CN113625257B - Laser self-checking method suitable for space intersection docking laser radar - Google Patents
Laser self-checking method suitable for space intersection docking laser radar Download PDFInfo
- Publication number
- CN113625257B CN113625257B CN202110900198.9A CN202110900198A CN113625257B CN 113625257 B CN113625257 B CN 113625257B CN 202110900198 A CN202110900198 A CN 202110900198A CN 113625257 B CN113625257 B CN 113625257B
- Authority
- CN
- China
- Prior art keywords
- laser
- setting
- command
- minimum current
- self
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention relates to a laser self-checking method suitable for a space intersection docking laser radar. When the space intersection docking laser radar is powered on, the laser needs to be subjected to self-checking, and the laser is ensured to be in a normal state. Firstly, powering up a laser radar, inquiring whether the laser is powered up to enable, starting the laser to enable and cleaning a laser minimum current setting completion mark if the laser is not enabled, entering a next operation if the laser is enabled, secondly, inquiring whether the laser is reset if the laser is not reset, entering the next operation if the laser is not reset, then inquiring whether the laser minimum current setting is completed, carrying out the next operation if the laser is completed, otherwise, carrying out the minimum current setting on the laser and updating the laser minimum current setting mark, and finally, returning the laser minimum current setting completion mark as a self-checking result of the laser, thereby completing the self-checking of the laser. The invention can provide a substantial strategy for the laser self-checking algorithm of the space intersection docking laser radar, thereby ensuring the smooth completion of the self-checking process of the space intersection docking laser radar.
Description
Technical Field
The invention relates to the field of space intersection butt joint, in particular to a laser self-checking method suitable for space intersection butt joint laser radar, which is used for developing the space intersection butt joint laser radar and can be popularized in intersection laser radar designs used for other intersection butt joints.
Background
Space intersection docking is a key technology of aerospace activities, and a relative measurement sensor laser radar is used for measuring parameters such as distance, distance change rate, angle and angle change rate before two spacecrafts are finally docked from tens of kilometers in space.
In the operation process of the laser radar, the most critical component is a laser, if the laser is abnormally operated, the laser can be damaged, the service life of the laser is shortened, and the working distance of the laser radar is limited, so that the laser needs to be self-inspected in order to ensure the normal operation of the laser in the process of powering on the laser radar, and the smooth operation of the laser radar is ensured. From the published literature and patents, no laser self-inspection method for meeting and docking with a laser radar is available.
Disclosure of Invention
In view of this, the technical solution of the present invention is: a laser self-checking method suitable for a space intersection docking laser radar is provided.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
a laser self-test method suitable for spatial intersection docking lidar, the method comprising the steps of:
step (1): powering up the laser radar, starting self-checking, detecting a laser enabling mark, starting the laser enabling and cleaning a laser minimum current setting completion mark if the laser is not enabled, then performing the operation of the step (4), and performing the operation of the step (2) if the laser is enabled;
step (2): judging whether the resetting of the laser is finished, if so, performing the operation of the step (3), otherwise, performing the resetting operation of the laser, and then performing the operation of the step (4);
step (3): judging whether the setting of the minimum current of the laser is completed, if so, performing the operation of the step (4), otherwise, performing the setting of the minimum current of the laser, and updating a completion mark for setting the minimum current of the laser;
step (4): outputting a laser minimum current completion mark to an external unit, and ending the self-checking;
in the step (2), the resetting operation of the laser includes the following steps:
firstly, judging whether the laser command is executed completely or not and judging whether the setting of the laser command is changed or not, if the laser command is not executed completely or the setting of the laser command is not changed, returning to 0xAA outwards and ending the reset operation of the laser, otherwise, performing the following operations: i.e. the length of the sending command is set to 4, the sending command is set to ASCII code "RKP+carriage return", the laser command setting is not completed, and then the comparison command is set to ASCII code "RKP-! +carriage return ", the number of relaxation comparisons is set to 5, and the setting of the laser is commanded to change, and finally, 0x55 is returned and the resetting operation of the laser is ended.
In the step (3), the laser minimum current setting includes the following steps:
firstly, judging whether the laser current setting value is equal to the last laser current, if so, returning to 0x55 and ending the laser minimum current setting, otherwise, performing the next operation: that is, judging whether the laser command is executed completely and whether the laser command setting is changed, if the laser command is not executed completely or the laser command setting is not changed, returning to 0xAA outwards and ending the minimum current setting operation of the laser, otherwise, performing the next operation: i.e., the send command length is set to 5-9, the send command is set to ASCII code "sdc=current set value + enter", and the set command sets the incomplete flag, then the align command is set to ASCII code "SDC-! +carriage return ", the number of transmission comparisons is set to 5, and the laser command setting is changed, and finally, 0x55 is returned and the laser minimum current setting process is ended.
Compared with the prior art, the invention has the advantages that: the invention designs an effective self-checking method for the laser radar of the rendezvous and docking, which is simple and practical, can ensure the normal self-checking of the laser radar and provides technical reference for the rendezvous and docking. Meanwhile, the method can be popularized to laser self-inspection of the laser radar in other meeting docking tasks, and corresponding software and hardware strategies are designed.
Drawings
FIG. 1 is a laser self-test flow chart of the present invention;
FIG. 2 is a laser reset flow chart in accordance with the present invention;
fig. 3 is a flow chart of the laser minimum current setting in the present invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
The space intersection docking laser radar is mainly used for intersection docking of an airship and a space station, and provides relative pose parameters for docking of two devices, including distance, distance change rate, angle change rate and the like. In order to ensure the normal operation of the laser radar, the self-checking of the key component, namely the laser, is required to be carried out at the time of powering up the laser radar, the self-checking step is shown in the attached figure 1, and the steps comprise:
step (1): powering up the laser radar, starting self-checking, detecting a laser system enabling mark, if the laser system is not enabled, starting the laser system to enable and cleaning a laser minimum current setting completion mark, then performing the operation of the step (4), and if the laser is enabled, performing the operation of the step (2);
step (2): judging whether the resetting of the laser is finished, if so, performing the operation of the step 3, otherwise, performing the resetting operation of the laser, and then performing the operation of the step 4;
step (3): judging whether the setting of the minimum current of the laser is completed, if so, performing the operation of the step (4), otherwise, performing the setting of the minimum current of the laser, and updating a laser minimum current setting completion mark;
step (4): outputting a laser minimum current completion mark to an external unit, and ending the self-checking;
in the self-checking process of the laser, the resetting of the laser is a key step, and the specific process is shown in fig. 2, firstly, in order to protect the laser, it is required to make a judgment on whether the laser command is executed completely, and whether the setting of the laser command is changed, if the laser command is not executed completely or the setting of the laser command is not changed, 0xAA is returned to the outside and the resetting operation of the laser is finished, otherwise, the next operation is performed, then, the command length is set to 4, the sent command is set to ASCII code "rkp+carriage return", the setting of the laser command is not completed, and then the comparison command is set to ASCII code "RKP-! +carriage return ", the number of comparison times is set to 5, the setting of the laser is commanded to change, and finally, 0x55 is returned and the resetting operation of the laser is ended.
In addition, as the resetting of the laser is completed, the minimum current of the laser is required to be set next, and the specific process is as shown in fig. 3, firstly, judging whether the laser current setting value is equal to the last laser current, if yes, returning to 0x55 and ending the laser minimum current setting, otherwise, performing the next operation, then, in order to protect the laser, judging whether the laser command execution is finished and the laser command setting is changed, if the laser command is not finished or the setting of the laser command is not changed, returning to 0xAA and ending the laser minimum current setting operation externally, otherwise, performing the next operation, then, transmitting command length setting to 5 to 9, transmitting command setting ASCII code as "sdc=current setting value+carriage return", setting command setting uncompleted flag, secondly, comparing command setting ASCII code as "SDC-! +carriage return ", the number of transmission comparisons is set to 5, the laser is set to command a change in settings, and finally, 0x55 is returned and the laser minimum current setting process is ended.
The foregoing is a description of the disclosed embodiments of the invention, and is not intended to be exhaustive of the scope of the invention. The scope of the present invention is not limited thereto, and any modification, equivalent replacement, improvement, etc. that are within the technical scope of the present invention as disclosed by the present invention should be included in the scope of the present invention.
Claims (1)
1. A laser self-test method suitable for space intersection docking lidar, the method comprising the steps of:
step (1): powering up the laser radar, starting self-checking, detecting a laser enabling mark, starting the laser enabling and cleaning a laser minimum current setting completion mark if the laser is not enabled, then performing the operation of the step (4), and performing the operation of the step (2) if the laser is enabled;
step (2): judging whether the resetting of the laser is finished, if so, performing the operation of the step (3), otherwise, performing the resetting operation of the laser, and then performing the operation of the step (4);
step (3): judging whether the setting of the minimum current of the laser is completed, if so, performing the operation of the step (4), otherwise, performing the setting of the minimum current of the laser, and updating a completion mark for setting the minimum current of the laser;
step (4): outputting a laser minimum current completion mark to an external unit, and ending the self-checking;
in the step (2), the resetting operation of the laser includes the following steps:
firstly, judging whether the laser command is executed completely or not and judging whether the setting of the laser command is changed or not, if the laser command is not executed completely or the setting of the laser command is not changed, returning to 0xAA outwards and ending the reset operation of the laser, otherwise, performing the following operations: setting the length of a sending command to 4, setting the sending command to ASCII code 'RKP+carriage return', setting the laser command to be incomplete, setting the comparison command to ASCII code 'RKP|+ carriage return', setting the number of sending comparison times to 5, and setting the laser command to be changed, and finally returning to 0x55 and ending the reset operation of the laser;
in the step (3), the laser minimum current setting includes the following steps:
firstly, judging whether the laser current setting value is equal to the last laser current, if so, returning to 0x55 and ending the laser minimum current setting, otherwise, performing the next operation: that is, judging whether the laser command is executed completely and whether the laser command setting is changed, if the laser command is not executed completely or the laser command setting is not changed, returning to 0xAA outwards and ending the minimum current setting operation of the laser, otherwise, performing the next operation: the method comprises the steps of setting the length of a sending command to be 5-9, setting the sending command to be an ASCII code of 'SDC=current setting value+enter', setting an incomplete mark to the setting command, setting the comparison command to be an ASCII code of 'SDC|+enter', setting the sending comparison times to be 5, setting the setting of a laser command to be changed, and finally returning to 0x55 and ending the laser minimum current setting process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110900198.9A CN113625257B (en) | 2021-08-06 | 2021-08-06 | Laser self-checking method suitable for space intersection docking laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110900198.9A CN113625257B (en) | 2021-08-06 | 2021-08-06 | Laser self-checking method suitable for space intersection docking laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113625257A CN113625257A (en) | 2021-11-09 |
| CN113625257B true CN113625257B (en) | 2023-07-21 |
Family
ID=78383235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110900198.9A Active CN113625257B (en) | 2021-08-06 | 2021-08-06 | Laser self-checking method suitable for space intersection docking laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113625257B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5999549A (en) * | 1998-02-09 | 1999-12-07 | International Business Machines Corporation | Method and apparatus for laser safety |
| CN1851499A (en) * | 2006-05-19 | 2006-10-25 | 武汉大学 | Data acquisition device for laser distance measurement, and its collecting flowchart |
| CN1936805A (en) * | 2005-05-06 | 2007-03-28 | 阿瓦戈科技Ecbuip(新加坡)股份有限公司 | Light source control in optical pointing device |
| CN106342248B (en) * | 2011-12-14 | 2013-02-13 | 中国电子科技集团公司第二十七研究所 | A kind of laser radar for intersection docking between space device |
| CN104795727A (en) * | 2014-01-16 | 2015-07-22 | 中能激光显示技术（上海）有限公司 | High-power semiconductor laser driving system and driving method thereof |
| CN107966692A (en) * | 2017-11-23 | 2018-04-27 | 武汉万集信息技术有限公司 | A kind of laser radar with self-checking function |
| CN108429585A (en) * | 2018-03-02 | 2018-08-21 | 青岛海信宽带多媒体技术有限公司 | Optical module control method, device and optical module |
| CN112711266A (en) * | 2020-12-03 | 2021-04-27 | 中国科学院光电技术研究所 | Near-far field switching control method for lunar orbit intersection butt joint laser radar |
-
2021
- 2021-08-06 CN CN202110900198.9A patent/CN113625257B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5999549A (en) * | 1998-02-09 | 1999-12-07 | International Business Machines Corporation | Method and apparatus for laser safety |
| CN1936805A (en) * | 2005-05-06 | 2007-03-28 | 阿瓦戈科技Ecbuip(新加坡)股份有限公司 | Light source control in optical pointing device |
| CN1851499A (en) * | 2006-05-19 | 2006-10-25 | 武汉大学 | Data acquisition device for laser distance measurement, and its collecting flowchart |
| CN106342248B (en) * | 2011-12-14 | 2013-02-13 | 中国电子科技集团公司第二十七研究所 | A kind of laser radar for intersection docking between space device |
| CN104795727A (en) * | 2014-01-16 | 2015-07-22 | 中能激光显示技术（上海）有限公司 | High-power semiconductor laser driving system and driving method thereof |
| CN107966692A (en) * | 2017-11-23 | 2018-04-27 | 武汉万集信息技术有限公司 | A kind of laser radar with self-checking function |
| CN108429585A (en) * | 2018-03-02 | 2018-08-21 | 青岛海信宽带多媒体技术有限公司 | Optical module control method, device and optical module |
| CN112711266A (en) * | 2020-12-03 | 2021-04-27 | 中国科学院光电技术研究所 | Near-far field switching control method for lunar orbit intersection butt joint laser radar |
Non-Patent Citations (1)
| Title |
|---|
| 交会测量敏感器脉冲编码激光控制系统设计;崔家瑞;《实验室研究与探索》;第38卷(第2期);47-53 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113625257A (en) | 2021-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Williams et al. | Towards multi-vehicle simultaneous localisation and mapping | |
| KR101222501B1 (en) | System and Method for Collision Risk Management between Satellite and Space Debris | |
| CN111077495B (en) | Positioning recovery method based on three-dimensional laser | |
| KR102614089B1 (en) | Positioning method and device | |
| CN103576567A (en) | Robot, control method thereof and robot system | |
| WO2017092565A1 (en) | Charging system and charging method, computer storage medium | |
| CN110187348A (en) | A kind of method of laser radar positioning | |
| CN102803618A (en) | Definition of control data for automatic control of mobile mining machine | |
| CN113625257B (en) | Laser self-checking method suitable for space intersection docking laser radar | |
| CN112285739B (en) | Data processing method, device, equipment and storage medium | |
| CN111555415A (en) | Control system for robot wireless charging and control system for charging station wireless power supply | |
| CN111324044A (en) | Simulation system and test platform for unmanned automobile | |
| CN114153215B (en) | Coal mine gas inspection robot method and system | |
| CN112797986B (en) | Intelligent logistics robot positioning system and method based on unmanned autonomous technology | |
| CN111588311B (en) | Robot recharge control method and system and chip | |
| Li et al. | Metamorphic testing on multi-module uav systems | |
| Pfeffer et al. | Software adaptation for an unmanned undersea vehicle | |
| Sattar et al. | Ensuring safety in human-robot dialog—A cost-directed approach | |
| CN114142599A (en) | Robot power management system and method | |
| CN114227699A (en) | Robot motion adjustment method, robot motion adjustment device, and storage medium | |
| CN111240298A (en) | Test method for vehicle automatic driving simulation system | |
| CN113535259A (en) | Configuration method and device for aerospace measurement and control station | |
| CA3187743A1 (en) | Ground support for mobile drilling rig | |
| CN117359632A (en) | Station-control wheeled robot inspection method and system | |
| CN114554308B (en) | Intelligent agricultural machinery remote control system |
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 |