CN102486381A - A simulation control and performance test device and method for an unmanned control system - Google Patents
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Abstract
本发明涉及一种无人操控系统的模拟操控与性能测试装置及方法，装置包括控制单元、通讯单元、供电单元、图像采集单元以及数据显示单元，分别设于两个可拆分的箱体中，两个可拆分的箱体两侧分别设有便携把手。方法为无人操控系统的模拟操控与性能测试装置与无人操控系统进行电连接；无人操控系统上电，开始模拟操控与性能测试采集无人操控系统的状态信号、模拟信号以及图像数据并实时进行显示；保存状态信号和模拟信号信息；如果测试过程没有结束，则通过状态信号判断指令的执行结果满足要求继续返回采集状态信号、模拟信号以及图像数据环节。本发明采用分体便携设计，可以在各种场地开展产品的测试工作，模拟产品的工作环境，模拟操控与性能测试同步完成。
The present invention relates to a simulation control and performance testing device and method for an unmanned control system. The device includes a control unit, a communication unit, a power supply unit, an image acquisition unit and a data display unit, which are respectively arranged in two detachable boxes. , Two detachable boxes are provided with portable handles on both sides. The method is to electrically connect the simulation control and performance test device of the unmanned control system to the unmanned control system; power on the unmanned control system, start the simulation control and performance test, collect the status signal, analog signal and image data of the unmanned control system and Display in real time; save the status signal and analog signal information; if the test process is not over, judge the execution result of the instruction through the status signal to meet the requirements and continue to return to the link of collecting status signal, analog signal and image data. The invention adopts a split and portable design, which can carry out product testing work in various places, simulate the working environment of the product, and complete the simulation control and performance testing simultaneously.
Description
技术领域 technical field
本发明涉及模拟工作环境实现产品性能测试与分析技术，具体的说是一种无人操控系统的模拟操控与性能测试装置及方法。The invention relates to a simulated working environment to realize product performance testing and analysis technology, in particular to a device and method for simulating control and performance testing of an unmanned control system.
背景技术 Background technique
模拟操控测试系统广泛应用于需要模拟工作环境，实现无人操控系统的性能测试与分析，如对无人操控系统的野外实验分析、模拟训练、航空航天等产品的性能测试等领域中。现有的模拟操控测试系统通常采用固定操控台完成，不适合实现产品工作状态的各种性能测试，受实验条件和环境的限制，由于采用固定试验测试台，无电子罗盘功能，不能对产品的工作状态进行导航和过程监督，也无法保证试验的准确、顺利执行。模拟操控与性能测试分析单独实现，无法完成产品的综合性能完整测试。The simulated control test system is widely used in the fields that need to simulate the working environment to realize the performance test and analysis of the unmanned control system, such as the field experiment analysis of the unmanned control system, simulation training, performance test of aerospace and other products. The existing simulation control test system is usually completed with a fixed console, which is not suitable for various performance tests in the working state of the product. Due to the limitation of the experimental conditions and the environment, due to the use of a fixed test bench without electronic compass function, the product cannot be tested. The navigation and process supervision of the working status cannot guarantee the accurate and smooth execution of the test. Simulated manipulation and performance test analysis are implemented separately, and it is impossible to complete the comprehensive performance test of the product.
发明内容 Contents of the invention
针对现有技术中存在的操控测试台无法便携、动态工作状态的测试与分析无法实现、操控模拟与自动测试无法同步完成等不足之处，本发明要解决的技术问题是提供一种分体便携、能够实现综合性能完整测试的无人操控系统的模拟操控与性能测试装置及方法。Aiming at the deficiencies in the prior art that the control test bench cannot be portable, the test and analysis of the dynamic working state cannot be realized, and the control simulation and automatic test cannot be completed synchronously, the technical problem to be solved by the present invention is to provide a split portable 1. A simulation control and performance test device and method for an unmanned control system capable of realizing a complete test of comprehensive performance.
为解决上述技术问题，本发明采用的技术方案是：In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
本发明一种无人操控系统的模拟操控与性能测试装置包括控制单元、通讯单元、供电单元、图像采集单元以及数据显示单元，分别设于两个可拆分的箱体中，两个可拆分的箱体两侧分别设有便携把手。A simulation control and performance test device for an unmanned control system of the present invention includes a control unit, a communication unit, a power supply unit, an image acquisition unit and a data display unit, which are respectively arranged in two detachable boxes, and the two detachable There are portable handles on both sides of the divided box.
控制单元的输入端接收无人操控系统的模拟信号，通过图像采集单元的接收无人操控系统的图像数据，通过通讯单元接收无人操控系统的状态信号以及对无人操控系统发送控制指令及导航信息；数据显示单元接于控制单元的显示数据输出端，供电单元为控制单元、通讯单元、图像采集单元、数据显示单元以及无人操控系统提供工作电源。The input terminal of the control unit receives the analog signal of the unmanned control system, receives the image data of the unmanned control system through the image acquisition unit, receives the status signal of the unmanned control system through the communication unit, and sends control instructions and navigation to the unmanned control system Information; the data display unit is connected to the display data output end of the control unit, and the power supply unit provides working power for the control unit, communication unit, image acquisition unit, data display unit and unmanned control system.
所述控制单元的操控输入端采用操纵杆。The control input end of the control unit adopts a joystick.
还具有电子罗盘单元，该单元包括天线以及GPS模块，GPS模块通过天线接收GPS信号送至控制单元。There is also an electronic compass unit, which includes an antenna and a GPS module, and the GPS module receives GPS signals through the antenna and sends them to the control unit.
所述控制单元具有GPS解算模块以及电子罗盘显示模块，其中GPS解算模块接收GPS模块的GPS信号进行解算处理，并将解算信息送至电子罗盘显示模块进行显示。The control unit has a GPS calculation module and an electronic compass display module, wherein the GPS calculation module receives the GPS signal of the GPS module for calculation processing, and sends the calculation information to the electronic compass display module for display.
所述箱体中设有加热装置，箱体上设有保温层。A heating device is arranged in the box body, and an insulating layer is arranged on the box body.
本发明一种无人操控系统的模拟操控与性能测试方法包括以下步骤：A simulation control and performance testing method of an unmanned control system of the present invention comprises the following steps:
无人操控系统的模拟操控与性能测试装置与无人操控系统进行电连接；The simulation control and performance test device of the unmanned control system is electrically connected to the unmanned control system;
无人操控系统上电，开始模拟操控与性能测试The unmanned control system is powered on and starts to simulate control and performance testing
采集无人操控系统的状态信号、模拟信号以及图像数据并实时进行显示；Collect status signals, analog signals and image data of the unmanned control system and display them in real time;
保存状态信号和模拟信号信息；Save state signal and analog signal information;
判断测试过程是否结束；Determine whether the test process is over;
如果没有结束，则通过状态信号判断指令的执行结果是否满足要求；If it is not over, judge whether the execution result of the instruction meets the requirements through the status signal;
如果满足要求继续返回采集状态信号、模拟信号以及图像数据环节。If the requirements are met, continue to return to the link of collecting status signals, analog signals and image data.
如果不满足要求，则通过通讯单元传送至该无人操控系统执行该指令，并返回采集状态信号、模拟信号以及图像数据环节。If the requirements are not met, it will be sent to the unmanned control system through the communication unit to execute the command, and return to the link of collecting status signals, analog signals and image data.
本发明具有以下有益效果及优点：The present invention has the following beneficial effects and advantages:
1.便携性。测试装置设计上采用分体便携设计，可以在各种场地开展产品的测试工作，模拟产品的工作环境。1. Portability. The design of the test device adopts a split and portable design, which can carry out product testing work in various places and simulate the working environment of the product.
2.电子罗盘监督。通过电子罗盘的实时GPS信息处理和解算，监督产品实验过程是否按照实验内容正常进行，并提供偏差提示与补偿功能。2. Electronic compass supervision. Through the real-time GPS information processing and calculation of the electronic compass, it can monitor whether the product experiment process is carried out normally according to the experiment content, and provide deviation prompt and compensation functions.
3.模拟操控与性能测试同步完成。通过模拟操控测试系统实现产品的操控模拟和性能测试的同步完成，实现产品在逼真的工作测试模拟环境下实现各种实验项目的测试，验证产品的各种性能指标。3. Simulated manipulation and performance testing are completed simultaneously. Through the simulation control test system, the product control simulation and performance test can be completed synchronously, and the product can be tested in various experimental projects in a realistic working test simulation environment, and various performance indicators of the product can be verified.
附图说明 Description of drawings
图1a为本发明装置正面结构示意图；Figure 1a is a schematic diagram of the front structure of the device of the present invention;
图1b为本发明装置背面结构示意图；Figure 1b is a schematic diagram of the back structure of the device of the present invention;
图2为本发明装置电气结构框图；Fig. 2 is a block diagram of the electrical structure of the device of the present invention;
图3a为本发明装置中电子罗盘单元结构框图；Fig. 3 a is the structural block diagram of electronic compass unit in the device of the present invention;
图3b为本发明装置中电子罗盘单元电气接线图；Fig. 3 b is the electrical wiring diagram of the electronic compass unit in the device of the present invention;
图3c为本发明装置中电子罗盘显示界面图；Fig. 3c is a display interface diagram of the electronic compass in the device of the present invention;
图4为本发明方法流程图。Fig. 4 is a flow chart of the method of the present invention.
具体实施方式 Detailed ways
如图2所示，本发明无人操控系统的模拟操控与性能测试装置包括控制单元、通讯单元、供电单元、图像采集单元以及数据显示单元，分别设于两个可拆分的箱体中，两个可拆分的箱体两侧分别设有便携把手；其中控制单元的输入端接收无人操控系统的模拟信号，通过图像采集单元的接收无人操控系统的图像数据，通过通讯单元接收无人操控系统的状态信号以及对无人操控系统发送控制指令及导航信息；数据显示单元接于控制单元的显示数据输出端，供电单元为控制单元、通讯单元、图像采集单元、数据显示单元以及无人操控系统提供工作电源。控制单元的操控输入端可以采用操纵杆形式进行灵活的方向控制。As shown in Figure 2, the simulation control and performance testing device of the unmanned control system of the present invention includes a control unit, a communication unit, a power supply unit, an image acquisition unit and a data display unit, which are respectively arranged in two detachable boxes. Portable handles are provided on both sides of the two detachable boxes; the input terminal of the control unit receives the analog signal of the unmanned control system, the image data of the unmanned control system is received through the image acquisition unit, and the unmanned control system is received through the communication unit. The status signal of the human-operated system and send control instructions and navigation information to the unmanned system; the data display unit is connected to the display data output end of the control unit, and the power supply unit is the control unit, communication unit, image acquisition unit, data display unit and wireless The human control system provides working power. The control input of the control unit can be flexibly controlled in the form of a joystick.
如图1a、1b所示，本实施例针对本发明装置的功能划分，设计为两部分：即数据显示单元(包括液晶显示器、电压表及电流表)、供电单元(输出电压为直流28V、5V)、图像采集单元(采用索尼录像机，摄像头安装于无人操控系统上)，上述各单元安装于上部箱体中；液晶显示器后部空间设计为备件箱，可放置信号线材等操控测试装置配套物品。As shown in Figures 1a and 1b, the present embodiment is designed into two parts for the functional division of the device of the present invention: the data display unit (including liquid crystal display, voltmeter and ammeter), and the power supply unit (output voltage is DC 28V, 5V) 1. Image acquisition unit (Sony video recorder is used, and the camera is installed on the unmanned control system). The above-mentioned units are installed in the upper box; the space behind the liquid crystal display is designed as a spare parts box, which can place supporting items such as signal wires and other control test devices.
控制单元包括工控机采用研华工控机，含键盘、鼠标，工控机内至少含三个PCI插槽，一个PCIE插槽，用来插串口卡、图像采集卡、A/D采集卡。控制单元安装于下部箱体中，该下部箱体可以做为支架，承载上部箱体；键盘、鼠标和操控杆放置于平板上面可以放置键盘，在键盘平板下面是工控机主机。The control unit includes industrial computer using Advantech industrial computer, including keyboard and mouse. The industrial computer contains at least three PCI slots and one PCIE slot for inserting serial port cards, image acquisition cards, and A/D acquisition cards. The control unit is installed in the lower box, which can be used as a bracket to carry the upper box; the keyboard, mouse and joystick can be placed on the tablet, and the industrial computer host is placed under the keyboard panel.
为了使本发明装置适应野外多变的温度范围，工控机选择宽温型号，箱体中设有内部设计有嵌入式智能加热装置，具备宽温特性，箱体上设有保温层。接口设计为航空接插头，具有高可靠性，功能具备提供工作直流电源输出功能、电压电流监测功能、无人操控系统工作视频实时录像功能。In order to make the device of the present invention adapt to the variable temperature range in the field, the industrial computer chooses a wide temperature model, and the box body is equipped with an embedded intelligent heating device inside, which has wide temperature characteristics, and the box body is provided with an insulation layer. The interface is designed as an aviation plug, which has high reliability, and has the functions of providing working DC power output, voltage and current monitoring, and real-time video recording of unmanned system work.
箱体内部空间结构紧凑，占用体积小；两个箱体分体设计，箱体两侧分别安装的把手，移动时，可以拆分成两部分，便于携带，易于快速组合，使用时可以通过连接件组合成为一体。The internal space of the box is compact and occupies a small volume; the two boxes are designed separately, and the handles installed on both sides of the box can be split into two parts when moving, which is easy to carry and easy to assemble quickly. The pieces are combined into one.
为了适应实时捕捉无人操控系统的定位信息(经、纬度)、高度、速度以及航向信息，本发明装置还具有电子罗盘单元，如图3a、3b所示，该单元包括天线以及GPS模块，GPS模块通过天线接收GPS信号送至控制单元。控制单元具有GPS解算模块以及电子罗盘显示模块，其中GPS解算模块接收GPS模块的GPS信号进行解算处理，并将解算信息送至电子罗盘显示模块进行显示，电子罗盘显示界面图如图3c所示。In order to adapt to capture the positioning information (longitude, latitude), altitude, speed and course information of the unmanned control system in real time, the device of the present invention also has an electronic compass unit, as shown in Figures 3a and 3b, this unit includes an antenna and a GPS module, GPS The module receives the GPS signal through the antenna and sends it to the control unit. The control unit has a GPS calculation module and an electronic compass display module. The GPS calculation module receives the GPS signal from the GPS module for calculation and processing, and sends the calculation information to the electronic compass display module for display. The electronic compass display interface is shown in the figure 3c shown.
如图4所示，本发明装置通过以下方法实现无人操控系统的模拟操控与性能测试：As shown in Figure 4, the device of the present invention realizes the simulated control and performance test of the unmanned control system through the following methods:
无人操控系统的模拟操控与性能测试装置与无人操控系统进行电连接；The simulation control and performance test device of the unmanned control system is electrically connected to the unmanned control system;
无人操控系统上电，开始模拟操控与性能测试；Power on the unmanned control system and start the simulation control and performance test;
采集无人操控系统的状态信号、模拟信号以及图像数据并实时进行显示；Collect status signals, analog signals and image data of the unmanned control system and display them in real time;
保存状态信号和模拟信号信息；Save state signal and analog signal information;
判断测试过程是否结束；Determine whether the test process is over;
如果结束退出模拟操控与性能测试；If it is over, exit the simulated handling and performance test;
如果没有结束通过状态信号判断指令的执行结果是否满足要求；If it is not finished, judge whether the execution result of the instruction meets the requirements through the status signal;
如果满足要求继续返回采集状态信号、模拟信号以及图像数据环节；If the requirements are met, continue to return to the link of collecting status signals, analog signals and image data;
如果不满足要求通过通讯单元传送至该无人操控系统执行该指令，并返回采集状态信号、模拟信号以及图像数据环节。If the requirements are not met, the command is sent to the unmanned control system through the communication unit to execute the command, and returns to the link of collecting status signals, analog signals and image data.
所述控制指令包括通过操纵杆、显示界面上的控件发送的控制指令。The control instructions include control instructions sent through joysticks and controls on the display interface.
如需采集GPS信号，则可以过GPS模块接收GPS信号，由GPS解算模块号进行解算处理，并将解算信息送至电子罗盘显示模块进行显示。If the GPS signal needs to be collected, the GPS signal can be received by the GPS module, and the GPS calculation module number is used for calculation processing, and the calculation information is sent to the electronic compass display module for display.
在实际操作中，可以在液晶显示器屏幕上操作，可以控制操纵杆通过串口通信方式向无人操控系统发送控制指令，可以向无人操控系统模拟发送位姿偏差信息；无人操控系统接收到控制指令后执行该指令，并通过串口对无人操控系统返回的状态信息进行实时解析和显示，实现无人操控系统的遥测通信功能模拟。In actual operation, it can be operated on the LCD screen, and the joystick can be controlled to send control instructions to the unmanned system through serial communication, and the pose deviation information can be simulated to be sent to the unmanned system; the unmanned system receives the control After the command is executed, the command is executed, and the status information returned by the unmanned control system is analyzed and displayed in real time through the serial port, so as to realize the telemetry communication function simulation of the unmanned control system.
与传统方法相比，本发明可以在各种实验场地条件下快速构建无人操控系统测试环境，模拟无人操控系统的完整工作流程并同时实现产品性能测试与分析功能。Compared with the traditional method, the present invention can quickly build the test environment of the unmanned control system under various experimental site conditions, simulate the complete workflow of the unmanned control system and realize the product performance test and analysis function at the same time.
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| EP2293008A2 (en) * | 2009-09-05 | 2011-03-09 | LFK-Lenkflugkörpersysteme GmbH | Device for managing function tests and/or service procedures for unmanned missiles which can be released from aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116339278A (en) * | 2022-11-24 | 2023-06-27 | 威凯检测技术有限公司 | Intelligent kitchen electric circuit control board detection system and evaluation method |
| CN116339278B (en) * | 2022-11-24 | 2023-12-12 | 威凯检测技术有限公司 | Intelligent kitchen electric circuit control board detection system and evaluation method |
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Application publication date: 20120606 |