Footprint rapid inspection equipment and method for satellite single machine
By combining imaging modules and machine vision algorithms, a non-contact measurement device was developed, which solved the problems of low efficiency and large errors in satellite single-unit footprint inspection. This enabled high-precision, low-cost automated inspection of single-unit footprints, ensuring the accuracy and safety of installation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XIAN INSTITUE OF SPACE RADIO TECH
- Filing Date
- 2025-12-12
- Publication Date
- 2026-04-17
AI Technical Summary
In existing technologies, the footprint inspection of individual satellites relies on manual measurement, which is inefficient and prone to errors. Especially in high-throughput situations, the workload is enormous, and irregularly shaped satellites are easily affected by obstructions, leading to installation difficulties and delays in development.
A device comprising an imaging module, an illumination module, a motion control module, a data processing and display module, and auxiliary structures is employed. Combined with machine vision algorithms, it enables non-contact measurement and automatic annotation. Through components such as industrial cameras, LED array light sources, and light shields, it acquires and processes single-machine footprint images for high-precision comparison and inspection.
It achieves efficient and accurate single-machine footprint inspection, reduces hardware requirements, avoids measurement errors and occlusion problems, improves recognition and automatic labeling efficiency, ensures single-machine safety, and reduces costs.
Smart Images
Figure CN121876805A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a rapid footprint inspection device and method for satellite units, belonging to the field of satellite payload digital manufacturing technology. Background Technology
[0002] The satellite payload bay contains numerous individual components. After each component is manufactured, inspection personnel must check its interfaces and dimensions. The bottom surface of the component, which directly contacts the satellite module, is known as the component's "footprint" and is one of the most critical interfaces. The footprint diagram is a view taken from the +H direction to the -H direction after the equipment is installed. It includes important interface dimensional information such as footprint size, reference hole position, and hole size, and is marked with cross-sections. If the component's footprint is incorrect, it will not be able to mate with the threaded holes on the satellite module, leading to installation difficulties and rework, requiring subsequent hole embedding on the module, and potentially delaying the overall satellite development schedule.
[0003] Currently, the inspection process for interfaces and dimensions such as mounting footprints on individual units is primarily completed manually. Measuring tools such as vernier calipers are typically used to inspect and judge the dimensions of mounting holes. However, the number of individual units in high-throughput satellite payload bays now exceeds a thousand, resulting in a massive inspection workload and making it prone to manual measurement errors. Besides traditional methods like manual inspection with measuring tools, there are also methods such as scanning and reconstructing the 3D information of the individual units using 3D scanning and comparing it with a 3D model. However, these methods suffer from drawbacks such as high cost and long processing time. Furthermore, since individual units are often irregularly shaped, the unit body, connectors, and semi-rigid cables used for connection may obstruct the measurement of the bottom footprints. Summary of the Invention
[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a rapid footprint inspection device and method for satellite single-unit, which reduces hardware requirements and improves recognition and automatic labeling efficiency.
[0005] The technical solution of this invention is: This invention discloses a rapid footprint detection device for a single satellite, comprising: a housing, an imaging module, an illumination module, a motion control module, a data processing and display module, and auxiliary structures; wherein, The enclosure contains a glass panel and a movable panel; the glass panel divides the enclosure into upper and lower parts; the device under test is placed on the glass panel in the upper part of the enclosure; the movable panel is placed in the lower part of the enclosure; the imaging module and the lighting module are placed on the movable panel. The motion control module controls the movement of the movable panel and adjusts the distance between the movable panel and the glass panel. The bottom surface of the device under test is perpendicular to the axis of the imaging module; The imaging module acquires footprint images of the device under test and sends them to the data processing and display module. The lighting module provides light for the footprint image acquisition of the device under test, and uses a light sensor to provide feedback and adjust the lighting conditions. The auxiliary structure provides light-blocking assistance for acquiring footprint images of the single device under test; The data processing and display module uses machine vision algorithms to process and display the footprint images of the device under test.
[0006] Furthermore, in the aforementioned equipment, the auxiliary structure includes a light shield, which is installed outside the housing to block light and reduce the impact of internal reflections and external light sources.
[0007] Furthermore, in the aforementioned device, the imaging module includes an industrial camera, a lens, and a linear polarizer; wherein, the industrial camera and lens are configured to acquire footprint images of single machines of different sizes, and the linear polarizer is used to reduce specular reflection and glare on the bottom of the single machine under test, enabling the camera to obtain the footprint outline details of the single machine under test.
[0008] Furthermore, in the above-mentioned device, the lighting module includes a light source and a light sensor; wherein the light source adopts an LED array; the light sensor collects the brightness of the bottom surface of the unit under test and adaptively adjusts the lighting brightness of the LED array.
[0009] Furthermore, in the aforementioned device, the machine vision algorithm processes and displays the footprint image of the single machine under test, specifically by: employing the KNN color clustering algorithm to segment the background and footprint feature regions, and combining it with the Otsu threshold segmentation algorithm to enhance contrast; and extracting the contour of the single machine's footprint through grayscale conversion, binarization, erosion denoising, Canny edge detection, and contour filtering.
[0010] This invention discloses an inspection method using a rapid footprint inspection device for a single satellite, comprising: Activate the rapid footprint detection equipment on the satellite unit; Place the device under test on the glass panel; The parameters of the equipment are set and adjusted, and footprint images are acquired from the unit under test. Image processing and dimension annotation are performed on the collected footprint images; The footprint images with completed image processing and dimension annotation are compared with the design drawings of the single-unit footprints to determine whether the single-unit footprints meet the requirements and output the inspection results, thus realizing the footprint inspection of the satellite single unit.
[0011] Furthermore, in the above method, the specific method for image processing and dimension annotation of the acquired footprint images is as follows: Alignment and vertical mirroring preprocessing are performed on the footprint images of a single machine to obtain the preprocessed image; Adaptive color enhancement and contour extraction are performed on the preprocessed image to obtain the image contour and the enhanced single-machine footprint image; Select the ROI region and reference mounting hole of the enhanced single-machine footprint image; Based on the image contour, ROI region, and reference mounting hole, contour recognition, size recognition, and annotation are performed on the enhanced single-unit footprint image. Furthermore, in the above method, the step of comparing the footprint image with the single-machine footprint design drawing after image processing and dimension annotation is specifically: scaling the footprint image with the single-machine footprint design drawing to ensure that the footprint image and the single-machine footprint design drawing are at the same scale before comparison and verification.
[0012] The advantages of this invention over the prior art are as follows: (1) This invention can be used to detect the mounting hole position, contour size and flatness parameters corresponding to the single-unit footprint with high precision and high efficiency, and ensures the safety of the single unit through non-contact measurement, thereby realizing the rapid and high-precision inspection of satellite single-unit footprints.
[0013] (2) This invention, through a rapid single-machine footprint inspection device based on bottom-transmission imaging and a corresponding machine vision method, can achieve rapid and high-precision inspection of single-machine footprints. The non-contact measurement method ensures the safety of the single machine, has relatively low cost, and effectively avoids the problem of mounting hole obstruction. The original method of measuring single-machine footprints and mounting holes required direct contact with the single machine using a ruler, which had limited accuracy and could cause scratches. The vision method proposed in this invention does not require direct contact with the single machine (it only needs to be placed on a glass panel, which is a non-contact measurement).
[0014] (3) This invention uses machine vision to process and automatically annotate the collected single-machine footprint images, reducing the workload of manual interpretation and minimizing errors introduced by manual interpretation. At the same time, when performing ROI recognition and automatic size annotation, by selecting non-ROI areas and not performing recognition of those areas, hardware requirements can be reduced and recognition and automatic annotation efficiency can be improved.
[0015] (4) The present invention uses machine vision to collect single-machine verification images and generate single-machine inspection digital annotation images, which can intuitively display the inspection results of single-machine footprints and corresponding mounting holes, and serve as an intuitive reference for subsequent review. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the rapid footprint inspection device for a single satellite unit mentioned in this invention; Figure 2 This is a flowchart of the rapid footprint detection method for a single satellite in this invention; Figure 3 This is a schematic diagram showing the correspondence between a relatively simple three-dimensional model of a satellite unit and a two-dimensional footprint in this invention; Figure 4 The following is a schematic diagram of satellite single-unit footprint image processing in this invention and a comparison with footprint CAD images: (a) is a schematic diagram of single-unit footprint acquisition; (b) is a schematic diagram of single-unit footprint after completing rotation, vertical mirroring, selection of non-ROI areas, and selection of reference mounting holes; (c) is a schematic diagram of single-unit footprint after completing image recognition and automatic dimension annotation; and (d) is a single-unit footprint CAD drawing for verification and comparison. Detailed Implementation
[0017] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0018] This invention discloses a rapid footprint inspection device for a single satellite, comprising: a housing 1, an imaging module 2, an illumination module 3, a motion control module 4, a data processing and display module 5, and an auxiliary structure 6; wherein, The enclosure 1 is equipped with a glass panel 11 and a movable panel 12; the glass panel 11 divides the enclosure 1 into upper and lower parts; the single device under test 7 is placed on the glass panel 11 in the upper part of the space; the movable panel 12 is placed in the lower part of the enclosure; the imaging module 2 and the lighting module 3 are placed on the movable panel 12; The motion control module 4 controls the movement of the movable panel 12 and adjusts the distance between the movable panel 12 and the glass panel 11. The bottom surface of the device under test 7 is perpendicular to the axis of the imaging module 2; Imaging module 2 acquires footprint images of the device under test 7 and sends them to data processing and display module 5; The lighting module 3 provides light for the footprint image acquisition of the single device under test 7, and provides feedback and adjustment of the lighting conditions through the light sensor; Auxiliary structure 6 provides light-shielding assistance for the acquisition of footprint images of the single device under test 7; The data processing and display module 5 uses machine vision algorithms to process and display the footprint images of the single device under test 7.
[0019] Preferably, the auxiliary structure 6 includes a light shield, which is installed on the outside of the housing 1 to block light and reduce the influence of internal reflections and external light sources.
[0020] Preferably, the imaging module 2 includes an industrial camera, a lens, and a linear polarizer; wherein the industrial camera and lens are used to acquire footprint images of different sizes of single machines, and the linear polarizer is used to reduce specular reflection and glare on the bottom of the single machine under test 7, so that the camera can obtain the footprint outline details of the single machine under test 7.
[0021] Preferably, the lighting module 3 includes a light source and a light sensor; wherein the light source is an LED array; the light sensor collects the brightness of the bottom surface of the unit under test 7 and adaptively adjusts the lighting brightness of the LED array.
[0022] Preferably, the machine vision algorithm processes and displays the footprint image of the single machine 7 under test. Specifically, it uses the KNN color clustering algorithm to segment the background and footprint feature regions, and combines the Otsu threshold segmentation algorithm to enhance the contrast. It also uses grayscale conversion, binarization, erosion denoising, Canny edge detection, and contour filtering to extract the contour of the single machine footprint.
[0023] This invention discloses an inspection method using a rapid footprint inspection device for a single satellite, comprising: Activate the rapid footprint detection equipment on the satellite unit; Place the unit under test 7 on the glass panel 11; The parameters of the equipment are set and adjusted, and footprint images are acquired from the single unit under test (7). Image processing and dimension annotation are performed on the collected footprint images; The footprint images with completed image processing and dimension annotation are compared with the design drawings of the single-unit footprints to determine whether the single-unit footprints meet the requirements and output the inspection results, thus realizing the footprint inspection of the satellite single unit.
[0024] Preferably, the acquired footprint images are processed and dimensioned, specifically using the following method: Alignment and vertical mirroring preprocessing are performed on the footprint images of a single machine to obtain the preprocessed image; Adaptive color enhancement and contour extraction are performed on the preprocessed image to obtain the image contour and the enhanced single-machine footprint image; Select the ROI region and reference mounting hole of the enhanced single-machine footprint image; Based on the image contour, ROI region, and reference mounting hole, contour recognition, size recognition, and annotation are performed on the enhanced single-unit footprint image. Preferably, the footprint image with completed image processing and dimension annotation is compared with the design drawing of the single-machine footprint. Specifically, the footprint image with completed image processing and dimension annotation is scaled up with the design drawing of the single-machine footprint to ensure that the footprint image and the design drawing of the single-machine footprint are at the same scale before comparison and verification.
[0025] Example like Figure 1 As shown, this embodiment proposes a rapid footprint inspection device for a single satellite, comprising: The imaging module acquires images of single-unit footprints. In this invention, the imaging module consists of an industrial camera, a lens, and a linear polarizer. The combination of the industrial camera and lens can adapt to the acquisition of single-unit footprint images of different sizes. The linear polarizer can effectively reduce specular reflection and glare at the bottom of the single unit, enabling the camera to obtain clearer details of the single-unit footprint outline.
[0026] The lighting module provides the necessary illumination for capturing footprint images on a single device. In this invention, the lighting module consists of a light source and a light sensor, using an LED array as the light source, which offers superior uniformity, stability, and brightness. In this invention, the bottom surface of the device is not painted with black temperature-controlled paint, but rather with metallic colors such as silver and gold, resulting in higher reflectivity. While ensuring the safety of the equipment and operators, the light sensor adaptively adjusts the illumination brightness of the LED light source array based on the detected bottom surface condition and lighting conditions of the device, thereby obtaining higher quality footprint images.
[0027] The motion control module adjusts the distance between the camera and the glass panel and the bottom surface of the unit. In this invention, the motion control module of the satellite single-unit footprint rapid inspection equipment can adjust the distance between the camera and the high-transparency, high-strength glass panel, ensuring that the single-unit footprint is within the camera's field of view and obtaining clear footprint inspection images that are easy to dimensionally inspect and label. After the satellite single-unit footprint rapid inspection equipment is set up and debugged, since the distance between the camera lens and the glass panel is fixed, frequent adjustments are not required when conducting rapid footprint inspections of the same product unit and other single units. The bottom surface of the unit is perpendicular to the camera axis, facilitating recognition using machine vision algorithms.
[0028] Auxiliary structures, such as light shields, assist in the acquisition of single-machine footprints; using light shields reduces the influence of internal reflections and external light sources, resulting in single-machine footprint images with a uniform and clean background.
[0029] The data processing and display module serves as the module for running machine vision algorithms and viewing images. It runs machine vision algorithms through computers and monitors, and can view images and recognition results from stand-alone inspections.
[0030] like Figure 2 As shown, this invention proposes a rapid footprint detection method for a single satellite, with the following steps: In this invention, after activating the satellite single-unit footprint rapid inspection equipment, the single unit to be scanned is placed on a tempered glass panel with high strength and high transparency, and the parameters of the motion control module and the lighting module are set and adjusted.
[0031] In this invention, the bottom surface of the single unit directly contacts the glass, and the bottom light source shines upwards, allowing the camera to capture the footprint outline of the single unit. Because the footprint information is collected from bottom to top, the problem of the main body obstructing the view is avoided, and all information such as the footprint outline and mounting holes can be collected.
[0032] In this invention, the bottom surface of the single unit is perpendicular to the camera axis, which facilitates recognition using machine vision algorithms. However, when the single unit is actually placed on the glass panel of the single-unit footprint rapid inspection device, the actual imaging effect of the single unit may be in a state of rotation around the camera axis. Therefore, the single unit is first rotated to a "positive" state.
[0033] In this invention, the footprint of a single unit is a projection of the unit and the contact surface viewed from top to bottom. However, the rapid footprint inspection device for single units directly obtains a projection of the unit's bottom surface viewed from bottom to top, i.e., a bottom view of the unit. Therefore, in this invention, after the projection obtained from the acquisition device is straightened, it needs to be mirrored along the edges to obtain a view consistent with the footprint of the single unit.
[0034] In this invention, adaptive color enhancement and precise contour extraction are employed for segmentation. First, targeting the common silver / yellow material on the bottom of the device, the KNN color clustering algorithm is used to segment the background and footprint feature regions, combined with the Otsu thresholding algorithm to enhance contrast. Then, image processing and recognition algorithms, including grayscale conversion, binarization, erosion denoising, Canny edge detection, and contour filtering, are used to achieve precise contour extraction of the footprint.
[0035] In this invention, since the distance between the single-unit footprint and the camera is relatively fixed in the satellite single-unit footprint rapid inspection equipment, the single-unit footprint image that has been scanned and processed is scaled up with the single-unit footprint CAD drawing to ensure that the two are at the same scale before further comparison and inspection.
[0036] In this invention, dimensional information such as some weight-reducing holes and weight-reducing grooves of a single unit does not need to be considered during footprint inspection. To improve inspection efficiency, areas that do not need to be inspected can be selected, and the selected content will not be subject to dimensional recognition and annotation. The unselected areas are designated as Regions of Interest (ROIs) for dimensional inspection and annotation, and require dimensional recognition and annotation (Note: The non-ROI areas selected in this figure are the dimensions related to the interconnection of the single unit equipment, not the dimensions related to the installation of the cabin panel, so they can be selected without further processing before image recognition and automatic dimensional annotation).
[0037] In this invention, a reference mounting hole is selected from the processed single-unit footprint, and machine vision methods are used to extract key data such as the center coordinates and contour boundaries of the mounting hole in the ROI region. Dimensional parameters such as contour size and mounting hole diameter are then labeled on the identified single-unit footprint image.
[0038] In this invention, the single-machine footprint diagram with dimension information is compared with the single-machine footprint CAD drawing and dimensional tolerance requirements, or the two are overlaid to achieve intuitive comparison, thereby determining whether the relevant dimensions of the single-machine installation footprint are out of tolerance, completing the inspection of the single-machine installation footprint, and outputting the inspection result information of the single-machine footprint diagram.
[0039] In this invention, the flatness of the single-unit bottom surface can also be qualitatively assessed by observing information such as the light transmittance of the bottom surface. Alternatively, the industrial camera can be replaced with a 3D structured light hardware acquisition device to collect depth information of the bottom surface of the single-unit, thereby further achieving high-precision detection of the flatness of the single-unit.
[0040] This invention proposes a rapid footprint inspection device and method for satellite units. The device places the satellite unit on the glass panel of the proposed rapid footprint inspection device, with the bottom surface of the satellite unit's footprint in direct contact with the glass panel. A light source at the bottom of the device illuminates the bottom of the satellite unit, and a camera acquires the satellite unit's footprint information. The footprint image is then rotated and mirrored, and machine vision methods are used to quickly identify the footprint image. The identified dimensions are annotated on the footprint image, and compared with the satellite unit's CAD footprint drawing. This allows for rapid and high-precision inspection of the mounting holes and outline dimensions of the satellite unit's footprint. The non-contact measurement method ensures the safety of the satellite unit, has relatively low cost, and effectively avoids the problem of mounting hole obstruction. The acquired satellite unit inspection images and the generated digitally annotated images of the satellite unit's verification can visually display the inspection results of the satellite unit's footprint and corresponding mounting holes, serving as a direct reference for subsequent review.
[0041] like Figure 1 The diagram shows the structure of the rapid footprint inspection device for a single satellite unit mentioned in this invention. It mainly consists of an imaging module, an illumination module, a motion control module, a data processing and display module, and auxiliary structures. The illumination module provides the lighting conditions for acquiring footprint images; the motion control module adjusts the distance between the camera, the glass panel, and the bottom surface of the unit; the imaging module acquires footprint images; auxiliary structures such as light shields assist in the acquisition of footprint images; and the data processing and display unit serves as the module for running machine vision algorithms and viewing images.
[0042] The glass panel of the single-unit footprint rapid inspection equipment possesses high strength and high transparency, facilitating the transmission of light from the LED light source array used in the bottom illumination module. This results in superior uniformity, stability, and brightness. While ensuring safety for both the equipment and operators, the light sensor adaptively adjusts the illumination brightness of the LED light source array based on the condition of the bottom surface of the single unit and the lighting conditions, obtaining higher-quality footprint images. Simultaneously, a linear polarizer can be installed in front of the camera lens to effectively reduce specular reflections and glare from the bottom of the single unit, allowing the camera to capture clearer details of the footprint outline. Light shields are used to reduce internal reflections and the influence of external light sources. The bottom surface of the single unit is perpendicular to the camera axis, facilitating recognition using machine vision algorithms. Figure 2 The flowchart shown is a rapid footprint inspection method for satellite units according to this invention. First, the rapid footprint inspection equipment for satellite units is started. After placing the unit on the equipment's glass panel, the equipment parameters are set and adjusted, and the unit's footprint image is acquired. Further preprocessing of the footprint image, such as alignment and vertical mirroring, is performed. Adaptive color enhancement and precise contour extraction are then used to further process the footprint image. The scanned and processed footprint image and CAD drawing are scaled to the same size, and the ROI region and reference mounting holes can be selected from the footprint image. Further contour recognition, size recognition, and annotation are performed on the footprint image. By comparing the processed and annotated footprint image with the footprint CAD drawing, it can be determined whether the footprint meets the requirements, and the inspection result is output, thus achieving rapid and high-precision inspection of satellite unit footprints.
[0043] like Figure 3 The diagram shows a 3D model and corresponding footprint of a relatively simple satellite unit mentioned in this invention. It illustrates the relationship between the footprint and the unit, revealing that the unit's structure, semi-rigid cables, connectors, etc., may obstruct the footprint and affect traditional inspection methods. Furthermore, significant differences in shape and footprint exist between different satellite units; failure to detect footprint size issues may prevent installation on the cabin panel.
[0044] like Figure 4The diagram illustrates the satellite single-unit footprint image processing in this invention and compares it with the footprint CAD image. Figure (a) is a schematic diagram of a single-unit footprint acquired by a single-unit footprint acquisition device; Figure (b) shows a single-unit footprint schematic diagram with the footprint rotated for easier observation, and the footprint acquisition image is made to meet the view orientation requirements by mirroring it vertically. At the same time, non-ROI areas and reference mounting holes are selected to assist in the rapid identification and annotation of the footprint dimensions in the subsequent image; Figure (c) is a schematic diagram of a single-unit footprint with image recognition and automatic dimension annotation completed by machine vision methods. At this time, the single-unit mounting holes and main outline dimensions are marked on the single-unit footprint image; Figure (d) is a CAD drawing of the single-unit footprint, which can be intuitively compared with the footprint image with single-unit footprint image acquisition, processing and dimension annotation completed.
[0045] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.
[0046] The contents not described in detail in this specification are common knowledge to those skilled in the art.
Claims
1. A rapid footprint inspection device for a single satellite, characterized in that, include: The enclosure (1), imaging module (2), lighting module (3), motion control module (4), data processing and display module (5), and auxiliary structure (6); among which, A glass panel (11) and a movable panel (12) are provided inside the housing (1); the glass panel (11) divides the housing (1) into upper and lower parts; the single device to be tested (7) is placed on the glass panel (11) in the upper part of the space; the movable panel (12) is placed in the lower part of the housing; the imaging module (2) and the lighting module (3) are placed on the movable panel (12); The motion control module (4) controls the movement of the active panel (12) and adjusts the distance between the active panel (12) and the glass panel (11); The bottom surface of the single unit under test (7) is perpendicular to the axis of the imaging module (2); The imaging module (2) acquires the footprint image of the single device under test (7) and sends it to the data processing and display module (5). The lighting module (3) provides light for the footprint image acquisition of the single unit under test (7), and provides feedback and adjustment of the lighting conditions through the light sensor; The auxiliary structure (6) provides light-blocking assistance for the acquisition of footprint images of the single unit under test (7); The data processing and display module (5) uses machine vision algorithms to process and display the footprint images of the single machine under test (7).
2. The rapid footprint inspection device for a single satellite as described in claim 1, characterized in that, The auxiliary structure (6) includes a light shield, which is installed on the outside of the housing (1) to block light and reduce the impact of internal reflections and external light sources.
3. The rapid footprint inspection device for a single satellite as described in claim 1, characterized in that: The imaging module (2) includes an industrial camera, a lens and a linear polarizer; wherein, the industrial camera and lens are used to acquire footprint images of different sizes of single machines, and the linear polarizer is used to reduce the specular reflection and glare at the bottom of the single machine under test (7) so that the camera can obtain the footprint outline details of the single machine under test (7).
4. The rapid footprint inspection device for a single satellite as described in claim 1, characterized in that: The lighting module (3) includes a light source and a light sensor; wherein the light source adopts an LED array; the light sensor collects the brightness of the bottom surface of the unit under test (7) and adaptively adjusts the lighting brightness of the LED array.
5. The rapid footprint inspection device for a single satellite unit according to claim 1, characterized in that: The machine vision algorithm performs data processing and display on the footprint image of the single machine (7) under test. Specifically, it uses the KNN color clustering algorithm to segment the background and footprint feature regions, and combines the Otsu threshold segmentation algorithm to enhance the contrast. It also uses grayscale conversion, binarization, erosion denoising, Canny edge detection, and contour filtering to extract the contour of the single machine footprint.
6. The inspection method using the rapid footprint inspection device for a single satellite as described in claim 1, characterized in that, include: Activate the rapid footprint detection equipment on the satellite unit; Place the unit to be tested (7) on the glass panel (11); Set and adjust the parameters of the equipment, and collect footprint images of the single unit under test (7); Image processing and dimension annotation are performed on the collected footprint images; The footprint images with completed image processing and dimension annotation are compared with the design drawings of the single-unit footprints to determine whether the single-unit footprints meet the requirements and output the inspection results, thus realizing the footprint inspection of the satellite single unit.
7. The testing method according to claim 6, characterized in that, The specific method for image processing and dimension annotation of the acquired footprint images is as follows: Alignment and vertical mirroring preprocessing are performed on the footprint images of a single machine to obtain the preprocessed image; Adaptive color enhancement and contour extraction are performed on the preprocessed image to obtain the image contour and the enhanced single-machine footprint image; Select the ROI region and reference mounting hole of the enhanced single-machine footprint image; Based on the image contour, ROI region, and reference mounting hole, contour recognition, size recognition, and annotation are performed on the enhanced single-unit footprint image.
8. The testing method according to claim 6, characterized in that: The step of comparing the processed and dimensioned footprint image with the single-machine footprint design drawing involves scaling the processed and dimensioned footprint image with the single-machine footprint design drawing to ensure that the footprint image and the single-machine footprint design drawing are at the same scale before comparison and verification.