CN113916499A - System and method for detecting tracking performance of movable platform optical measuring equipment - Google Patents
System and method for detecting tracking performance of movable platform optical measuring equipment Download PDFInfo
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Abstract
A data processing server sends motion data of a detection platform to a controller, the controller converts the received motion data of the detection platform and then controls the motion of the detection platform, the detection platform comprises a multi-degree-of-freedom series mechanical device, a multi-degree-of-freedom parallel mechanical device and a collimator, the optical measurement device automatically tracks a simulated optical target, obtains image information and tracking miss amount of the simulated optical target, and sends the image information and the tracking miss amount to the data processing server for subsequent tracking precision calculation. The multi-degree-of-freedom parallel mechanical device has the characteristics of high rigidity, high precision, high load-weight ratio and the like, so that the simulation of the shaking posture of the movable platform is realized, and the multi-degree-of-freedom serial mechanical device realizes the simulation of the motion state of an optical target in multiple degrees of freedom, so that the tracking precision of the optical measuring equipment of the movable platform can be better detected.
Description
Technical Field
The invention relates to the technical field of performance detection of optical measurement equipment, in particular to a system and a method for detecting the tracking performance of movable platform optical measurement equipment.
Background
The development and production capacity of optical measuring equipment are important marks for measuring the technical level of a country in the field of optical precision equipment, and the application fields of some important optical measuring equipment relate to national defense safety, so that related technical blockages still exist, and particularly few reports are reported on equipment and methods related to performance detection of the optical measuring equipment.
With the continuous development of optical measurement technology and target range requirements, optical measurement equipment with a fixed base can not meet the requirements of modern target ranges, the requirements of offshore, land and aerial maneuvering type measurement are higher and higher, the optical measurement equipment is gradually expanded from the land base to mobile machine base platforms such as ship-borne, vehicle-borne and airborne, the detectable distance of the mobile platform optical measurement equipment is enlarged, and the optical measurement equipment has the advantages of strong maneuverability, wide application range and the like.
The tracking precision detection of the existing movable platform optical measurement equipment only detects and identifies the equipment under the condition of a static base, because the detection condition is limited, the detection requirement of the tracking performance index is greatly reduced compared with the actual index under the movable platform, the detection and the assessment of the tracking performance under the real environment cannot be completed, the delivery of the equipment with the problem of leaving behind is caused, and in the process of a test task, once the tracking performance index of the equipment cannot meet the requirement, the difficulty of the rectification of the equipment is high, and the period and the development cost are greatly increased.
The traditional foundation detection device is adopted for detecting the tracking performance of the optical measuring equipment of the movable platform at the present stage, and the foundation detection device cannot truly simulate the motion characteristics of the movable platform, so that the tracking performance in the practical application environment cannot be detected at the development stage of the optical measuring equipment. In addition, the ground detection device generally uses a single-axis optical dynamic target, which belongs to a single-degree-of-freedom rotating target in space, when the ground detection device works, the rotating speed of the rotating shaft is controlled and adjusted only by a speed feedback loop, so that a maneuvering target similar to a sinusoidal motion track is simulated, the simulated target has a larger difference in motion characteristics with a real maneuvering target, and the simulated target is mainly characterized in that the motion track of the simulated target is single, the simulated target cannot generate speed and acceleration and simultaneously meets the index requirements, and the components of the motion equation of the simulated target in the azimuth direction and the pitch direction have high-order derivatives. Although the degree of freedom of the target to be detected is increased to 3 at present, a position blind spot still exists in a working space, and the target has the problem of motion singularity in the motion process. Therefore, the current foundation detection device is adopted to detect the tracking performance of the movable platform optical measurement equipment, and the evaluation on the tracking performance of the movable platform optical measurement equipment is not objective and accurate enough.
Disclosure of Invention
The invention mainly solves the technical problem of how to better detect the tracking performance of the optical measuring equipment with the movable platform.
According to a first aspect, an embodiment provides a system for detecting tracking performance of a movable platform optical measurement device, including:
the data processing server is used for receiving an externally input command and generating motion data of the detection platform; the motion data of the detection platform comprises the space velocity of each joint in the multi-degree-of-freedom parallel mechanical device and the space velocity of each joint in the multi-degree-of-freedom serial mechanical device;
the controller is used for receiving the motion data of the detection platform sent by the data processing server and converting the motion data of the detection platform to realize motion control of the detection platform;
the detection platform comprises a multi-degree-of-freedom series mechanical device, a multi-degree-of-freedom parallel mechanical device and a collimator, wherein the multi-degree-of-freedom parallel mechanical device is arranged on the ground and connected with the multi-degree-of-freedom parallel mechanical device, and the collimator is connected to the tail end of the multi-degree-of-freedom series mechanical device;
the multi-degree-of-freedom parallel mechanical device is used for simulating a passive motion attitude of the movable platform in the motion process according to the space velocity of each joint of the multi-degree-of-freedom parallel mechanical device; the multi-degree-of-freedom series mechanical device is used for simulating the active motion attitude of the optical maneuvering target according to the space velocity of each joint; the collimator is used for projecting the simulated optical target to an infinite position through an optical system, and the simulated optical target is a light spot;
the optical measurement equipment is used for automatically tracking the simulated optical target, acquiring image information and tracking miss distance of the simulated optical target and sending the image information and the tracking miss distance to the data processing server; and the data processing server is used for calculating the tracking precision according to the image information and the tracking miss distance.
According to a second aspect, an embodiment provides a method for detecting tracking performance of a movable platform optical measurement device, including:
adjusting the optical measuring equipment and the detection platform to enable the simulated optical target emitted by the collimator to be in the optical field of view of the optical measuring equipment;
the method comprises the following steps that a data processing server receives an externally input command, generates motion data of a detection platform and sends the motion data of the detection platform to a controller; the motion data of the detection platform comprises the space velocity of each joint in the multi-degree-of-freedom parallel mechanical device and the space velocity of each joint in the multi-degree-of-freedom serial mechanical device;
the controller controls the detection platform to move according to the motion data of the detection platform, wherein the detection platform comprises a multi-degree-of-freedom series mechanical device, a multi-degree-of-freedom parallel mechanical device and a collimator, the multi-degree-of-freedom parallel mechanical device is arranged on the ground and connected with the multi-degree-of-freedom parallel mechanical device, and the collimator is connected to the tail end of the multi-degree-of-freedom series mechanical device; the multi-degree-of-freedom parallel mechanical device is used for simulating a passive motion attitude of the movable platform in the motion process according to the space velocity of each joint of the multi-degree-of-freedom parallel mechanical device; the multi-degree-of-freedom series mechanical device is used for simulating the active motion attitude of the optical maneuvering target according to the space velocity of each joint; the collimator is used for projecting the simulated optical target to an infinite position through an optical system, and the simulated optical target is a light spot;
the optical measurement equipment automatically tracks the simulated optical target, acquires image information and tracking miss distance of the simulated optical target, and sends the image information and the tracking miss distance to a data processing server;
and the data processing server calculates the tracking precision according to the image information and the tracking miss distance.
According to the system and the method for detecting the tracking performance of the movable platform optical measuring equipment in the embodiment, the data processing server sends the motion data of the detection platform to the controller, the controller converts the received motion data of the detection platform and then controls the motion of the detection platform, the detection platform comprises a multi-degree-of-freedom series mechanical device, a multi-degree-of-freedom parallel mechanical device and a collimator, wherein the multi-degree-of-freedom parallel mechanical device is used for simulating the passive motion attitude of the movable platform in the motion process according to the space velocity of each joint of the multi-degree-of-freedom series mechanical device, the multi-degree-of-freedom series mechanical device is used for simulating the active motion attitude of the optical maneuvering target according to the space velocity of each joint of the multi-degree-of freedom series mechanical device, the collimator is used for projecting the simulated optical target to an infinite position through the optical system, and the optical measuring equipment automatically tracks the simulated optical target and obtains the image information and the tracking miss amount of the simulated optical target, and sending the image information and the tracking miss distance to a data processing server for subsequent tracking precision calculation. The multi-degree-of-freedom parallel mechanical device has the characteristics of high rigidity, high precision, high load-weight ratio and the like, is used for simulating the passive motion attitude of the movable platform in real time in the motion process, realizes the simulation of the shaking attitude of the movable platform, and realizes the simulation of the motion state of an optical maneuvering target in multiple degrees of freedom due to the multi-degree-of-freedom serial mechanical device, so that the tracking precision of the optical measuring equipment of the movable platform can be better detected.
Drawings
FIG. 1 is a schematic structural diagram of a tracking performance detection system of a movable platform optical measurement device according to an embodiment;
FIG. 2 is a schematic diagram of an embodiment of a multiple degree of freedom parallel mechanism;
FIG. 3 is a schematic diagram of an embodiment of a multiple degree of freedom tandem mechanism;
FIG. 4 is a schematic diagram of the relationship between the motion variables and the coordinate system of the 6-DOF parallel robot;
FIG. 5 is a schematic diagram of the relationship between motion variables and a coordinate system of a 6-DOF serial robot arm;
FIG. 6 is a schematic diagram of the upper plane of a 6-DOF parallel robot fixedly connected with a 6-DOF serial mechanical arm base;
fig. 7 is a flowchart of a method for detecting tracking performance of a movable platform optical measurement device according to an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
At present, most of optical measurement equipment is arranged on ships, vehicles or airplanes, so that optical recording and measurement under the condition of a movable platform are realized. The movable platform in the embodiment of the invention is a carrier for mounting optical measurement equipment, and generally refers to a ship, a carrier vehicle or an airplane. The optical maneuvering target is a moving target in a target range, such as a moving target of an airplane, a missile, and the like.
The moving platform can generate a passive moving attitude with 6 degrees of freedom of transverse movement, longitudinal movement, lifting, pitching, rolling and yawing in the actual moving process, wherein the transverse movement, the longitudinal movement and the lifting are changes of 3 direction displacement quantities, and the pitching, the rolling and the yawing are changes of 3 direction angle rotations. Therefore, in order to truly simulate the motion attitude of the movable platform under the foundation condition, a 6-degree-of-freedom simulated motion platform is adopted to completely and truly simulate each passive motion attitude of the movable platform.
The existing single-degree-of-freedom dynamic detection target has the defects that the motion track is single, and the speed and the acceleration cannot be generated and simultaneously meet the detection requirement, the 3-degree-of-freedom dynamic detection target still has position blind spots in a working space, and the detection target has the problem of motion singularity in the motion process.
Aiming at the problems, in order to simultaneously meet the detection index requirements of angular velocity and angular acceleration, and enable the simulation target to have no position blind spot in a working space range and to randomly reach each position in the space, the detection target in the embodiment of the invention adopts a 6-freedom-degree serial mechanical device, and has the advantages of high precision, high response and movement speed, flexible control and the like. A collimator is arranged at the tail end of the 6-freedom-degree serial mechanical device to generate a simulated optical target, an optical system of the simulated optical target is designed to have various specifications and can be replaced and adjusted at will to simulate different types of typical targets and meet the detection requirements of different types of optical measurement equipment.
In addition, in order to meet the detection requirement of tracking precision performance of various types of movable platform optical measuring equipment under the foundation condition in engineering, the 6-freedom-degree series mechanical device is installed on the 6-freedom-degree parallel mechanical device to form a novel multi-freedom-degree detection platform, wherein the 6-freedom-degree parallel mechanical device has the characteristics of high rigidity, high precision, high load self-weight ratio and the like and is used for simulating the 6-freedom-degree passive motion attitude of the movable platform in the motion process in real time. The 6-freedom serial mechanical device realizes the simulation of the motion state of the optical maneuvering target. The method has the advantages that tracking accuracy index detection is carried out on the movable platform optical measurement equipment under the foundation condition, the problems and the defects of the equipment can be found rapidly, the research and development period of the equipment can be shortened to a great extent, and the research and development cost is reduced.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a tracking performance detection system of a movable platform optical measurement device according to an embodiment, which is hereinafter referred to as a detection system for short, and the detection system includes: a data processing server 10, a controller 20, an inspection platform 30 and an optical measurement device 40.
The data processing server 10 is used for receiving commands input from the outside and generating motion data of the detection platform. Wherein the externally input command may be a parameter input by a technician or may be a parameter previously stored in a recall database. In this embodiment, the externally input command includes at least: the given value of the movement speed of each joint in the multi-degree-of-freedom series mechanical device and the given value of the movement speed of each joint in the multi-degree-of-freedom parallel mechanical device. Detecting motion data of the platform includes: the space velocity of each joint in the multi-degree-of-freedom parallel mechanical device and the space velocity of each joint in the multi-degree-of-freedom serial mechanical device. That is, the data processing server 10 calculates actual values of the movement speeds of the respective joints in the multi-degree-of-freedom series/parallel mechanical apparatus using the characteristics of the multi-degree-of-freedom series/parallel mechanical apparatus based on the input given values of the movement speeds of the respective joints in the multi-degree-of-freedom series/parallel mechanical apparatus, and transmits the calculated actual values of the movement speeds of the respective joints to the controller 20, so that the controller 20 controls the movement of the respective joints in the multi-degree-of-freedom series/parallel mechanical apparatus.
The controller 20 is configured to receive the motion data of the detection platform sent by the data processing server 10, and implement motion control on the detection platform 10 after performing conversion processing on the motion data of the detection platform. The controller 20 plans and calculates a control instruction according to the motion data of the detection platform through a motion control card and a control algorithm according to different task types, and realizes high-precision motion control of the detection platform through a driver.
The detection platform 30 comprises a multi-degree-of-freedom series mechanical device 31, a multi-degree-of-freedom parallel mechanical device 32 and a collimator 33, wherein the multi-degree-of-freedom parallel mechanical device 32 is installed on the ground, the multi-degree-of-freedom series mechanical device 31 is connected with the multi-degree-of-freedom parallel mechanical device 32, and the collimator 33 is connected to the tail end of the multi-degree-of-freedom series mechanical device 31.
In an embodiment, referring to fig. 2, the multiple-degree-of-freedom parallel mechanical device 32 is used for simulating a passive motion attitude of the detection platform during the motion process according to the spatial velocity of each joint thereof, and includes a 6-degree-of-freedom parallel robot, where the 6-degree-of-freedom parallel robot includes 6 motion cylinders 321, 6 upper universal hinges 322, 6 lower universal hinges 323, an upper plane 324, and a lower plane 325. The lower plane 325 is fixed on the ground, the upper plane 324 is connected with the multi-degree-of-freedom series mechanical device 31, and the simulation of the motion postures of 6 degrees of freedom is realized by means of the telescopic motion of 6 actuating cylinders, so that the shaking postures of the movable platform are simulated in real time.
In one embodiment, referring to fig. 3, the multi-degree-of-freedom tandem robot 31 is used for simulating the active motion attitude of the optical maneuvering target according to the spatial velocity of each joint thereof, and comprises a 6-degree-of-freedom tandem robot arm, wherein the 6-degree-of-freedom tandem robot arm comprises 6 articulated mechanical tandem structures including a base 311, a waist 312, a lower arm 313, an upper arm 314, a wrist 315 and a hand 316, wherein the hand is used for mounting a collimator, the first 3 joints are used for guiding the collimator to a desired position, and the second 3 joints are used for guiding the collimator to a desired positionDetermines the orientation of the collimator. Through the motion of 6 degrees of freedom, solved the not enough problem of motion characteristic, possess the advantage of workspace arbitrary position high accuracy location, occupation space is little and nimble installation. And the maximum speed and the maximum acceleration of each joint can reach 100 degrees/s and 150 degrees/s respectively2And the index requirements of the maximum speed and the maximum acceleration of the existing optical measurement equipment are completely met.
The collimator 33 is used to project a simulated optical target, which is a light spot, through the optical system to an infinite location.
The optical measurement device 40 is used for automatically tracking the simulated optical target, acquiring image information and tracking miss distance of the simulated optical target, and sending the image information and the tracking miss distance to the data processing server 10; the data processing server 10 is used for calculating the tracking accuracy according to the image information and the tracking miss amount.
In addition, the detection system provided by this embodiment further includes a timing terminal and a data communication device, where the timing terminal is configured to provide a uniform time reference for the detection system, so as to ensure uniformity of data and image interaction. The data communication device is used for data communication among the data processing server, the controller, the detection platform and the optical measurement equipment.
Example two:
on the basis of the first embodiment, this embodiment provides a specific implementation manner for the data processing server 10 to generate the detection platform data, and this embodiment is described by taking a 6-degree-of-freedom parallel robot as an example, and includes:
and determining a space velocity Jacobian matrix of the 6-degree-of-freedom parallel robot.
And determining the space velocity of each joint of the 6-freedom parallel robot according to the given value of the motion velocity of each joint in the 6-freedom parallel robot and the space velocity Jacobian matrix.
The method comprises the following steps of determining a space velocity Jacobian matrix of the parallel robot with 6 degrees of freedom, and determining the space velocity Jacobian matrix by the following method:
referring to fig. 4, fig. 4 is a schematic diagram of a relationship between a motion variable and a coordinate system of a 6-degree-of-freedom parallel robot, and a jacobian matrix of the 6-degree-of-freedom parallel robot is derived according to a momentum theory and a spiral motion equation, wherein a branched-chain motion of the 6-degree-of-freedom parallel robot can be represented by a kinematic pair momentum:
in the formula (I), the compound is shown in the specification,
representing the coordinate of the ith kinematic pair rotation of the 6-degree-of-freedom parallel robot under the current configuration; siAn axis vector representing the ith kinematic pair rotation; r isiA position vector representing the ith kinematic pair rotation; h isiThe pitch representing the ith kinematic pair curl.
For rotating branches, the kinematic pair vector degenerates into a linear vector:
for mobile branches, the kinematic pair momentum degenerates to an even quantity:
the 6-degree-of-freedom parallel robot belongs to a multi-degree-of-freedom parallel mechanism and comprises 6 branched chains, wherein each branched chain comprises g driving joints (driving pairs), and the rest joints are negative pairs. The kinematics of the multi-freedom-degree kinematic pair is equivalent to a combined form of a single-freedom-degree kinematic pair, each branched chain is regarded as an open-loop kinematic chain consisting of a plurality of single-freedom-degree kinematic pairs, and the tail end of each branched chain is connected with the motion platform. The instantaneous velocity spin of the robot can be written as:
in the formula (I), the compound is shown in the specification,
representing the instantaneous space velocity momentum, omega, of a 6-degree-of-freedom parallel robotmRepresenting angular velocity, v, of a 6-degree-of-freedom parallel robotmRepresenting the linear velocity at any point on the 6-degree-of-freedom parallel robot,
the coordinate of the jth joint in the ith kinematic pair rotation of the 6-freedom parallel robot under the current configuration is shown,
the angular velocity of the j joint in the ith branch.
The motion momentum corresponding to the passive pair in the formula (4) can be eliminated through a reciprocal momentum theory. Because each branched chain has g driving pairs, at least g derotation quantity of each branched chain is reciprocal to the rotation quantity formed by all the negative pairs in the branched chain, and the unit rotation quantity is expressed as
To both sides of formula (4)
The multiplication is orthogonal operation, and the following relation is obtained:
in the formula (I), the compound is shown in the specification,
Equation (5) contains 6 equations, written in matrix form:
wherein the content of the first and second substances,
as shown in fig. 4, a coordinate system of the 6-degree-of-freedom parallel robot is defined, and the central position of the 6-degree-of-freedom parallel robot and the ground fixing plane is taken as an inertial coordinate system (O)S-XSYSZS) Establishing a connected coordinate system (O) at the center of the upper plane of the 6-degree-of-freedom parallel robotM-XMYMZM). Each branched chain consists of 6 kinematic pairs with single degree of freedom, so that the corresponding 6 kinematic pairs have the rotation amount, wherein the 3 rd is a moving driving pair. Then the kinematic pair rotation of each branch can be obtained from the formulas (2) and (3):
in the formula, biAnd diA position vector representing the ith kinematic pair spin.
As can be seen from fig. 4, the axes of all passive pairs in the branched chain intersect the axis of the driving pair, so that a derotation of the passive pair rotation system can be directly obtained:
by substituting formula (8) for formula (5), it is possible to obtain:
the above equation is written in matrix form:
can also be expressed as:
in the formula (I), the compound is shown in the specification,
then
Namely a velocity Jacobian matrix of the 6-degree-of-freedom parallel robot.
Example three:
on the basis of the first embodiment, the present embodiment provides a specific implementation manner in which the data processing server 10 generates the motion data of the detection platform, and the present embodiment is described by taking a 6-degree-of-freedom tandem robot as an example, and includes:
a space velocity jacobian matrix for a 6 degree-of-freedom tandem manipulator is determined.
And determining the space velocity of each joint of the 6-freedom-degree series mechanical arm according to the given value of the motion velocity of each joint in the 6-freedom-degree series mechanical arm and the space velocity Jacobian matrix.
The method comprises the following steps of determining a space velocity Jacobian matrix of the 6-degree-of-freedom serial mechanical arm, wherein the space velocity Jacobian matrix needs to be determined in the following mode:
referring to fig. 5, fig. 5 is a schematic diagram illustrating a relationship between a motion variable and a coordinate system of a 6-degree-of-freedom serial robot arm, and a connection coordinate system { M } and a tool coordinate system { T } are respectively established according to a rotation theory, wherein the connection coordinate system is a basic cartesian coordinate system of the 6-degree-of-freedom serial robot arm and a connection coordinate system (O) of the 6-degree-of-freedom parallel robot armM-XMYMZM) And the tail end of the mechanical arm can move along the X axis, the Y axis and the Z axis of the coordinate system and rotate around the X axis, the Y axis and the Z axis of the coordinate system under the coordinate system. Tool coordinate system mechanical arm end collimatorIs taken as the Z-axis and defines the origin of the tool coordinate system at the intersection of the 4 th, 5 th and 6 th axes.
Definition xiiFor the motion rotation of the ith joint, the coordinate of the motion pair rotation is expressed as follows:
in the formula (12), riIs the position vector, ω, of a point on the axis under the current configurationiIs a unit vector of the axis direction of the rotary joint under the current configuration.
When the other joints are kept still and only the ith joint is rotated, the rigid body motion of the ith joint can be expressed as:
θiindicating the angle of rotation of each joint.
gST(θi) Representing a rigid transformation of the tool coordinate system T with respect to the connected coordinate system M.
gST(0) Representing the initial configuration of the tool coordinate system T relative to the connection coordinate system M.
By superposing the motions of the joints, the formula of the forward kinematics of the 6-degree-of-freedom serial mechanical arm can be expressed as:
in the formula (14), gST(0) The rigid body transformation between a connection coordinate system and a tool coordinate system when the mechanical arm is connected in series with an initial configuration in 6 degrees of freedom is adopted, and the parallel machine is used in the embodiment of the inventionPose of the upper plane of the person; gSTAnd (theta) is rigid body transformation between a 6-degree-of-freedom serial mechanical arm connection coordinate system and a tool coordinate system when the rotation angle of each joint is arbitrarily given.
By deriving the angular variable of equation (14), one can obtain:
the instantaneous space velocity of the 6-DOF serial robot arm end simulation target can be expressed as:
in the formula (I), the compound is shown in the specification,
the instantaneous space velocity of a target is simulated for the tail end of a 6-degree-of-freedom serial mechanical arm,
is gST(theta) an inverse matrix of (theta),
the angular velocity of the ith joint is represented by a coordinate conversion operation symbol.
Writing the above equation in matrix form:
in the formula (I), the compound is shown in the specification,
a jacobian matrix representing the 6 degree-of-freedom tandem arm space velocity,
is the angular velocity matrix of each joint.
Writing equation (15) in the form of kinematic vorticity coordinates:
ad () represents the companion transform of the matrix.
Order to
Then at the same time, it follows from equation (12):
ξ′iis representative of xiiIn the form of motion vector coordinates, ω'iRepresents omegaiIn the form of motion vector coordinates of r'iIs represented by riIn the form of motion vector coordinates.
Equation (17) can be written as:
in the formula (I), the compound is shown in the specification,
representing a 6 degree-of-freedom tandem robot arm space velocity jacobian matrix.
The kinematic pair rotation coordinates corresponding to each joint of the 6-degree-of-freedom serial mechanical arm under the current configuration can be obtained by each coordinate system definition and each position parameter in fig. 5 as follows:
wherein θ ═ θ1…θ6)TThe rotation angle of each joint of the mechanical arm is connected in series with 6 degrees of freedom, y and z are coordinate axes of a tool coordinate system,
is an anti-symmetric matrix that rotates about the y-axis,
is an anti-symmetric matrix that rotates about the z-axis. r isiIs the position vector, ω, of a point on the axis under the current configurationiIs a unit vector r 'in the direction of the axis of the rotary joint in the current posture'iIs riMotion vector coordinate expression of ω'iIs omegaiCoordinate expression of motion vector of (a)iIs the distance between the axes, diIs the offset between the two axes.
Then substituting equation (21) for equation (20) can obtain a space velocity jacobian matrix of the 6-degree-of-freedom tandem manipulator as follows:
example four:
according to the first, second and third embodiments, the detection platform in the detection system provided by the embodiment of the invention comprises the 6-degree-of-freedom serial mechanical arm and the 6-degree-of-freedom parallel robot, the 6-degree-of-freedom serial mechanical arm is used for simulating the motion characteristic of the actual optical maneuvering target, and the 6-degree-of-freedom parallel robot simulates the motion attitude of the movable platform in each direction, so that the detection platform has the characteristics of strong nonlinearity, time deformation, high coupling and the like. According to the embodiment of the invention, space velocity Jacobian matrixes of the 6-DOF serial mechanical arm and the 6-DOF parallel robot are respectively established, so that the motion postures of the 6-DOF serial mechanical arm and the 6-DOF parallel robot are fused, the normalized coordinate conversion of the detection system is completed, and the high-precision positioning and motion planning of the multi-DOF detection system are realized.
The tracking accuracy of the optical measurement device 40 mainly refers to a tracking error value generated when the optical measurement device tracks the simulated optical target when the simulated optical target moves at a certain angular velocity and angular acceleration, and therefore, when the tracking accuracy of the optical measurement device 40 is detected, the data processing server 10 needs to determine the actual moving velocity of the simulated optical target.
Referring to fig. 6, in this embodiment, since the upper plane of the 6-degree-of-freedom parallel robot is fixedly connected to the 6-degree-of-freedom serial arm base, the coordinate system at the center of the upper plane of the parallel robot coincides with the inertial coordinate system of the serial arm, that is, the motion output of the parallel robot is the motion input of the serial arm, and based on this, the detection platform establishes three coordinate systems, that is, the inertial coordinate system (O) in which the detection platform is fixedly connected to the groundS-XSYSZS) Connection coordinate system (O) at the fixed connection position of parallel robot and serial mechanical armM-XMYMZM) Tool coordinate system (O) of the end of a serial robot armT-XTYTZT) Tool coordinate system (O)T-XTYTZT) Relative to an inertial frame (O)S-XSYSZS) The bit shape of (1) satisfies:
gST＝gSMgMT (23)
in the formula, gSTIs a rigid body transformation matrix between the tool coordinate system and the inertial coordinate system, gSMG being a rigid body transformation matrix connecting the coordinate system and the inertial coordinate systemMTIs a rigid body transformation matrix between the tool coordinate system and the connection coordinate system.
From the spatial velocity definition, one can get:
in the formula (I), the compound is shown in the specification,
are respectively gST,gSM,gMTThe first order differential matrix of (a) is,
are respectively gST,gSM,gMTThe inverse of the matrix of (a) is,
to detect the spatial velocity of the tool coordinate system relative to the inertial coordinate system in the platform,
to link the instantaneous velocity of the coordinate system relative to the inertial coordinate system,
is the instantaneous velocity of the tool coordinate system relative to the connection coordinate system.
Written in the form of a rotation coordinate, that is:
in the formula (I), the compound is shown in the specification,
is gSMThe adjoint transformation matrix of (a).
By substituting equations (11) and (20) into equation (25), the spatial velocity of the simulated optical target at the end of the detection platform relative to the inertial coordinate system can be obtained, and further the spatial acceleration of the simulated optical target relative to the inertial coordinate system can be obtained by differential solution.
Example five:
referring to fig. 7, fig. 7 is a flowchart of a method for detecting tracking performance of a movable platform optical measurement device according to an embodiment, which is hereinafter referred to as a detection method for short, and the detection method is implemented based on the detection system provided in the above embodiment, and includes the following steps:
step 100: before detection, a collimator 33 matched with an optical measurement device is arranged at the tail end of the multi-degree-of-freedom serial mechanical device 31, and the multi-degree-of-freedom parallel mechanical device 32 and the collimator 33 form a detection platform 30. The optical measuring device 40 is fixed on the ground at a distance according to the optical system and the detection environment, and the optical measuring device 40 and the detection platform 30 are adjusted so that the simulated optical target emitted by the collimator 33 is aligned with the optical axis of the optical measuring device 40, i.e. the simulated optical target is brought into the optical field of the optical measuring device 40.
Step 200: the data processing server 10 receives an externally input command, generates motion data of the detection platform 30, and transmits the motion data of the detection platform 30 to the controller 20; the motion data of the detection platform 30 includes the spatial velocity of each joint in the multi-degree-of-freedom parallel mechanical device 32 and the spatial velocity of each joint in the multi-degree-of-freedom serial mechanical device 31.
Step 300: the controller 20 controls the testing platform 30 to move according to the movement data of the testing platform 30.
Step 400: the optical measuring device 40 automatically tracks the simulated optical target, and acquires image information and tracking miss amount of the simulated optical target while recording tracking error data (Δ a) at each timei,ΔEi) The image information and the tracking miss amount are transmitted to the data processing server 10.
Step 500: the data processing service 10 calculates the tracking accuracy from the image information and the tracking miss amount. Wherein the envelope (Delta A ') of the error curve is obtained by the least square method'i,ΔE′i) And at the moment, the standard deviation between the tracking error data and the envelope curve of the error curve is the tracking precision of the equipment. The formula for calculating the tracking accuracy is as follows:
in the formula, N is the number of data; (Delta A)i,ΔEi) Respectively the azimuth and the pitching tracking error of the ith point; (Delta A'i,ΔE′i) The envelope values of the azimuth tracking error and the elevation tracking error at the ith point are respectively.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. A system for detecting the tracking performance of a movable platform optical measuring device is characterized by comprising:
the data processing server is used for receiving an externally input command and generating motion data of the detection platform; the motion data of the detection platform comprises the space velocity of each joint in the multi-degree-of-freedom parallel mechanical device and the space velocity of each joint in the multi-degree-of-freedom serial mechanical device;
the controller is used for receiving the motion data of the detection platform sent by the data processing server and converting the motion data of the detection platform to realize motion control of the detection platform;
the detection platform comprises a multi-degree-of-freedom series mechanical device, a multi-degree-of-freedom parallel mechanical device and a collimator, wherein the multi-degree-of-freedom parallel mechanical device is arranged on the ground and connected with the multi-degree-of-freedom parallel mechanical device, and the collimator is connected to the tail end of the multi-degree-of-freedom series mechanical device;
the multi-degree-of-freedom parallel mechanical device is used for simulating a passive motion attitude of the movable platform in the motion process according to the space velocity of each joint of the multi-degree-of-freedom parallel mechanical device; the multi-degree-of-freedom series mechanical device is used for simulating the active motion attitude of the optical maneuvering target according to the space velocity of each joint; the collimator is used for projecting the simulated optical target to an infinite position through an optical system, and the simulated optical target is a light spot;
the optical measurement equipment is used for automatically tracking the simulated optical target, acquiring image information and tracking miss distance of the simulated optical target and sending the image information and the tracking miss distance to the data processing server; and the data processing server is used for calculating the tracking precision according to the image information and the tracking miss distance.
2. The system for detecting tracking performance of an optical measuring device of a moving platform as claimed in claim 1, wherein said externally inputted commands comprise at least: the given value of the movement speed of each joint in the multi-degree-of-freedom series mechanical device and the given value of the movement speed of each joint in the multi-degree-of-freedom parallel mechanical device.
3. The system of claim 2, wherein the multi-degree-of-freedom tandem mechanism comprises: and 6 degrees of freedom are connected in series with a mechanical arm.
4. The system of claim 3, wherein generating motion data for the test platform comprises:
determining a space velocity Jacobian matrix of the 6-degree-of-freedom serial mechanical arm;
and determining the space velocity of the tail end of the 6-freedom-degree serial mechanical arm according to the given value of the motion velocity of each joint in the 6-freedom-degree serial mechanical arm and a space velocity Jacobian matrix.
5. The system of claim 4, wherein determining the space velocity Jacobian matrix for the 6 degree of freedom tandem robot arm comprises:
determining a space velocity Jacobian matrix for the 6 degree-of-freedom tandem robot arm according to the following equation:
wherein the content of the first and second substances,
is a space velocity Jacobian matrix of a serial mechanical arm with 6 degrees of freedom,
θ＝(θ1…θ6)Tthe rotation angle of each joint of the mechanical arm is connected in series with 6 degrees of freedom, y and z are coordinate axes of a tool coordinate system,
is an anti-symmetric matrix that rotates about the y-axis,
being an anti-symmetric matrix rotating about the z-axis, riIs the position vector, ω, of a point on the axis under the current configurationiIs a unit vector of the axis direction of the rotary joint in the current configuration, ri' is riCoordinate expression of the amount of rotation of movement, ωiIs omegaiCoordinate expression of motion vector of (a)iIs the distance between the axes, diIs the offset between the two axes.
6. The system of claim 2, wherein the multiple degree of freedom parallel mechanism comprises: 6-degree-of-freedom parallel robot.
7. The system of claim 5, wherein the motion data of the test platform comprises:
determining a space velocity Jacobian matrix of the 6-degree-of-freedom parallel robot;
and determining the space velocity of the upper plane of the 6-freedom parallel robot according to the given value of the motion velocity of each joint in the 6-freedom parallel robot and the space velocity Jacobian matrix.
8. The system of claim 7, wherein determining the space velocity Jacobian matrix for the 6 degree-of-freedom parallel robot comprises:
determining a space velocity Jacobian matrix of the 6-degree-of-freedom parallel robot according to the following formula:
wherein, J-1 rIs a space velocity Jacobian matrix of the parallel robot with 6 degrees of freedom,
representing the coordinate of the ith kinematic pair rotation of the 6-degree-of-freedom parallel robot under the current configuration; biA position vector representing the ith kinematic pair rotation; s3,iAn axis vector representing the ith kinematic pair curl.
9. The system for detecting tracking performance of a moving platform optical measurement device according to claim 1, wherein said data processing server is further configured to:
determining a speed of motion of the simulated optical target;
wherein determining the speed of motion of the simulated optical target comprises:
determining the movement speed of the tail end of the multi-degree-of-freedom series mechanical device relative to an inertial coordinate system according to the following formula:
wherein the content of the first and second substances,
for detecting the spatial velocity of the tool coordinate system relative to the inertial coordinate system in the platformThe degree of the magnetic field is measured,
to link the instantaneous velocity of the coordinate system relative to the inertial coordinate system,
is the instantaneous velocity, g, of the tool coordinate system relative to the connecting coordinate systemSMFor rigid transformation matrices, Ad, between a connected coordinate system and an inertial coordinate systemgSMIs gSMThe adjoint change matrix of (a);
the movement speed of the tail end of the multi-degree-of-freedom series mechanical device relative to the inertial coordinate system is the movement speed of the simulated optical target.
10. A method for detecting the tracking performance of a movable platform optical measuring device is characterized by comprising the following steps:
adjusting the optical measuring equipment and the detection platform to enable the simulated optical target emitted by the collimator to be in the optical field of view of the optical measuring equipment;
the method comprises the following steps that a data processing server receives an externally input command, generates motion data of a detection platform and sends the motion data of the detection platform to a controller; the motion data of the detection platform comprises the space velocity of each joint in the multi-degree-of-freedom parallel mechanical device and the space velocity of each joint in the multi-degree-of-freedom serial mechanical device;
the controller controls the detection platform to move according to the motion data of the detection platform, wherein the detection platform comprises a multi-degree-of-freedom series mechanical device, a multi-degree-of-freedom parallel mechanical device and a collimator, the multi-degree-of-freedom parallel mechanical device is arranged on the ground and connected with the multi-degree-of-freedom parallel mechanical device, and the collimator is connected to the tail end of the multi-degree-of-freedom series mechanical device; the multi-degree-of-freedom parallel mechanical device is used for simulating a passive motion attitude of the movable platform in the motion process according to the space velocity of each joint of the multi-degree-of-freedom parallel mechanical device; the multi-degree-of-freedom series mechanical device is used for simulating the active motion attitude of the optical maneuvering target according to the space velocity of each joint; the collimator is used for projecting the simulated optical target to an infinite position through an optical system, and the simulated optical target is a light spot;
the optical measurement equipment automatically tracks the simulated optical target, acquires image information and tracking miss distance of the simulated optical target, and sends the image information and the tracking miss distance to a data processing server; and the data processing server calculates the tracking precision according to the image information and the tracking miss distance.
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