerance and long-term accuracy instability of traditional control methods, realizing continuous optimization and long-term stability of accuracy, and meeting the accuracy requirements of high-precision target shooting instruments for long-term operation. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0018] Figure 1 A system architecture diagram of a precision optimization system for a high-precision target shooting instrument provided in this application embodiment; Figure 2 A schematic diagram of the accuracy optimization iterative loop process of a high-precision target shooting instrument provided in this application embodiment; Figure 3 A timing diagram illustrating the accuracy optimization of a high-precision target shooting instrument provided in an embodiment of this application; Figure 4 This is a flowchart illustrating a method for optimizing the accuracy of a high-precision target shooting instrument, as provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of the present 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 the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0021] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] To address the problem that traditional methods struggle to maintain the high precision of high-precision shooting instruments when dealing with complex nonlinear systems and random disturbances, this invention provides a precision optimization system and method for high-precision shooting instruments. This system can continuously and effectively optimize the precision of high-precision shooting instruments when dealing with complex nonlinear systems and random disturbances, enabling them to meet their precision requirements for extended periods of operation.

[0024] To better understand the embodiments of this application, the system architecture used in the embodiments of this application will be described below.

[0025] Please see Figure 1 , Figure 1 A system architecture diagram of a precision optimization system for a high-precision target shooting instrument provided in this application embodiment is shown below. Figure 1 As shown, the system includes a high-precision target shooting instrument 10, a control unit 20, a three-dimensional measurement unit 30, a beam-target coupling accuracy diagnostic unit 40, and a cloud server 50; the control unit 20 is connected to the high-precision target shooting instrument 10, the three-dimensional measurement unit 30, the beam-target coupling accuracy diagnostic unit 40, and the cloud server 50 respectively.

[0026] The control unit 20 communicates with the high-precision target shooting instrument 10, the three-dimensional measurement unit 30, and the beam-target coupling accuracy diagnostic unit 40 via wired or wireless connection to obtain relevant data or issue control commands; it also communicates with the cloud server 50 via network cloud.

[0027] Among them, the high-precision target shooting instrument 10 is used to output a high-precision and high-stability energy beam according to the instructions of the control unit, so as to accurately hit the moving target. It is the execution module of the system to complete the task.

[0028] For example, the high-precision target shooting instrument 10 can be a laser target shooting instrument, which includes a piezoelectric fast reflector and a laser emitter. The piezoelectric fast reflector is used for real-time correction of the laser direction, and the laser emitter is used to emit the laser. It can also be a particle beam target shooting instrument, an ion beam target shooting instrument, or other equipment. The difference between these and the laser target shooting instrument lies in the type of energy beam emitted, which corresponds to different operational requirements and scenarios.

[0029] The three-dimensional measurement unit 30 is used to collect spatiotemporal data of the target. Specifically, the three-dimensional measurement unit 30 is used to sense the three-dimensional spatial position, velocity, and acceleration of the target during its movement, providing the control unit 20 with dynamic motion data of the target over time, and is the basic sensing module of the system.

[0030] For example, the three-dimensional measurement unit 30 can be a multi-node light curtain measurement network composed of a laser light curtain detector, a synchronization controller, and a signal acquisition card, which is suitable for high-speed target movement scenarios and has a sampling frequency of over 10kHz; it can also be a binocular vision measurement system composed of a high-speed camera, a telecentric lens, and an infrared fill light, which achieves three-dimensional positioning through a stereo parallax algorithm and is suitable for high-precision measurement of medium- and low-speed targets; for metal targets, an electromagnetic position sensor array composed of a miniature electromagnetic sensor and a signal conditioning module can also be used as the three-dimensional measurement unit 30 to achieve non-contact three-dimensional measurement of metal targets and has strong anti-interference capabilities.

[0031] The beam-target coupling accuracy diagnostic unit 40 is used to measure the coupling deviation between the energy beam and the target at future moments. Specifically, the beam-target coupling accuracy diagnostic unit 40 serves as a diagnostic and verification tool for the system, used to accurately measure the coupling deviation between the energy beam and the target, including positional coupling deviation and angular coupling deviation, providing a core basis for energy beam pointing correction and optimization of various parameters in the system.

[0032] Among them, the coupling deviation between the energy beam and the target pellet refers to the deviation of the energy beam and the moving target pellet from the ideal coupling state during the actual interaction process; coupling refers to the interaction process between the energy beam and the target pellet, that is, the process of energy from the energy beam being transferred to the target pellet. The ideal coupling state is when the energy beam accurately acts on the preset position of the target to achieve the expected energy transfer efficiency; deviation refers to the difference between the actual coupling state and the ideal state, including positional coupling deviation and angular coupling deviation. Positional coupling deviation refers to the offset between the energy beam landing point and the target center, and angular coupling deviation refers to the difference between the incident angle of the energy beam and the preset angle.

[0033] For example, the beam-target coupling accuracy diagnostic unit 40 can be a dual-backlight imaging system consisting of a high-brightness LED pulse light source, a high-speed camera, a telecentric lens, and an image acquisition card, used to reconstruct the three-dimensional contour of the target and extract the target center coordinates and attitude parameters; when the high-precision target-shooting instrument of the system is a laser target-shooting instrument, it can also be a laser spot analyzer used to measure the spot shape and energy distribution of the laser beam.

[0034] The control unit 20 is the decision-making center of the system, responsible for integrating data from various measurement modules, making control decisions and outputting commands to achieve coordinated linkage and closed-loop control of multiple devices. Specifically, the control unit 20 can be an industrial control computer, a real-time controller, a motion control card, or a processing chip.

[0035] For example, the processing chip may be a field-programmable gate array (FPGA) or a central processing unit (CPU).

[0036] For example, the prediction model is a Long Short-Term Memory (LSTM) model or an Autoregressive Integrated Moving Average (ARIMA) model.

[0037] The control unit 20 is used to calculate the predicted coordinates of the target at future times based on the spatiotemporal data acquired by the three-dimensional measurement unit 30 and the prediction model stored inside the control unit 20. Specifically, the prediction model can be stored in the memory of the control unit 20 in the form of code, or it can be deployed in the control unit 20 in the form of a circuit module to achieve hardware acceleration.

[0038] The control unit 20 is also used to drive the high-precision target shooting instrument 10 to emit an energy beam toward the predicted coordinates based on the predicted coordinates.

[0039] The control unit 20 is also used to send the coupling deviation to the cloud server 50.

[0040] The cloud server 50 is responsible for storing, analyzing, and optimizing system data, building a data-driven continuous improvement mechanism to ensure long-term accuracy stability and performance improvement of the system. Specifically, the cloud server 50 is used to optimize the model parameters of the prediction model and / or drive the control parameters of the high-precision target shooting instrument based on the coupling deviation, and sends the optimized model parameters and / or optimized control parameters to the control unit.

[0041] For example, the cloud server 50 can be a blade server, a high-density server, a rack server, a cabinet server, a general-purpose server, a graphics processing unit (GPU) server, a data processing unit (DPU) server, or an artificial intelligence (AI) server, etc.

[0042] For example, the cloud server 50 optimizes the model parameters of the prediction model and / or the control parameters driving the high-precision target shooting instrument based on the coupling bias using reinforcement learning or deep learning algorithms.

[0043] Then, the control unit 20 is also used to update the prediction model based on the optimized model parameters, and / or update the control strategy for the high-precision target shooting instrument 10 based on the optimized control parameters.

[0044] It should be noted that, in the specific implementation, the system architecture of the above system can be any, including... Figure 1 A similar architecture to that in [the text]. The embodiments of this application do not limit the specific composition of this system architecture. Furthermore, Figure 1 The architectural components shown do not constitute a limitation on the system architecture, except... Figure 1 In addition to the devices shown, the system architecture may include more or fewer devices than illustrated. For example, a cloud server 50 may connect to multiple control units 20, each control unit 20 corresponding to control the high-precision target shooting instrument 10, the three-dimensional measurement unit 20, and the beam-target coupling accuracy diagnostic unit 40 at its work site.

[0045] The functions and optional types of the main parts of the system in the embodiments of this application have been described above. The workflow and mechanism of the above system will be further explained below with reference to a specific embodiment.

[0046] Please see Figure 2 , Figure 2 A system architecture diagram for another system embodiment, such as Figure 2 As shown, the high-precision target shooting instrument in the system is a laser target shooting instrument 11; the three-dimensional measurement unit is a multi-node measurement network 31, which is a real-time measurement device for the flight trajectory of the target ball based on a multi-node orthogonal light curtain; the beam-target coupling accuracy diagnosis unit is a dual-backlight three-dimensional imaging device 41, which is a beam-target coupling accuracy diagnosis device based on dual-backlight three-dimensional imaging.

[0047] The predictive model deployed in the control unit 20 is an LSTM model; the cloud server 50 is equipped with reinforcement learning or deep learning algorithms, which are used to optimize the model parameters of the predictive model based on coupling bias and / or drive the control parameters of the high-precision target shooting instrument.

[0048] Please refer to Figure 3 ,like Figure 3 As shown, the system's workflow can be divided into six stages in terms of time sequence, as follows: The perception stage before 1.t0.

[0049] First, the multi-node measurement network 31 is activated to continuously sense and measure the area within its measurement range.

[0050] The measurement range of the multi-node measurement network 31 is greater than or equal to the target's motion area, which can be determined based on the characteristics of the target launching device and the predetermined target motion path. Specifically, the operator can design the target firing mission in advance, including the target's launch angle and motion path, as well as the interaction position between the energy beam and the target.

[0051] For example, in the case of a target launching device driven by mechanical launch, the predetermined motion path of the target can be calculated based on the launch angle and initial velocity; then, the launch time of the energy beam is determined by combining the response time of the laser target instrument 11, and the interaction position between the energy beam and the target is set; then, based on the launch position of the target and the interaction position, the target motion area is delineated; then, a multi-node measurement network 31 is deployed so that the measurement range of the multi-node measurement network 31 covers the target motion area.

[0052] The multi-node measurement network 31 includes multiple light curtain detectors acting as nodes. Each node can emit a planar light curtain, and the light curtains of multiple nodes form an intersecting detection network in three-dimensional space, covering the target's movement area. When the target passes through the light curtain, it blocks the light signal, triggering the detection response of the nodes. Each light curtain node determines whether the target has passed through the plane and records the timestamp of the passage. The trigger signals of multiple nodes form a set of spatiotemporal coordinates, which can be used to reconstruct the three-dimensional position of the target through calculation.

[0053] Specifically, the multi-node measurement network 31 includes at least two sets of light curtain nodes arranged along the X, Y, and Z axes of the target's motion path; a unified global coordinate system is established by accurately calibrating the spatial coordinates of each node and the attitude of the light curtain plane; all nodes achieve time synchronization through a high-precision synchronous controller to ensure that the timestamps of each node are completely consistent, providing a time reference for subsequent three-dimensional coordinate calculations.

[0054] Then, the target launching device is activated, launching the target according to the preset target movement path.

[0055] When the target pellet moves in three-dimensional space, it will pass through light curtain nodes of different axes in sequence. Each node records the timestamp of the target pellet's passage and its own spatial coordinates in real time. Then, based on the detection data of each node and the geometric parameters of the light curtain plane, the three-dimensional coordinates of the target pellet can be calculated through a spatial intersection algorithm. Based on the coordinate data of continuous timestamps, the velocity and acceleration of the target pellet can be further calculated.

[0056] It is understandable that the spatiotemporal data of the target, namely the coordinates, velocity and acceleration here, can be calculated by the processor of the multi-node measurement network 31 and then the spatiotemporal data of the target can be transmitted to the control unit 20; or the multi-node measurement network 31 can directly transmit the timestamp of the target passing through the light curtain and the spatial coordinates of the corresponding node to the control unit 20, and the control unit 20 can perform the calculation of the spatiotemporal data of the target.

[0057] For example, the X-axis light curtain plane is perpendicular to the X-axis. The X-coordinate of the target when it passes through the light curtain is equal to the X-coordinate of the node. Combining this with the timestamp, the X-axis coordinates at different times can be obtained; the Y-axis and Z-axis coordinates are obtained similarly. By using interpolation or by fitting the motion curve equation based on the initial velocity and gravity, the three-axis coordinates can be integrated to obtain the three-dimensional coordinates of the target at different times. Then, based on the three-dimensional coordinates at different times, the velocity and acceleration of the target along different axes can be calculated, and then the three-dimensional velocity and three-dimensional acceleration can be synthesized.

[0058] Preferably, the multi-node measurement network 31 collects the spatiotemporal data of the target from the start of the target launch to time t0, and transmits the spatiotemporal data of the target to the control unit 20.

[0059] Understandably, time t0 is determined based on the target launch time. At time t0, the target has not left the optimal range of the energy beam, and the spatiotemporal data of the target collected by the multi-node measurement network 31 can ensure the lower limit of the accuracy of the prediction model in subsequent prediction steps. In practical applications, the setting of time t0 can be adjusted based on the target firing effect and the prediction accuracy of the prediction model.

[0060] Preferably, during the sensing phase, the beam-target coupling accuracy diagnostic unit is also used to acquire the target's attitude data and transmit the attitude data to the control unit 20. In this embodiment, the dual-backlight three-dimensional imaging device 41 acquires the target's attitude data.

[0061] The dual backlight sources of the dual backlight 3D imaging device 41 can be deployed in the X-axis and Y-axis directions to alternately illuminate the target. Two sets of backlight images are captured simultaneously by the high-speed camera of the dual backlight 3D imaging device 41. Then, the contour data of the target in the two projection directions are obtained by the image edge extraction algorithm. Based on the contour data, 3D reconstruction is performed to restore the spatial posture of the target.

[0062] Specifically, the dual-backlight 3D imaging device 41 can reconstruct the 3D point cloud data of the target based on the dual-projection contour data, extract features such as the bullseye and surface markers from the point cloud data, and then construct the local coordinate system of the target based on the point cloud features to calculate attitude angles such as pitch angle, yaw angle, and roll angle.

[0063] For example, the target is a spherical hollow target with multiple non-collinear marker points on its surface. Since the Z-coordinate of the same feature point is consistent in both projection directions, the two two-dimensional coordinates corresponding to the same feature point can be fused to obtain its three-dimensional coordinates. Then, with the target center as the center, a discrete point cloud is generated based on the target radius and the spherical contour equation. Next, with the target center as the origin, the coordinate axis directions are defined according to the geometric relationship of the feature points, and the coordinate axes of the local coordinate system are defined. Then, the transformation matrix between the local coordinate system and the global coordinate system is calculated. Finally, the rotation angle of the local coordinate system relative to the global coordinate system is calculated to obtain the attitude angle.

[0064] 2. Prediction phase from t0 to t1.

[0065] At time t0, after receiving the spatiotemporal data of the target pellet sent by the multi-node measurement network 31, the control unit 20 can input this spatiotemporal data of the target pellet into the LSTM model to obtain the predicted coordinates of the target pellet at time t3 output by the LSTM model. Specifically, the predicted coordinates are the predicted coordinates of the target pellet's center at time t3.

[0066] Here, t0 to t1 is the time it takes for the LSTM model to perform prediction calculations. After the control unit 20 obtains the output of the LSTM model, it enters the next stage.

[0067] Preferably, at time t0, the control unit 20 also receives target attitude data sent by the dual-backlight three-dimensional imaging device 41, and calculates the predicted attitude of the target at time t3 based on the attitude data and the LSTM model.

[0068] The LSTM model used to calculate the predicted pose and the LSTM model used to calculate the predicted coordinates can be the same model or two different models.

[0069] For example, the duration of the prediction phase is less than or equal to 10 milliseconds.

[0070] 3. Control phase from t1 to t2.

[0071] At time t1, the control unit 20 obtains the predicted coordinates output by the LSTM model. Then, the control unit 20 can calculate the aiming vector with the laser emitter as the starting point and the predicted coordinates as the ending point; then, it generates control commands to drive the adjustment mechanism of the laser emitter so that the initial optical axis of the laser emission is parallel to the aiming vector.

[0072] When the control unit 20 obtains the predicted attitude of the target, it can adjust the incident direction of the laser based on aiming at the target center, so that it is incident along the normal direction of the target center surface, so that the energy coupling efficiency between the laser beam and the target is maximized.

[0073] The control unit 20 can calculate the surface normal vector at the target center based on the predicted attitude angle of the target, and then calculate the deflection voltage based on the deviation angle between the surface normal vector and the aiming vector, and generate the corresponding voltage command to drive the piezoelectric fast reflector of the laser target instrument 11 to deflect, so that the laser incident direction is parallel to the surface normal vector.

[0074] Specifically, the surface normal vector can be obtained by transforming the Z-axis direction vector of the target's local coordinate system to the global coordinate system.

[0075] Understandably, the piezoelectric fast reflector has independent deflection capabilities in two degrees of freedom: pitch and yaw, and the deflection center coincides with the optical axis of the energy beam; when adjusting the laser incident direction through the piezoelectric fast reflector, it can maintain aiming at the predicted coordinates of the target center.

[0076] The duration of the control phase is the sum of the time it takes for the control unit 20 to generate control commands and the adjustment time of the laser target instrument 11. For example, the duration of the control phase is less than or equal to 15 milliseconds.

[0077] After the laser target instrument 11 is adjusted, the control unit 20 can issue a control command to the laser emitter to emit a laser beam at time t3, and issue a command to the dual-backlight three-dimensional imaging device to collect the actual coordinates and actual posture of the target at time t3.

[0078] It is understandable that the target is the predicted coordinate of the bullseye at time t3, and the laser emission time should take into account the lead. However, since the distance between the emission point and the target point is relatively large, the speed of the target is much smaller than the speed of light, so this lead can be ignored in practical applications.

[0079] 4. The triggering phase from t2 to t3.

[0080] The triggering phase is the buffer time between the completion of the adjustment of the laser target instrument 11 and the emission of the laser; time t3 is the moment when the laser is emitted and the laser beam interacts with the target. The time accuracy from emission to interaction is less than or equal to 1 microsecond.

[0081] At time t3, the dual-backlight 3D imaging device 41 simultaneously acquires the actual coordinates and actual attitude of the target pellet. The specific acquisition method is similar to the working principle of the dual-backlight 3D imaging device 41 in the sensing phase, and will not be described in detail here.

[0082] It should be noted that the coordinate acquisition advantage of the dual-backlight 3D imaging device 41 lies in its high precision, but it is lacking in real-time, dynamic trajectory tracking performance. Therefore, the multi-node measurement network 31 is not a redundant setting.

[0083] 5. Verification phase from t3 to t4.

[0084] After obtaining the actual coordinates and actual attitude of the target at time t3, the dual-backlight three-dimensional imaging device 41 can calculate the position coupling deviation based on the actual coordinates and the predicted coordinates, and calculate the angle coupling deviation based on the actual attitude and the predicted attitude.

[0085] Among them, the dual-backlight three-dimensional imaging device 41 can first calculate the deviation between the actual coordinates and the predicted coordinates on different axes. , and Then calculate The total spatial position deviation is obtained as the position coupling deviation. This position coupling deviation represents the spatial offset between the preset target point of the laser beam and the actual target center of the target pellet, and determines the aiming correction amount of the laser emitter.

[0086] The dual-backlight 3D imaging device 41 can calculate the actual surface normal vector of the target center at time t3 based on the actual attitude. Then, it calculates the dot product and magnitude of the actual surface normal vector and the aiming vector. Substituting the dot product and magnitude into the angle formula, it calculates the angular coupling deviation. This angular coupling deviation represents the angle between the incident direction of the laser beam and the normal of the target center surface, and determines the amount of deflection angle adjustment of the piezoelectric fast reflector.

[0087] The duration of the verification phase is the time taken for the dual-backlight 3D imaging device 41 to calculate the coupling deviation. For example, the duration of the verification phase is less than or equal to 5 milliseconds.

[0088] After calculating the coupling deviation, the dual-backlight 3D imaging device 41 transmits the coupling deviation to the control unit 20.

[0089] 6. Optimization phase from t4 to t5.

[0090] During the optimization phase, the control unit 20 packages the coupling deviation, spatiotemporal data of the target, predicted coordinates and predicted attitude of the target, and control parameters of the laser target shooting instrument 11 obtained in the aforementioned steps into the target shooting data of a single target shooting mission, and uploads it to the cloud server 50. The cloud server 50 will optimize the model parameters of the LSTM model and the control parameters of the laser target shooting instrument based on the target shooting data.

[0091] Specifically, the cloud server 50 can iteratively optimize the model parameters and control parameters based on historical multiple firing data. Specifically, the cloud server 50 can first calculate the reward value of the reinforcement learning model based on coupling bias, and then fine-tune the model parameters based on this reward value; then, it integrates the firing data into a state vector input to the adjusted reinforcement learning model agent, obtaining the model parameter adjustment amount and control parameter adjustment amount output by the agent; and finally, it calculates the optimized model parameters and optimized control parameters based on these adjustment amounts.

[0092] Specifically, the control parameters include the unit voltage adjustment of the piezoelectric fast reflector in the pitch and yaw degrees of freedom, as well as the laser emission lead.

[0093] Then, the cloud server 50 sends the optimized model parameters and control parameters to the control unit 20; the control unit 20 updates the LSTM model based on the optimized model parameters and updates the control strategy for the laser target instrument 11 based on the optimized control parameters.

[0094] In this embodiment, through the collaborative sensing of the three-dimensional measurement unit and the beam-target coupling accuracy diagnosis unit, combined with the multi-stage linkage of measurement, prediction, control, and diagnosis, errors caused by nonlinear disturbances and random interference are corrected in real time, ensuring that the target shooting accuracy is not affected by complex working conditions. At the same time, based on the dynamic optimization model of each target shooting data, the control strategy can be continuously iteratively optimized, so that the accuracy of the high-precision target shooting instrument can be continuously improved with the running time. This effectively solves the problems of poor fault tolerance and long-term accuracy instability of traditional control methods, and realizes continuous optimization and long-term stability of accuracy, meeting the accuracy requirements of high-precision target shooting instruments for long-term operation.

[0095] The system portion of the embodiments of this application has been described above. The method portion of the embodiments of this application will be described below.

[0096] Based on the above system architecture, please refer to Figure 4 , Figure 4 A flowchart illustrating a precision optimization method for a high-precision target shooting instrument provided in this application embodiment is shown below. Figure 4 As shown, the method includes: Step 401: The three-dimensional measurement unit collects the spatiotemporal data of the target pellet.

[0097] Step 402: The control unit calculates the predicted coordinates of the target at future moments based on the spatiotemporal data and prediction model.

[0098] Step 403: Based on the predicted coordinates, the control unit drives the high-precision target instrument to emit an energy beam toward the predicted coordinates.

[0099] Step 404: The beam-target coupling accuracy diagnostic unit measures the coupling deviation between the energy beam and the target at that future moment.

[0100] Step 405: The control unit sends the coupling deviation to the cloud server.

[0101] Step 406: The cloud server optimizes the model parameters of the prediction model and / or the control parameters driving the high-precision target shooting instrument based on the coupling deviation, and sends the optimized model parameters and / or optimized control parameters to the control unit.

[0102] Step 407: The control unit updates the prediction model based on the optimized model parameters, and / or updates the control strategy for the high-precision target shooting instrument based on the optimized control parameters.

[0103] The accuracy optimization method for the high-precision target shooting instrument provided in this application embodiment can be understood by referring to the relevant content in the foregoing system embodiment section, and will not be repeated here.

[0104] Those skilled in the art will recognize that the units of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the invention.

[0105] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0106] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0107] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0108] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0109] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or 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, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0110] 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A precision optimization system for a high-precision target shooting instrument, characterized in that, The system includes a high-precision target shooting instrument, a control unit, a three-dimensional measurement unit, a beam-target coupling accuracy diagnostic unit, and a cloud server; the control unit is connected to the high-precision target shooting instrument, the three-dimensional measurement unit, the beam-target coupling accuracy diagnostic unit, and the cloud server, respectively. The three-dimensional measurement unit is used to collect spatiotemporal data of the target pellet; The control unit is used to calculate the predicted coordinates of the target at future times based on the spatiotemporal data and the prediction model. The control unit is also used to drive the high-precision target shooting instrument to emit an energy beam toward the predicted coordinates based on the predicted coordinates; The beam-target coupling accuracy diagnostic unit is used to measure the coupling deviation between the energy beam and the target pellet at the future time. The control unit is also used to send the coupling deviation to the cloud server; The cloud server is used to optimize the model parameters of the prediction model and / or the control parameters of the high-precision target shooting instrument based on the coupling deviation, and to send the optimized model parameters and / or optimized control parameters to the control unit. The control unit is also used to update the prediction model based on the optimized model parameters, and / or to update the control strategy for the high-precision target shooting instrument based on the optimized control parameters.

2. The system according to claim 1, characterized in that, The coupling deviation includes positional coupling deviation and angular coupling deviation; the beam-target coupling accuracy diagnostic unit is also used to collect the attitude data of the target pellet; the control unit is also used to calculate the predicted attitude of the target pellet at the future time based on the attitude data and the prediction model, and drive the high-precision target-shooting instrument to emit an energy beam toward the predicted coordinates based on the predicted coordinates and the predicted attitude. The beam-target coupling accuracy diagnostic unit is specifically used to measure the positional coupling deviation and angular coupling deviation between the energy beam and the target at the future time.

3. The system according to claim 2, characterized in that, The beam-target coupling accuracy diagnostic unit is specifically used to measure the positional coupling deviation between the actual coordinates and the predicted coordinates of the target at the future time.

4. The system according to claim 1, characterized in that, The control unit is specifically used to send the coupling deviation, the spatiotemporal data, the predicted coordinates, and the control parameters for driving the high-precision target shooting instrument to the cloud server. The cloud server optimizes the model parameters of the prediction model and the control parameters of the high-precision shooting instrument based on the coupling deviation, the spatiotemporal data, the predicted coordinates, and the control parameters driving the high-precision shooting instrument.

5. The system according to any one of claims 1-4, characterized in that, The high-precision target shooting instrument includes a laser target shooting instrument.

6. The system according to any one of claims 1-4, characterized in that, The three-dimensional measurement unit includes a target trajectory measurement device based on a multi-node orthogonal light curtain.

7. The system according to any one of claims 1-4, characterized in that, The beam-target coupling accuracy diagnostic unit includes a beam-target coupling accuracy diagnostic device based on dual-backlight three-dimensional imaging.

8. The system according to any one of claims 1-4, characterized in that, The prediction model is a Long Short-Term Memory (LSTM) model.

9. The system according to any one of claims 1-4, characterized in that, The cloud server optimizes the model parameters of the prediction model and / or the control parameters driving the high-precision target shooting instrument based on the coupling bias using reinforcement learning or deep learning algorithms.

10. A method for optimizing the accuracy of a high-precision target shooting instrument, characterized in that, Applied to the system according to any one of claims 1-9, the method comprises: The three-dimensional measurement unit acquires spatiotemporal data of the target pellet; Based on the spatiotemporal data and prediction model, the control unit calculates the predicted coordinates of the target at future moments; Based on the predicted coordinates, the control unit drives the high-precision target shooting instrument to emit an energy beam toward the predicted coordinates; The beam-target coupling accuracy diagnostic unit measures the coupling deviation between the energy beam and the target pellet at the future time. The control unit sends the coupling deviation to the cloud server; The cloud server optimizes the model parameters of the prediction model and / or the control parameters driving the high-precision target shooting instrument based on the coupling deviation, and sends the optimized model parameters and / or optimized control parameters to the control unit. The control unit updates the prediction model based on the optimized model parameters, and / or updates the control strategy for the high-precision target shooting instrument based on the optimized control parameters.

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