CN113358332B - Dynamic imaging telescope performance detection device and method - Google Patents
Dynamic imaging telescope performance detection device and method Download PDFInfo
- Publication number
- CN113358332B CN113358332B CN202110798442.5A CN202110798442A CN113358332B CN 113358332 B CN113358332 B CN 113358332B CN 202110798442 A CN202110798442 A CN 202110798442A CN 113358332 B CN113358332 B CN 113358332B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- joint
- light beam
- telescope
- collimator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
Landscapes
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the field of telescope detection, in particular to a device and a method for detecting the performance of a dynamic imaging telescope, wherein the device comprises: the laser is used for emitting laser beams from the intersection of the beam emitting point and the optical axis, the pitch axis and the azimuth axis of the telescope; one end of the collimator is connected with the mechanical arm, the other end of the collimator is an exit port, laser beams are adjusted to emit from different positions by adjusting the mechanical arm, and the laser beams are guaranteed to reach the intersection of the optical axis, the pitch axis and the azimuth axis; the light source is arranged at one end, connected with the mechanical arm, in the collimator and used for emitting parallel light beams from the collimator; and closing the laser beam, starting a preset light source, and moving the light source according to the motion track to obtain the simulated motion track of the target to be measured. The invention can make the collimator of the dynamic target enter the telescope at any time, and flexibly simulate the motion tracks of different moving targets, so as to facilitate the detection of the telescope.
Description
Technical Field
The invention relates to the field of telescope detection, in particular to a device and a method for detecting the performance of a dynamic imaging telescope.
Background
The imaging quality and tracking performance detection of a large telescope are important indexes for evaluating the telescope, and at present, two detection methods, namely outdoor detection and indoor detection, are mainly adopted.
The outdoor detection method generally adopts a telescope to detect an observation target, and uses airplanes, missiles and stars as the observation target to acquire images, and judges the observation capability of the telescope according to the image quality. However, the telescope needs to be moved outdoors and a suitable target needs to be found, and particularly when the telescope is large, the telescope not only needs to consume large manpower and material resources, but also is influenced by external factors such as weather.
Indoor detection usually adopts dynamic targets for measurement, currently, single-degree-of-freedom targets, double-shaft rotating targets and three-degree-of-freedom targets are mainly adopted, a collimator is mainly adopted to be installed on a platform which moves in one dimension, two dimensions or three dimensions, the platform is rotated by a resolving method to simulate the motion of the dynamic targets, and then the targets are imaged at a telescope to test the quality and the tracking performance of an optical telescope; in addition, if a plurality of telescopes are detected simultaneously, the telescopes need to be moved to the detected positions, or the detection device needs to be moved to the front of the telescopes, and if the telescopes are large and are a plurality of telescopes, large manpower and material resources are consumed.
Disclosure of Invention
The embodiment of the invention provides a dynamic imaging telescope performance detection device and method, which can ensure that a collimator of a dynamic target can enter a telescope at any time, flexibly simulate the motion tracks of different moving targets and facilitate the detection of the telescope.
According to an embodiment of the present invention, there is provided a dynamic imaging telescope performance detection apparatus, including:
the laser is arranged at one end of an exit port in the parallel light pipe and used for emitting laser beams from a beam emitting point to the intersection of the optical axis, the pitching axis and the azimuth axis of the telescope;
one end of the collimator is connected with the mechanical arm, the other end of the collimator is an exit port, laser beams are adjusted to emit from different positions by adjusting the mechanical arm, and the laser beams are guaranteed to reach the intersection of the optical axis, the pitch axis and the azimuth axis;
the light source is arranged at one end, connected with the mechanical arm, in the collimator and used for emitting parallel light beams from the collimator;
after the movement track of the reference emission point of the light beam is calculated, the laser beam is closed, a preset light source is started, and the light source moves according to the movement track to obtain the simulated movement track of the target to be measured.
Further, the device further comprises an objective lens, wherein the objective lens is arranged between the light source and the laser; the light source emits light to generate parallel light through the objective lens.
Furthermore, the device also comprises a control module, and the control module controls the on/off and the brightness of the light source.
Further, the mechanical arm comprises a base and a joint arm arranged on the base, and the position or the motion track of the light source is adjusted by adjusting the joint arm.
Further, the articulated arm is provided in multiple segments.
Further, the articulated arm comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint; the connection point of the base and the first joint is Axis1, the connection point of the second joint and the third joint is Axis2, the connection point of the third joint and the fourth joint is Axis3, the connection point of the fourth joint and the fifth joint is Axis4, the connection point of the fourth joint and the fifth joint is Axis5, and the connection point of the fifth joint and the collimator is Axis 6;
establishing a coordinate system to calculate the motion track of the mechanical arm, wherein the coordinate system of the connection points of Axis1, Axis2, Axis3, Axis4, Axis5 and Axis6 is correspondingly set to be T1, T2, T3, T4, T5 and T6; the coordinate system of the base is G1.
Furthermore, the device also comprises a mechanical arm controller and a shaft driver, wherein the shaft driver is used for driving the joint arm to move, and the mechanical arm controller is used for controlling the movement track of the joint arm.
Further, the connections of Axis1, Axis2, Axis3, Axis4, Axis5 and Axis6 are all shaft connections.
Further, the apparatus also includes a reticle for the parallel light beam of the light source to pass through.
A dynamic imaging telescope performance detection method comprises the following steps:
emitting laser beams from the intersection of the beam emitting point and the optical axis, the pitch axis and the azimuth axis of the telescope;
adjusting laser beams to emit laser beams from different positions and ensuring that the laser beams reach the intersection of the optical axis, the pitch axis and the azimuth axis;
resolving a light beam control coordinate system at the intersection to obtain a relation between the light beam control coordinate system and a light beam emission coordinate system of a light beam emission point;
obtaining a coordinate conversion relation of a motion track between a light beam emission point and the light beam control point based on the relation between the light beam control coordinate system and the light beam emission coordinate system;
obtaining a motion trail plan of a light beam emitting point based on the coordinate conversion relation;
carrying out inverse solution on the motion trail plan to obtain the motion trail of the beam reference emission point;
and closing the laser beam, starting a preset light source, and moving the light source according to the motion track to obtain the simulated motion track of the target to be measured.
The invention discloses a device and a method for detecting the performance of a dynamic imaging telescope, wherein the device comprises: the laser is arranged at one end of an exit port in the parallel light pipe and used for emitting laser beams from a beam emitting point to the intersection of the optical axis, the pitching axis and the azimuth axis of the telescope; one end of the collimator is connected with the mechanical arm, the other end of the collimator is an exit port, laser beams are adjusted to emit from different positions by adjusting the mechanical arm, and the laser beams are guaranteed to reach the intersection of the optical axis, the pitch axis and the azimuth axis; the light source is arranged at one end, connected with the mechanical arm, in the collimator and used for emitting parallel light beams from the collimator; after the movement track of the reference emission point of the light beam is calculated, the laser beam is closed, a preset light source is started, and the light source moves according to the movement track to obtain the simulated movement track of the target to be measured. The invention can make the collimator of the dynamic target enter the telescope at any time, and flexibly simulate the motion tracks of different moving targets, so as to facilitate the detection of the telescope.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a dynamic imaging telescope performance detection device according to the present invention;
FIG. 2 is a diagram of coordinate systems of the apparatus for detecting performance of a dynamic imaging telescope according to the present invention;
FIG. 3 is a schematic diagram of the motion trajectory generation of the dynamic imaging telescope performance detection apparatus according to the present invention;
FIG. 4 is a coordinate system transformation diagram of the performance testing device of the dynamic imaging telescope of the present invention;
FIG. 5 is a flow chart of the method for detecting the performance of the dynamic imaging telescope according to the present invention;
reference numerals: 1-laser, 2-mechanical arm, 201-base, 202-joint arm, 3-collimator, 4-light source, 5-primary mirror, 6-pitch axis, 7-azimuth axis, 8-objective, 9-reticle, 10-parallel beam, 11-axis driver, 12-mechanical arm driver, L1-beam emission coordinate system, L2-beam control coordinate system, R1-beam reference coordinate system, G1-base coordinate system, G2-telescope coordinate system, E1-geodetic coordinate system.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
As shown in fig. 1 to 4, according to an embodiment of the present invention, there is provided a dynamic imaging telescope performance detection apparatus, including:
the laser device 1 is arranged at one end of an exit port in the collimator 3 and used for emitting laser beams from a beam emitting point to the intersection of an optical axis of the telescope, the pitching axis6 and the azimuth axis 7;
one end of the collimator 3 is connected with the mechanical arm 2, the other end of the collimator is an exit port, laser beams are adjusted to emit from different positions by adjusting the mechanical arm 2, and the laser beams are guaranteed to reach the intersection of the optical axis, the pitch axis6 and the azimuth axis 7;
the light source 4 is arranged at one end of the collimator 3 connected with the mechanical arm 2 and used for emitting parallel light beams 10 from the collimator 3;
after the movement track of the reference emission point of the light beam is calculated, the laser beam is closed, the preset light source 4 is started, and the light source 4 moves according to the movement track to obtain the simulated movement track of the target to be measured.
The invention discloses a device and a method for detecting the performance of a dynamic imaging telescope, wherein the device comprises: the laser device 1 is arranged at one end of an exit port in the collimator 3 and used for emitting laser beams from a beam emitting point to the intersection of an optical axis of the telescope, the pitching axis6 and the azimuth axis 7; one end of the collimator 3 is connected with the mechanical arm 2, the other end of the collimator is an exit port, laser beams are adjusted to emit from different positions by adjusting the mechanical arm 2, and the laser beams are guaranteed to reach the intersection of the optical axis, the pitch axis6 and the azimuth axis 7; the light source 4 is arranged at one end of the collimator 3 connected with the mechanical arm 2 and used for emitting parallel light beams 10 from the collimator 3; after the movement track of the reference emission point of the light beam is calculated, the laser beam is closed, the preset light source 4 is started, and the light source 4 moves according to the movement track to obtain the simulated movement track of the target to be measured. The invention can make the collimator 3 of the dynamic target enter the telescope at any time, and flexibly simulate the motion tracks of different moving targets, so as to facilitate the detection of the telescope.
The invention provides a dynamic target testing device and a method adopting a six-degree-of-freedom mechanical arm 2, which aims to solve the problem that large-scale telescopes and a plurality of tested telescopes need to consume large manpower and material resources, ensure that the telescopes and a detection device do not need to be moved when the plurality of telescopes are detected, and do not need to specially design a set of motion device.
In an embodiment, the device further comprises an objective lens 8, the objective lens 8 being arranged between the light source 4 and the laser 1; the light source 4 emits light to generate parallel light through the objective lens 8.
As shown in figure 1, a collimator 3 is arranged at the tail end of a mechanical arm 2 to generate a parallel light beam 10 and simulate a moving target, a laser 1 is arranged at the center of the collimator 3 to serve as a light beam guide device of the collimator 3, a controller of the mechanical arm 2 is used for carrying out motion programming on the mechanical arm 2 to generate a simulated motion track, so that the mechanical arm 2 can drive the parallel light beam 10 into a primary mirror 5 of a telescope all the time, and imaging on an imaging detector at the rear end of the telescope is guaranteed.
The collimator 3 adopts a light source 4 arranged behind a reticle 9, and passes through an objective 8, so that the light source 4 arranged at a focus generates a parallel light beam 10 through the objective 8, and the light source 4 and the objective 8 which transmit different spectral bands can be selected according to the imaging type of the telescope detector.
In an embodiment, the apparatus further includes a control module, and the control module controls the light source 4 to be turned on, turned off, and brightened.
The light source 4 has a timing programming switch function and a brightness adjusting function, and the control module controls the switch of the light source 4 and adjusts the brightness of the light source 4; the control module is turned on and off, so that the working condition when the target moves and is shielded by the barrier can be realized, and the working condition when the target is weakened or darkened can be simulated by adjusting the brightness of the light source 4.
In an embodiment, the robot arm 2 includes a base 201 and an articulated arm 202 mounted on the base 201, and the position or the motion track of the light source 4 is adjusted by adjusting the articulated arm 202. The mechanical arm 2 comprises a base 201 and an articulated arm 202, and the position of the light source 4 is changed by adjusting the position of the articulated arm 202 during the test process so as to realize the emission of the parallel light beams 10 at different positions.
In an embodiment, the articulated arm 202 is provided in multiple segments. The articulated arm 202 is provided in multiple sections so as to flexibly adjust the mechanical arm 2; in this embodiment, the articulated arm 202 is provided in five segments.
In an embodiment, the articulated arm 202 includes a first joint, a second joint, a third joint, a fourth joint, and a fifth joint; the connection point of the base 201 and the first joint is Axis1, the connection point of the second joint and the third joint is Axis2, the connection point of the third joint and the fourth joint is Axis3, the connection point of the fourth joint and the fifth joint is Axis4, the connection point of the fourth joint and the fifth joint is Axis5, and the connection point of the fifth joint and the collimator 3 is Axis 6; establishing a coordinate system to calculate the motion track of the mechanical arm 2, and correspondingly setting the coordinate systems of the connection points of Axis1, Axis2, Axis3, Axis4, Axis5 and Axis6 as T1, T2, T3, T4, T5 and T6; the coordinate system of the base 201 is a base coordinate system G1.
In an embodiment, the apparatus further comprises a mechanical arm controller 12 and a shaft driver 11, wherein the shaft driver 11 is used for driving the movement of the joint arm 202, and the mechanical arm controller 12 is used for controlling the movement track of the joint arm 202.
In the embodiment, the connections of Axis1, Axis2, Axis3, Axis4, Axis5 and Axis6 are all shaft connections.
In an embodiment, the apparatus further comprises a reticle 9 for the parallel light beam 10 of the light source 4 to pass through.
The overall working principle of the invention is as follows:
in order to enable the target simulated by the mechanical arm 2 to be always in the view field of the telescope, the light beam emitted by the collimator 3 needs to be overlapped with the intersection point of the telescope pitch axis6 and the telescope azimuth axis 7, but the intersection point is inconvenient to find because the collimator 3 emits a beam of light, and therefore a laser 1 is arranged above the collimator 3 and used for initially calibrating the direction of the light beam emitted by the collimator 3. The method specifically comprises the following steps:
1) firstly, the collimator 3 is closed, the laser 1 is opened, the laser 1 emits laser beams, the emitting direction of the laser beams is adjusted, and the emitted laser beams can reach the intersection point of the optical axis of the telescope, the pitch axis6 and the azimuth axis 7.
2) The position of the mechanical arm 2 is adjusted, the laser 1 is moved to different position points, and laser beams are emitted for multiple times, so that the laser beams can reach the intersection point of the optical axis, the pitching axis6 and the azimuth axis 7.
3) Resolving a light beam control coordinate system L2 at the intersection point to obtain a relation between a light beam control coordinate system L2 and a light beam emission coordinate system L1; the transformation matrix of both is determined.
4) Obtaining a coordinate conversion relation of a motion track between a light beam emitting point and a light beam control point, and calculating the speed and position track planning of a target track according to requirements; and realizing the track planning movement of the light beam emitting point of the mechanical arm 2 according to the coordinate conversion.
5) Performing inverse solution on the position trajectory plan to obtain the rotation amount and the translation motion amount of each axis of the mechanical arm 2; to achieve the beam reference emitted trajectory motion.
6) Closing the laser 1, opening the collimator 3, moving according to the track, and realizing the motion track of the collimator 3 at the tail end of the mechanical arm 2 through coordinate transformation; so as to realize the simulated motion trail of the target to be measured.
In order to make the simulated target track of the mechanical arm 2 always drive the parallel light beam 10 into different positions, in the fields of view of different types of telescopes, the target point and the motion track of the three-dimensional physical space of the mechanical arm 2 need to be planned, and then the track planning needs to be established in a reference coordinate system through the mechanical arm controller 12. Where the mounting coordinates of the robot arm 2 and the mounting coordinates of the telescope are known with respect to the geodetic coordinates, both can be described by establishing a corresponding coordinate system.
The intersection point of the optical axis, the azimuth axis 7 of the telescope and the pitch axis6, namely the point to which the light beam needs to be directed, when the mechanical arm 2 runs, the target position and the motion track can be described by adopting a rectangular coordinate system, the space coordinate conversion relation between the mechanical arm 2 and the telescope is established, and the motion track of the mechanical arm 2 can be determined according to the motion characteristic of the target. Then, after solving through inverse kinematics, the rotation and the swing angle of the joint shaft are converted, and then the rotation and the swing angle are compounded through multi-shaft joint motion to form the joint. The coordinate system used in the present invention is shown in fig. 2, and the coordinate systems T1, T2, T3, T4, T5 and T6 correspond to the joints of the robot arm 2. The robot 2 comprises a base coordinate system G1, a geodetic coordinate system E1, a beam reference coordinate system R1, a telescope base coordinate system G2 and a beam control coordinate system L2; where Axis1, Axis2, Axis3, Axis4, Axis5 and Axis6 are the locations of each Axis in the joint coordinate system.
According to the dynamic target generation principle of simulated target detection, the position when the mechanical arm 2 runs and the motion trail are all for the light beam control point, in order to ensure that the laser beam emitted when the mechanical arm 2 moves can act on the intersection point of the telescope azimuth axis 7 and the pitching point, the light spot of the laser on the telescope can be used as the light beam control point, the motion trail programming is carried out on the light beam control point, when the mechanical arm 2 moves, the laser beam can be always at the intersection point of the telescope pitching axis6 and the azimuth axis 7, and then the position and the angle amount of each axis of the mechanical arm 2 which needs to move are calculated through a reverse solution method.
The implementation method is as shown in fig. 3, firstly, a light beam emitted by a laser beam is emitted to an intersection point of a telescope azimuth axis 7, a pitch axis6 and an optical axis, then the light beam emitted by a laser 1 is controlled to make a spherical motion by taking the intersection point as a circle center, at the moment, the distance between the center of the laser 1 and the intersection point is a radius rho, and then different points are taken to make the laser 1 make a spherical motion by taking the intersection point as the circle center and the radius rho as a sphere; for example, point 1, point 2, point 3, and point 4 in fig. 3 are taken as different points. When the motion track of the light beam emitting point is a perfect circle, the function is consistent with that of the traditional two-dimensional rotating target, but the track of the light beam emitting point can move at any point on the sphere, so that the function of the traditional target is included. To determine the position and trajectory of this beam spot three-dimensional spatial motion, an inverse kinematics solution is required, synthesized by the gyrating motion of a plurality of joint axes. The point of intersection where the light beams strike is set as a light beam control coordinate system L2, and the light beam control coordinate system L2 is a coordinate system rotated in accordance with the offset of the light beam emission coordinate system L1. The beam emission coordinate system L1 is realized by directly translating the Z axis of the beam reference coordinate system R1, and other postures are not changed. The conversion can be performed directly using the light beam emission coordinate system L1.
The beam emission coordinate system L1 is expressed as:
let us note that the coordinate system at each joint of the robot arm 2 is T1, T2, T3, T4, T5 and T6, respectively, where the beam reference coordinate system R1 coincides with the coordinate system T6 and the T1 coordinate system coincides with the robot arm 2 base coordinate system G1. And the coordinate transformation of the beam control coordinate system L2 with respect to the robot arm 2 base coordinate system G1 can be expressed as:
G1FL2＝G1FR1 R1FL1 L1FL2＝G1FL1 L1FL2＝G1FR1 R1FL2＝G1FT6 T6FL2
in one measurement, the design size and installation position of a telescope are fixed, and the transformation of the beam control coordinate system L2 relative to the telescope base coordinate system G2 is performedG2FL2。
The beam emission reference coordinate system L1 of the robot arm 2 with respect to the base coordinate system G1 of the robot arm 2 can be expressed as follows:
G1FL1＝T1FT6 T6FL1＝T1FT2 T2FT3 T3FT4 T5FT6 T6FL1
then the beam steering coordinate system L2 is known as:
G1FL2＝T1FT2 T2FT3 T3FT4 T4FT5 T5FT6 T6FL1 L1FL2＝G1FT6 T6FL1 L1FL2＝G1FL1 L1FL2＝G1FT6 T6FL2
because the light beam is required to reach the intersection point P of the telescope all the time to ensure that the light beam can enter the center of the field of view, the light beam emission coordinate system L1 and the light beam reference coordinate system R1 which represent the target track are unchanged relative to the base coordinate system G1 and the light beam control coordinate system L2 of the mechanical arm 2 relative to the base coordinate system G1, and therefore, the coordinate transformation and invariance principle can be adopted.
WhereinG1ML2iA rotation matrix representing the beam control coordinate system L2 with respect to the robot 2 base coordinate system G1 at the ith movement;G1HL2ia translation matrix representing the beam steering coordinate system L2 relative to the robot 2 base coordinate system G1 at the i-th motion;T6ML2iindicating the rotation matrix of the beam control coordinate system L2 with respect to the beam reference coordinate system R1 at the i-th movement,T6HL2iis a translation matrix representing the beam steering coordinate system L2 relative to the robot 2 base coordinate system G1 at the i-th motion;G1MT6ithe reference coordinate system R1 is referenced to a translation matrix of the beam relative to the robot arm 2 base coordinate system G1.
For n measurements, since the left and right sides of the formula are the same, the following formula can be obtained:
the method specifically comprises the following steps:
the above can also be written as:
the least squares solution is found to be:
that is:
through a plurality of iterative calculations, a displacement transformation matrix of the beam steering coordinate system L2 with respect to the beam reference coordinate system R1 can be obtained. The attitude of the beam reference coordinate system R1 is adopted for the attitude of the beam control coordinate system L2. At this time, the control posture of the beam control coordinate system L2 with respect to the robot arm 2 base coordinate system G1 can be obtained. The position of the beam steering coordinate system L2 relative to the beam reference coordinate system R1 can be obtained. The movement of the beam emission coordinate system L1 may be translated directly in the Z direction by moving the position at the beam reference coordinate system R1. The relation between the light beam control coordinate system L2 and the light beam reference coordinate system R1 and the light beam emission coordinate system L1 is obtained, the angle of each axis needing to be rotated can be solved through inverse kinematics solution, and then the three-dimensional coordinate motion trail of the final light beam emission coordinate system is synthesized.
In order to realize the three-dimensional coordinate programming in the light beam emission coordinate system L1 and simulate the movement track planning of the position and the speed of a specific moving target, the relation between the light beam emission coordinate system L1 and the movement track of the specific target needs to be transformed by the coordinate system for planning. Specifically, the coordinate transformation relationship is shown in fig. 4.
The transformation relationship of the coordinate system is shown in fig. 4, where P represents the coordinates of the beam control point, and O represents the position coordinates of the beam emitting point, i.e., the position of the target motion trajectory. Knowing that the distance between the two points is rho, if the included angle phi between the target motion track and the Z axis is to be obtained and the included angle theta between the target motion track and the X axis is to be obtained, the corresponding coordinates corresponding to the light beam emission points can be designed to be X, Y and Z according to the target motion characteristics. Wherein the content of the first and second substances,
x＝ρsinθcosφ
y＝ρsinθsinφ
z＝ρcosθ
assuming that the position is moved to phi ' and theta ' after the time t elapses, the corresponding x ' ═ ρ sin theta ' cos phi '
y'＝ρsinθ'sinφ'
z'＝ρcosθ'
Thus aiming at the position change of [ theta '-theta, phi' -phi]The speed is changed into
The position change of the corresponding three coordinates is:
the velocity variation for the three coordinates is:
therefore, the motion path of the collimator 3 at the tail end of the mechanical arm 2 can be planned only by giving the theta and phi values required by the track of the target to be simulated at different moments.
In addition, the collimator 3 at the end of the robot arm 2, i.e. the initial coordinates of the simulated target trajectory, are x, y, z,
after a time t, the collimator 3 at the end of the robot arm 2 moves to simulate the coordinates x ', y ', z ' of the target trajectory.
When the mechanical arm 2 moves, the motion trail position of the simulation target changes as follows:
the speed of the simulated target is:
therefore, when the collimator 3 at the tail end of the mechanical arm 2 moves along the motion paths of different coordinate values x, y and z at different times, the motion trail of the simulation target can be calculated. The coordinate values of the different emission coordinates of the tail end of the mechanical arm 2 can be calculated through inverse kinematics, the angle of the mechanical arm 2, which needs to move, of each axis is calculated, the change of the tail end coordinates of the mechanical arm 2 is realized through rotating the angle values of six axes, and finally, the continuous planning and movement of the movement track are realized.
Example 2
As shown in fig. 1 to 5, according to another embodiment of the present invention, there is provided a method for detecting performance of a dynamic imaging telescope, including the steps of:
s101, emitting laser beams from the intersection of the beam emitting points of the telescope optical axis, the pitch axis and the azimuth axis;
s102, adjusting laser beams to emit the laser beams from different positions and ensuring that the laser beams reach the intersection of the optical axis, the pitch axis and the azimuth axis;
s103, resolving a light beam control coordinate system at the intersection to obtain a relation between the light beam control coordinate system and a light beam emission coordinate system of a light beam emission point;
s104, obtaining a coordinate conversion relation of a motion track between the light beam emitting point and the light beam control point based on the relation between the light beam control coordinate system and the light beam emitting coordinate system;
s105, obtaining a motion trail plan of the light beam emitting point based on the coordinate conversion relation;
s106, performing inverse solution on the motion trail plan to obtain the motion trail of the beam reference emission point;
and S107, turning off the laser beam, turning on a preset light source, and moving the light source according to the motion track to obtain the simulated motion track of the target to be measured.
The dynamic imaging telescope performance detection method in the embodiment of the invention comprises the steps of emitting laser beams from the intersection of a beam emission point on the optical axis, the pitch axis and the azimuth axis of the telescope; adjusting laser beams to emit laser beams from different positions and ensuring that the laser beams reach the intersection of the optical axis, the pitch axis and the azimuth axis; resolving a light beam control coordinate system at the intersection to obtain a relation between the light beam control coordinate system and a light beam emission coordinate system of a light beam emission point; obtaining a coordinate conversion relation of a motion track between a light beam emission point and the light beam control point based on the relation between the light beam control coordinate system and the light beam emission coordinate system; obtaining a motion trail plan of a light beam emitting point based on the coordinate conversion relation; carrying out inverse solution on the motion trail plan to obtain the motion trail of the beam reference emission point; and closing the laser beam, starting a preset light source, and moving the light source according to the motion track to obtain the simulated motion track of the target to be measured. The invention can make the collimator of the dynamic target enter the telescope at any time, and flexibly simulate the motion tracks of different moving targets, so as to facilitate the detection of the telescope.
The overall working principle of the invention is as follows:
in order to enable the target simulated by the mechanical arm 2 to be always in the view field of the telescope, the light beam emitted by the collimator 3 needs to be overlapped with the intersection point of the telescope pitch axis6 and the telescope azimuth axis 7, but the intersection point is inconvenient to find because the collimator 3 emits a beam of light, and therefore a laser 1 is arranged above the collimator 3 and used for initially calibrating the direction of the light beam emitted by the collimator 3. In particular to
1) Firstly, the collimator 3 is closed, the laser 1 is opened, the laser 1 emits laser beams, the emitting direction of the laser beams is adjusted, and the emitted laser beams can reach the intersection point of the optical axis of the telescope, the pitch axis6 and the azimuth axis 7.
2) The position of the mechanical arm 2 is adjusted, the laser 1 is moved to different position points, and laser beams are emitted for multiple times, so that the laser beams can reach the intersection point of the optical axis, the pitching axis6 and the azimuth axis 7.
3) Resolving a light beam control coordinate system L2 at the intersection point to obtain a relation between a light beam control coordinate system L2 and a light beam emission coordinate system L1; the transformation matrix of both is determined.
4) Obtaining a coordinate conversion relation of a motion track between a light beam emitting point and a light beam control point, and calculating the speed and position track planning of a target track according to requirements; and realizing the track planning movement of the light beam emitting point of the mechanical arm 2 according to the coordinate conversion.
5) Performing inverse solution on the position trajectory plan to obtain the rotation amount and the translation motion amount of each axis of the mechanical arm 2; to achieve the beam reference emitted trajectory motion.
6) Closing the laser 1, opening the collimator 3, moving according to the track, and realizing the motion track of the collimator 3 at the tail end of the mechanical arm 2 through coordinate transformation; so as to realize the simulated motion trail of the target to be measured.
In order to make the simulated target track of the mechanical arm 2 always drive the parallel light beam 10 into different positions, in the fields of view of different types of telescopes, the target point and the motion track of the three-dimensional physical space of the mechanical arm 2 need to be planned, and then the track planning needs to be established in a reference coordinate system through the mechanical arm controller 12. Where the mounting coordinates of the robot arm 2 and the mounting coordinates of the telescope are known with respect to the geodetic coordinates, both can be described by establishing a corresponding coordinate system.
The intersection point of the optical axis, the azimuth axis 7 of the telescope and the pitch axis6, namely the point to which the light beam needs to be directed, when the mechanical arm 2 runs, the target position and the motion track can be described by adopting a rectangular coordinate system, the space coordinate conversion relation between the mechanical arm 2 and the telescope is established, and the motion track of the mechanical arm 2 can be determined according to the motion characteristic of the target. Then, after solving through inverse kinematics, the rotation and the swing angle of the joint shaft are converted, and then the rotation and the swing angle are compounded through multi-shaft joint motion to form the joint. The coordinate system used in the present invention is shown in fig. 2, and the coordinate systems T1, T2, T3, T4, T5 and T6 correspond to the joints of the robot arm 2. The robot 2 comprises a base coordinate system G1, a geodetic coordinate system E1, a beam reference coordinate system R1, a telescope base coordinate system G2 and a beam control coordinate system L2; where Axis1, Axis2, Axis3, Axis4, Axis5 and Axis6 are the locations of each Axis in the joint coordinate system.
According to the dynamic target generation principle of simulated target detection, the position when the mechanical arm 2 runs and the motion trail are all for the light beam control point, in order to ensure that the laser beam emitted when the mechanical arm 2 moves can act on the intersection point of the telescope azimuth axis 7 and the pitching point, the light spot of the laser on the telescope can be used as the light beam control point, the motion trail programming is carried out on the light beam control point, when the mechanical arm 2 moves, the laser beam can be always at the intersection point of the telescope pitching axis6 and the azimuth axis 7, and then the position and the angle amount of each axis of the mechanical arm 2 which needs to move are calculated through a reverse solution method.
The implementation method is as shown in fig. 3, firstly, a light beam emitted by a laser beam is emitted to an intersection point of a telescope azimuth axis 7, a pitch axis6 and an optical axis, then the light beam emitted by a laser 1 is controlled to make a spherical motion by taking the intersection point as a circle center, at the moment, the distance between the center of the laser 1 and the intersection point is a radius rho, and then different points are taken to make the laser 1 make a spherical motion by taking the intersection point as the circle center and the radius rho as a sphere; for example, point 1, point 2, point 3, and point 4 in fig. 3 are taken as different points. When the motion track of the light beam emitting point is a perfect circle, the function is consistent with that of the traditional two-dimensional rotating target, but the track of the light beam emitting point can move at any point on the sphere, so that the function of the traditional target is included. To determine the position and trajectory of this beam spot three-dimensional spatial motion, an inverse kinematics solution is required, synthesized by the gyrating motion of a plurality of joint axes. The point of intersection where the light beams strike is set as a light beam control coordinate system L2, and the light beam control coordinate system L2 is a coordinate system rotated in accordance with the offset of the light beam emission coordinate system L1. The beam emission coordinate system L1 is realized by directly translating the Z axis of the beam reference coordinate system R1, and other postures are not changed. The conversion can be performed directly using the light beam emission coordinate system L1.
The beam emission coordinate system L1 is expressed as:
let us note that the coordinate system at each joint of the robot arm 2 is T1, T2, T3, T4, T5 and T6, respectively, where the beam reference coordinate system R1 coincides with the coordinate system T6 and the T1 coordinate system coincides with the robot arm 2 base coordinate system G1. And the coordinate transformation of the beam control coordinate system L2 with respect to the robot arm 2 base coordinate system G1 can be expressed as:
G1FL2＝G1FR1 R1FL1 L1FL2＝G1FL1 L1FL2＝G1FR1 R1FL2＝G1FT6 T6FL2
during one measurement, the design size and the installation position of one telescope are fixedTransformation of the beam control coordinate system L2 with respect to the telescope base coordinate system G2G2FL2。
The beam emission reference coordinate system L1 of the robot arm 2 with respect to the base coordinate system G1 of the robot arm 2 can be expressed as follows:
G1FL1＝T1FT6 T6FL1＝T1FT2 T2FT3 T3FT4 T5FT6 T6FL1
then the beam steering coordinate system L2 is known as:
G1FL2＝T1FT2 T2FT3 T3FT4 T4FT5 T5FT6 T6FL1 L1FL2＝G1FT6 T6FL1 L1FL2＝G1FL1 L1FL2＝G1FT6 T6FL2
because the light beam is required to reach the intersection point P of the telescope all the time to ensure that the light beam can enter the center of the field of view, the light beam emission coordinate system L1 and the light beam reference coordinate system R1 which represent the target track are unchanged relative to the base coordinate system G1 and the light beam control coordinate system L2 of the mechanical arm 2 relative to the base coordinate system G1, and therefore, the coordinate transformation and invariance principle can be adopted.
WhereinG1ML2iA rotation matrix representing the beam control coordinate system L2 with respect to the robot 2 base coordinate system G1 at the ith movement;G1HL2ia translation matrix representing the beam steering coordinate system L2 relative to the robot 2 base coordinate system G1 at the i-th motion;T6ML2iindicating the i-th movement, the beam control coordinate system L2 being relative to the beam reference coordinate system R1The matrix of the rotation is then rotated in a direction,T6HL2iis a translation matrix representing the beam steering coordinate system L2 relative to the robot 2 base coordinate system G1 at the i-th motion;
the reference coordinate system R1 is referenced to a translation matrix of the beam relative to the robot arm 2 base coordinate system G1.
For n measurements, since the left and right sides of the formula are the same, the following formula can be obtained:
the method specifically comprises the following steps:
the above can also be written as:
the least squares solution is found to be:
that is:
through a plurality of iterative calculations, a displacement transformation matrix of the beam steering coordinate system L2 with respect to the beam reference coordinate system R1 can be obtained. The attitude of the beam reference coordinate system R1 is adopted for the attitude of the beam control coordinate system L2. At this time, the control posture of the beam control coordinate system L2 with respect to the robot arm 2 base coordinate system G1 can be obtained. The position of the beam steering coordinate system L2 relative to the beam reference coordinate system R1 can be obtained. The movement of the beam emission coordinate system L1 may be translated directly in the Z direction by moving the position at the beam reference coordinate system R1. The relation between the light beam control coordinate system L2 and the light beam reference coordinate system R1 and the light beam emission coordinate system L1 is obtained, the angle of each axis needing to be rotated can be solved through inverse kinematics solution, and then the three-dimensional coordinate motion trail of the final light beam emission coordinate system is synthesized.
In order to realize the three-dimensional coordinate programming in the light beam emission coordinate system L1 and simulate the movement track planning of the position and the speed of a specific moving target, the relation between the light beam emission coordinate system L1 and the movement track of the specific target needs to be transformed by the coordinate system for planning. Specifically, the coordinate transformation relationship is shown in fig. 4.
The transformation relationship of the coordinate system is shown in fig. 4, where P represents the coordinates of the beam control point, and O represents the position coordinates of the beam emitting point, i.e., the position of the target motion trajectory. Knowing that the distance between the two points is rho, if the included angle phi between the target motion track and the Z axis is to be obtained and the included angle theta between the target motion track and the X axis is to be obtained, the corresponding coordinates corresponding to the light beam emission points can be designed to be X, Y and Z according to the target motion characteristics. Wherein the content of the first and second substances,
x＝ρsinθcosφ
y＝ρsinθsinφ
z＝ρcosθ
assuming that the position is moved to phi ' and theta ' after the time t elapses, the corresponding x ' ═ ρ sin theta ' cos phi '
y'＝ρsinθ'sinφ'
z'＝ρcosθ'
Thus aiming at the position change of [ theta '-theta, phi' -phi]The speed is changed into
The position change of the corresponding three coordinates is:
the velocity variation for the three coordinates is:
therefore, the motion path of the collimator 3 at the tail end of the mechanical arm 2 can be planned only by giving the theta and phi values required by the track of the target to be simulated at different moments.
In addition, the initial coordinates of the collimator 3 at the end of the robot arm 2, i.e., the simulated target trajectory, are x ', y ', z '.
After a time t, the collimator 3 at the end of the robot arm 2 moves to simulate the coordinates x ', y ', z ' of the target trajectory.
When the mechanical arm 2 moves, the motion trail position of the simulation target changes as follows:
the speed of the simulated target is:
therefore, when the collimator 3 at the tail end of the mechanical arm 2 moves along the motion paths of different coordinate values x, y and z at different times, the motion trail of the simulation target can be calculated. The coordinate values of the different emission coordinates of the tail end of the mechanical arm 2 can be calculated through inverse kinematics, the angle of the mechanical arm 2, which needs to move, of each axis is calculated, the change of the tail end coordinates of the mechanical arm 2 is realized through rotating the angle values of six axes, and finally, the continuous planning and movement of the movement track are realized.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A dynamic imaging telescope performance detection device, comprising:
the laser is arranged at one end of an exit port in the parallel light pipe and used for emitting laser beams from a beam emitting point to the intersection of the optical axis, the pitching axis and the azimuth axis of the telescope;
one end of the collimator is connected with the mechanical arm, the other end of the collimator is the exit port, the mechanical arm is adjusted to adjust the laser beam to emit laser beams from different positions, and the laser beam is ensured to reach the intersection of the optical axis, the pitch axis and the azimuth axis;
the light source is arranged at one end, connected with the mechanical arm, in the collimator and is used for emitting parallel light beams from the collimator;
after the movement track of the reference emission point of the light beam is calculated, the laser beam is closed, the preset light source is started, and the light source moves according to the movement track to obtain the simulated movement track of the target to be measured.
2. The dynamic imaging telescope performance detection device of claim 1, wherein the device further comprises an objective lens disposed between the light source and the laser; the light source emits light which passes through the objective lens to generate parallel light.
3. The dynamic imaging telescope performance detection device of claim 2, wherein the device further comprises a control module, and the control module controls the light source to be turned on, turned off and brightened.
4. The dynamic imaging telescope performance detection device of claim 1, wherein the robotic arm comprises a base and an articulated arm mounted on the base, and the position or motion trajectory of the light source is adjusted by adjusting the articulated arm.
5. The dynamic imaging telescope performance detection device of claim 4, wherein the articulated arm is configured in multiple segments.
6. The dynamic imaging telescope performance detection device of claim 5, wherein the articulated arm comprises a first joint, a second joint, a third joint, a fourth joint, and a fifth joint; the connection point of the base and the first joint is Axis1, the connection point of the second joint and the third joint is Axis2, the connection point of the third joint and the fourth joint is Axis3, the connection point of the fourth joint and the fifth joint is Axis4, the connection point of the fourth joint and the fifth joint is Axis5, and the connection point of the fifth joint and the collimator is Axis 6;
establishing a coordinate system to calculate the motion track of the mechanical arm, wherein the coordinate system of the connection points of the Axis1, the Axis2, the Axis3, the Axis4, the Axis5 and the Axis6 is correspondingly set to be T1, T2, T3, T4, T5 and T6; the coordinate system of the base is G1.
7. The dynamic imaging telescope performance detection device of claim 6, wherein the device further comprises a manipulator controller and a shaft driver, the shaft driver is used for driving the movement of the articulated arm, and the manipulator controller controls the movement track of the articulated arm.
8. The performance testing apparatus of a dynamic imaging telescope as claimed in claim 6, wherein said Axis1, Axis2, Axis3, Axis4, Axis5 and Axis6 are all shaft-connected.
9. The dynamic imaging telescope performance detection device of claim 6, wherein the device further comprises a reticle for parallel beams of the light source to pass through.
10. A dynamic imaging telescope performance detection method is characterized by comprising the following steps:
emitting laser beams from the intersection of the beam emitting point and the optical axis, the pitch axis and the azimuth axis of the telescope;
adjusting the laser beams to emit laser beams from different positions and ensuring that the laser beams reach the intersection of the optical axis, the pitch axis and the azimuth axis;
resolving a light beam control coordinate system at the intersection to obtain a relation between the light beam control coordinate system and a light beam emission coordinate system of the light beam emission point;
obtaining a coordinate conversion relation of a motion track between the light beam emitting point and the light beam control point based on the relation between the light beam control coordinate system and the light beam emitting coordinate system;
obtaining a motion trail plan of the light beam emitting point based on the coordinate conversion relation;
carrying out inverse solution on the motion trail plan to obtain a motion trail of the beam reference emission point;
and closing the laser beam, starting a preset light source, and moving the light source according to the motion track to obtain the simulated motion track of the target to be measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110798442.5A CN113358332B (en) | 2021-07-15 | 2021-07-15 | Dynamic imaging telescope performance detection device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110798442.5A CN113358332B (en) | 2021-07-15 | 2021-07-15 | Dynamic imaging telescope performance detection device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113358332A CN113358332A (en) | 2021-09-07 |
| CN113358332B true CN113358332B (en) | 2022-03-22 |
Family
ID=77539466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110798442.5A Active CN113358332B (en) | 2021-07-15 | 2021-07-15 | Dynamic imaging telescope performance detection device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113358332B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113916499B (en) * | 2021-10-28 | 2022-08-12 | 中国人民解放军63921部队 | System and method for detecting tracking performance of movable platform optical measuring equipment |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7429999B2 (en) * | 2004-05-24 | 2008-09-30 | CENTRE DE RECHERCHE INDUSTRIELLE DU QUéBEC | Camera calibrating apparatus and method |
| US9043146B2 (en) * | 2013-06-19 | 2015-05-26 | The Boeing Company | Systems and methods for tracking location of movable target object |
| CN104198163B (en) * | 2014-09-19 | 2017-01-18 | 南京信息工程大学 | Focal point accurate positioning device for telescope |
| CN108827260B (en) * | 2017-05-18 | 2019-05-28 | 金钱猫科技股份有限公司 | The measurement method based on coordinate transform, system and the device positioned by picture |
| CN111999037B (en) * | 2020-08-10 | 2024-05-31 | 中国科学院西安光学精密机械研究所 | Optical detection device and method for optical telescope system |
-
2021
- 2021-07-15 CN CN202110798442.5A patent/CN113358332B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113358332A (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105518486B (en) | The system and method for following the trail of the orientation of movable object object | |
| JP5199452B2 (en) | External system for improving robot accuracy | |
| CN106681170B (en) | Semi-physical guidance simulation method and system | |
| CN103477185A (en) | Measuring system for determining 3D coordinates of an object surface | |
| CN107543495A (en) | Spacecraft equipment autocollimation measuring system, alignment method and measuring method | |
| CN108507403B (en) | Self propelled Antiaircraft Gun multi-axial cord consistency detection device based on intelligent photoelectric calibration technique | |
| US6529853B1 (en) | Virtual positioning media control system | |
| CN104390633B (en) | A kind of contactless mechanism space motion measurement apparatus and implementation method | |
| CN107478450A (en) | A kind of tracking accuracy detecting system with dynamic simulation target simulation function | |
| CN113358332B (en) | Dynamic imaging telescope performance detection device and method | |
| CN109445310A (en) | A kind of infrared imaging guidance hardware-in-the-loop system and method | |
| CN109631762A (en) | A kind of method that laser self-calibration realizes Zero calibration | |
| CN109459216A (en) | Extraterrestrial target various dimensions dynamic optical characteristic integrated measuring system and method | |
| CN112710303A (en) | Method for determining attitude angle theta change of target in field of view caused by motion of motion platform | |
| CN113253628B (en) | Unmanned aerial vehicle attack moving target diving flight semi-physical simulation system and method | |
| CN113916499B (en) | System and method for detecting tracking performance of movable platform optical measuring equipment | |
| US10655946B2 (en) | Automated rotation mechanism for spherically mounted retroreflector | |
| CN110837222B (en) | Space target optical characteristic simulation platform and working method thereof | |
| CN114153221B (en) | Satellite high-precision tracking pointing control ground simulation system and method | |
| CN114593725B (en) | Tracking precision testing device and method for photoelectric tracker | |
| CN112902986B (en) | Device and method for measuring angular error of photoelectric tracking equipment based on attitude feedback | |
| KR102293816B1 (en) | Combined driving laser system and control method | |
| CN114859949A (en) | Satellite remote restoration ground simulation device and method | |
| CN112884798A (en) | Verification method of moving target tracking and aiming system | |
| CN113703010B (en) | Pulse Doppler radar guided missile testing equipment and testing method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |