Satellite dynamic environment simulation test system and test method

Abstract

The application relates to the field of aerospace technology, in particular to a satellite dynamic environment simulation test system and a test method, the end effector module is installed on the truss module, the visual guidance detection module is installed on the end effector module, the transport trolley is used for transporting the satellite on the ground, the truss module is used for driving the end effector module and the visual guidance detection module to move, so that the satellite is positioned by the visual guidance detection module, the position information of the satellite is acquired, then the end effector module is controlled to grab the satellite according to the position information, and the satellite is moved between the transport trolley and the electric vibration table. The application aims to solve at least one technical problem in the background art, and provides a satellite dynamic environment simulation test system and a test method.

Description

Technical Field

[0001] This application relates to the field of aerospace technology, and more specifically, to a satellite dynamic environment simulation test system and test method. Background Technology

[0002] Dynamic environment testing is a crucial component of satellite AIT (Action Initiation) procedures. Compared to the various space environments a satellite experiences during orbital flight, the dynamic environment has entirely different characteristics. It primarily occurs during the launch phase, and although its duration is short, its importance cannot be ignored. Dynamic environment testing is an indispensable part of the satellite environmental testing outline and plays a significant role in ensuring satellite reliability.

[0003] In traditional satellite dynamic environment tests, satellites are mainly hoisted manually by operating cranes. This method is heavily influenced by the operator's experience, resulting in long operation times and low efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a satellite dynamic environment testing method and system to address at least one of the technical problems mentioned in the background art.

[0005] To achieve the above objectives, this application adopts the following technical solution: One aspect of this application provides a satellite dynamic environment simulation test system, including a control module, and a transport trolley, a truss module, an end effector module, a vision-guided detection module, and an electric vibration table, all of which are communicatively connected to the control module. The end effector module is mounted on the truss module, and the vision-guided detection module is mounted on the end effector module. The transport vehicle is used to transport satellites on the ground. The truss module is used to drive the end effector module and the vision guidance detection module to move, so as to locate the satellite through the vision guidance detection module to obtain the satellite's position information, and then control the end effector module to grab the satellite according to the position information and move the satellite between the transport trolley and the electric vibration table.

[0006] Optionally, the truss module includes a first transverse track unit, a second transverse track unit, and two longitudinal track units. The first transverse track unit includes a first transverse track and a first transverse drive component, and the second transverse track unit includes a second transverse track and a second transverse drive component. Both the first transverse track and the second transverse track are horizontally arranged, and the length direction of the first transverse track is perpendicular to the length direction of the second transverse track. The second transverse track is mounted on the first transverse track via the first transverse drive member, and the first transverse drive member is used to drive the second transverse track to move along the first transverse track. The longitudinal track unit includes a mounting base, a longitudinal robotic arm, and a longitudinal drive component. The mounting base is mounted on the second transverse track via the second transverse drive component, which drives the mounting base to move along the second transverse track. The longitudinal robotic arm is vertically arranged and mounted on the mounting base via the longitudinal drive component, which drives the longitudinal robotic arm to move in the vertical direction.

[0007] Optionally, the end effector module includes a robotic arm and a collaborative robot, wherein the robotic arm is mounted at the bottom end of one of the longitudinal robotic arms and the collaborative robot is mounted at the bottom end of the other longitudinal robotic arm.

[0008] Optionally, the visual guidance detection module includes two cameras, which are mounted one-to-one on the two longitudinal robotic arms. The cameras are area array industrial cameras or binocular 3D cameras.

[0009] Optionally, the satellite dynamic environment simulation test system provided in this application further includes a triaxial accelerometer that is communicatively connected to the control module. The triaxial accelerometer is used to be mounted on the solar array, antenna surface, and / or instrument panel of the satellite under test.

[0010] Optionally, the satellite dynamic environment simulation test system provided in this application further includes strain gauges that are communicatively connected to the control module. The strain gauges are used to be installed on the solar panels, antenna surfaces, and / or instrument panels of the satellite under test.

[0011] Optionally, the satellite dynamic environment simulation test system provided in this application further includes a force sensor that is communicatively connected to the control module. The force sensor is used to be installed on the solar array, antenna surface, and / or instrument panel of the satellite under test.

[0012] Another aspect of this application provides a satellite dynamic environment testing method, implemented using the satellite dynamic environment simulation testing system provided in this application, the method comprising: To locate a satellite and obtain its position information; The control end effector module captures the satellite based on the location information; The control end effector module moves the satellite from the transport trolley to the electric vibration table.

[0013] Optionally, the end effector module includes a robotic arm and a collaborative robot. The robotic arm is mounted at the bottom of one of the longitudinal robotic arms, and the collaborative robot is mounted at the bottom of the other longitudinal robotic arm. The vision-guided detection module includes two cameras, which are mounted one-to-one on the two longitudinal robotic arms. The cameras are binocular 3D cameras. The method further includes: Two images of the installation interface under test were acquired from the satellite from different angles. Based on the principle of parallax, the three-dimensional information and position information of the installation interface under test were calculated. Control the binocular 3D camera to perform laser scanning on the target area to form a three-dimensional point cloud map containing height information; Extract height data from the 3D point cloud map; The three-dimensional point cloud map is segmented and cropped in a single layer to extract the plane layer where the installation interface under test is located, thereby generating a local point cloud that only contains the installation interface under test. Based on the processed local point cloud data, the size, shape, and position of each installation interface are detected one by one.

[0014] Optionally, before locating the satellite to obtain its position information, the method further includes: After the satellite is fully assembled, the Manufacturing Execution System (MES) generates a mechanical test work order and pushes it to the mechanical test workshop. According to the test work order, the satellite was transported to the vibration table position by a guided transport trolley. After the control end effector module moves the satellite from the transport trolley to the electric vibration table, the method further includes: The end effector is controlled to scan the satellite's identification code and obtain a pre-set test outline for the satellite from the MES based on the identification code. The test outline includes sine, random, and shock test patterns. According to the test outline, the test sequence including pre-test, low-level sinusoidal scan, formal sinusoidal test, random test, shock test and post-low-level scan shall be executed in sequence. During the execution of the test sequence, the key response point data of the satellite is transmitted back to the MES in real time and monitored in real time. If the test phenomenon or response abnormality is detected, the test is stopped and an alarm is triggered, and the MES suspends all subsequent processes of the satellite. After all the test sequences are completed, a judgment is made based on the collected test data and preset criteria. The test result is determined to be qualified, unqualified, or accepted with concession, and the judgment conclusion is pushed to the MES. After receiving a qualified judgment, the MES will release the satellite to enter the next production process.

[0015] The technical solution provided in this application can achieve at least one of the following beneficial effects: The satellite dynamic environment simulation test system and test method provided in this application, when in use, communicate with the transport trolley, truss module, end effector module, vision-guided detection module and electric vibration table through the control module, so as to move the satellite between the transport trolley and the electric vibration table. Compared with the current method of relying on manual operation of crane to lift satellites, it is less affected by the operator's work experience, the operation time is shorter and the work efficiency is higher.

[0016] The additional technical features and advantages of this application will become more apparent from the following description or from practical application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the specific embodiments of this application, the accompanying drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A three-dimensional structural schematic diagram from one angle of one embodiment of the satellite dynamic environment simulation test system provided in this application; Figure 2 A three-dimensional structural schematic diagram from another angle of one embodiment of the satellite dynamic environment simulation test system provided in this application; Figure 3 This is a flowchart illustrating one implementation of the satellite dynamic environment testing method provided in this application.

[0019] Figure label: 01. Vertical robotic arm; 02. Camera; 03. Mounting base; 04. Electric vibration table; 05. Truss module; 06. Satellite; 07. End effector module; 08. Robotic arm; 9. Collaborative robots; 10. Transport vehicles; 11. First transverse track; 12. Second transverse track. Detailed Implementation

[0020] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] like Figure 1 and Figure 2 As shown, one aspect of this application provides a satellite dynamic environment simulation test system, including a control module, and a transport trolley 10, a truss module 05, an end effector module 07, a vision-guided detection module, and an electric vibration table 04, all of which are communicatively connected to the control module. The end effector module 07 is mounted on the truss module 05, and the vision-guided detection module is mounted on the end effector module 07. The transport trolley 10 is used to transport satellite 06 on the ground. The truss module 05 is used to drive the end effector module 07 and the vision guidance detection module to move, so as to locate the satellite 06 through the vision guidance detection module to obtain the position information of the satellite 06, and then control the end effector module 07 to grab the satellite 06 according to the position information and move the satellite 06 between the transport trolley 10 and the electric vibration table 04.

[0024] The satellite dynamic environment simulation test system provided in this application, when in use, communicates with the transport trolley 10, truss module 05, end effector module 07, vision-guided detection module and electric vibration table 04 through the control module, so as to move the satellite 06 between the transport trolley 10 and the electric vibration table 04. Compared with the current method of relying on manual operation of crane to lift the satellite 06, it is less affected by the operator's work experience, the operation time is shorter, and the work efficiency is higher.

[0025] The transport vehicle 10 is preferably an AGV / RGV.

[0026] Optionally, the truss module 05 includes a first transverse track unit, a second transverse track unit, and two longitudinal track units. The first transverse track unit includes a first transverse track 11 and a first transverse drive member, and the second transverse track unit includes a second transverse track 12 and a second transverse drive member. Both the first transverse track 11 and the second transverse track 12 are horizontally arranged, and the length direction of the first transverse track 11 is perpendicular to the length direction of the second transverse track 12. The second transverse track 12 is mounted on the first transverse track 11 via the first transverse drive member. The first transverse drive member is used to drive the second transverse track 12 to move along the first transverse track 11. The longitudinal track unit includes a mounting base 03, a longitudinal robotic arm 01, and a longitudinal drive component. The mounting base 03 is mounted on the second transverse track 12 via the second transverse drive component. The second transverse drive component is used to drive the mounting base 03 to move along the second transverse track 12. The longitudinal robotic arm 01 is vertically arranged and is mounted on the mounting base 03 via the longitudinal drive component. The longitudinal drive component is used to drive the longitudinal robotic arm 01 to move in the vertical direction.

[0027] This enables the satellite dynamic environment simulation test system to move the end effector module 07 along the X, Y, and Z axes, thereby enabling the end effector module 07 to grasp and move the satellite 06. The X and Y axes are parallel to the horizontal plane, perpendicular to each other, and perpendicular to the Z axis.

[0028] Optionally, the end effector module 07 includes a robotic arm 08 and a collaborative robot 09. The robotic arm 08 is mounted on the bottom end of one of the longitudinal robotic arms 01, and the collaborative robot 09 is mounted on the bottom end of the other longitudinal robotic arm 01. Thus, the robotic arm 08 can move the satellite 06, and the collaborative robot 09 can perform operations such as tightening and loosening bolts on the satellite 06. Preferably, the robotic arm 08 can hold the satellite 06 with a suction cup or grasp it with a mechanical gripper; the collaborative robot 09 is equipped with a tightening gun at its end.

[0029] Optionally, the visual guidance detection module includes two cameras 02, which are mounted one-to-one on the two longitudinal robotic arms 01. The cameras are either area array industrial cameras or binocular 3D cameras. This allows for the acquisition of satellite-related data through the cameras. In this embodiment, the binocular 3D camera can be a Gemini 435Le camera manufactured by Orbbec, or a Basler Stereo ace camera manufactured by Basler, or other suitable cameras.

[0030] In this application embodiment, considering the special characteristics of satellite mechanical experiments, the following four identification strategies are mainly adopted: (1) Convolutional Neural Network (CNN) based on time-frequency features This is currently the most mainstream method. The vibration signal is converted into a time-frequency graph (similar to a spectrogram) through short-time Fourier transform (STFT) or continuous wavelet transform (CWT).

[0031] Recognition principle: CNNs excel at recognizing texture features in images. If the satellite structure becomes loose or fasteners fail, the energy distribution on the time-frequency map will change significantly.

[0032] Applications: Automatically identify false signals caused by nonlinear jumps, impact responses, or sensor drops.

[0033] (2) Sequence prediction based on recurrent neural network (LSTM / GRU) Satellite vibration is a continuous time series process.

[0034] Recognition principle: The system uses an LSTM (Long Short-Term Memory) network to learn the response patterns under normal operating conditions. The system predicts the output value at the next moment and compares it with the actual collected value.

[0035] Anomaly detection: When the prediction error (Residual) exceeds the set threshold, the AI ​​will determine it as an "abnormal trajectory", which can be used for early warning of fatigue damage.

[0036] The fatigue damage mentioned above refers to the failure of a structure under alternating loads (cyclic vibration) even if the stress has not reached the yield limit, due to the initiation and propagation of microcracks.

[0037] Quantitative metrics: Based on Miner's linear cumulative damage theory. AI is used to calculate the number of cycles and stress levels at key measurement points in real time to assess the percentage of the satellite's "lifespan" already consumed.

[0038] (3) Unsupervised anomaly detection based on autoencoder Mechanical tests often lack "damage samples" and mostly consist of normal data.

[0039] Recognition principle: Train an autoencoder to compress and restore the normal signal. The model will remember the characteristics of normal operating conditions.

[0040] Application: When an unusual signal that has never been seen before (such as an internal tear in a structure) appears, the model cannot perfectly reproduce the signal, resulting in a huge reconstruction error, thus enabling the identification of unknown faults.

[0041] (4) Physical reinforcement learning based on modal parameter recognition This approach combines classical mechanical models (dynamic equations) with AI. The identification method utilizes AI to automatically extract modal frequencies, damping ratios, and mode shapes. The criterion is based on the modal evolution observed during comparative experiments. For example, if a first-order frequency decreases by more than 5%, the AI, combined with a physics knowledge base, will directly identify a "local stiffness decrease."

[0042] Optionally, the satellite dynamic environment simulation test system provided in this application embodiment further includes a three-axis accelerometer that is communicatively connected to the control module. The three-axis accelerometer is used to be installed on the solar array, antenna surface and / or instrument board of the satellite under test.

[0043] Optionally, the satellite dynamic environment simulation test system provided in this application embodiment further includes strain gauges that are communicatively connected to the control module. The strain gauges are used to be installed on the solar array, antenna surface, and / or instrument plate of the satellite under test.

[0044] Optionally, the satellite dynamic environment simulation test system provided in this application embodiment further includes a force sensor that is communicatively connected to the control module. The force sensor is used to be installed on the solar array, antenna surface and / or instrument plate of the satellite under test.

[0045] like Figure 3 As shown, another aspect of this application provides a satellite dynamic environment testing method, implemented using the satellite dynamic environment simulation testing system provided in the embodiments of this application. The method includes: Step 100: Locate the satellite to obtain its position information; Step 200: Control the end effector module to capture the satellite based on the location information; Step 300: Control the end effector module to move the satellite from the transport trolley to the electric vibration table.

[0046] The satellite dynamic environment testing method provided in this application is implemented using the satellite dynamic environment simulation testing system provided in this application. In use, the control module communicates with the transport trolley, truss module, end effector module, vision-guided detection module and electric vibration table to move the satellite between the transport trolley and the electric vibration table. Compared with the current method of relying on manual operation of cranes to lift satellites, it is less affected by the operator's work experience, the operation time is shorter and the work efficiency is higher.

[0047] Optionally, the end effector module includes a robotic arm and a collaborative robot. The robotic arm is mounted at the bottom of one of the longitudinal robotic arms, and the collaborative robot is mounted at the bottom of the other longitudinal robotic arm. The vision-guided detection module includes two cameras, which are mounted one-to-one on the two longitudinal robotic arms. The cameras are binocular 3D cameras. The method further includes: Two images of the installation interface under test were acquired from the satellite from different angles. Based on the principle of parallax, the three-dimensional information and position information of the installation interface under test were calculated. Control the binocular 3D camera to perform laser scanning on the target area to form a three-dimensional point cloud map containing height information; Extract height data from the 3D point cloud map; The three-dimensional point cloud map is segmented and cropped in a single layer to extract the plane layer where the installation interface under test is located, thereby generating a local point cloud that only contains the installation interface under test. Based on the processed local point cloud data, the size, shape, and position of each installation interface are detected one by one.

[0048] In this embodiment of the application, if any of the following conditions occur, it shall be deemed unqualified: Physical tolerances exceed the limit: The flatness of the tested mounting interface does not meet the requirements, resulting in a tilt that exceeds the allowable range after the camera is installed; Risk of loosening or vibration: Stripped installation threads or excessive clearance between components may cause equipment displacement during operation; Signal obstruction: The structural design of the mounting bracket is unreasonable, obstructing the field of view required for the scanner to emit or receive laser / spectrum.

[0049] Optionally, before locating the satellite to obtain its position information, the method further includes: After the satellite is fully assembled, the Manufacturing Execution System (MES) generates a mechanical test work order and pushes it to the mechanical test workshop. According to the test work order, the satellite was transported to the vibration table position by a guided transport trolley. After the control end effector module moves the satellite from the transport trolley to the electric vibration table, the method further includes: The end effector is controlled to scan the satellite's identification code and obtain a pre-set test outline for the satellite from the MES based on the identification code. The test outline includes sine, random, and shock test patterns. According to the test outline, the test sequence including pre-test, low-level sinusoidal scan, formal sinusoidal test, random test, shock test and post-low-level scan shall be executed in sequence. During the execution of the test sequence, the key response point data of the satellite is transmitted back to the MES in real time and monitored in real time. If the test phenomenon or response abnormality is detected, the test is stopped and an alarm is triggered, and the MES suspends all subsequent processes of the satellite. After all the test sequences are completed, a judgment is made based on the collected test data and preset criteria. The test result is determined to be qualified, unqualified, or accepted with concession, and the judgment conclusion is pushed to the MES. After receiving a qualified judgment, the MES will release the satellite to enter the next production process.

[0050] In this embodiment of the application, the key response point refers to a pre-selected monitoring location on the satellite structure that is extremely sensitive to or representative of the vibration environment.

[0051] Specifically refers to: Key component interfaces: such as camera lenses, antenna roots, and propellant tank supports.

[0052] Weak point: The location with the largest displacement in modal analysis. Control point: Reference measuring points used to provide feedback to the vibration table control system. Function: During the test, the acceleration, strain, or load at these points must be monitored in real time; if the values ​​exceed the limits, the test must be downgraded or the test stopped immediately.

[0053] In this embodiment, "overtesting" refers to a phenomenon where the mechanical environment (energy) experienced by the satellite during the test exceeds the predetermined design conditions or actual launch conditions. Consequences: This can lead to unexpected failures, plastic deformation, or premature fatigue of critical components in the satellite structure. Causes: Fluctuations in the vibration table control algorithm, false signal feedback due to insecure installation of measuring points, or coupling between fixture resonance and satellite resonance.

[0054] In this embodiment of the application, the abnormal response refers to the discrepancy between the actual sensor signal collected and the theoretical predicted value or the data from previous tests.

[0055] feature: Phase shift: The signal is ahead or behind.

[0056] Energy mutation: Unexpected spikes or "dips" appear on the power spectral density (PSD) curve.

[0057] Nonlinear response: If the input doubles, the output increases several times over.

[0058] The satellite dynamic environment simulation test system and test method provided in this application realize the automated flow of satellite dynamic test process, which meets the production needs of timely data, convenient interaction and refined control under the fast pace of satellite mass production; it makes extensive use of automated equipment and means, such as high-precision trusses, dual Z-axis manipulators, collaborative robots, vision guidance and detection modules, with a high degree of automation; it is deeply integrated with the MES system and has the functions of automatic control, interpretation and automatic report generation.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A satellite dynamic environment simulation test system, characterized in that, It includes a control module, and a transport trolley, a truss module, an end effector module, a vision-guided detection module, and an electric vibration table, all of which are communicatively connected to the control module. The end effector module is mounted on the truss module, and the vision-guided detection module is mounted on the end effector module. The transport vehicle is used to transport satellites on the ground. The truss module is used to drive the end effector module and the vision guidance detection module to move, so as to locate the satellite through the vision guidance detection module to obtain the satellite's position information, and then control the end effector module to grab the satellite according to the position information and move the satellite between the transport trolley and the electric vibration table.

2. The satellite dynamic environment simulation test system according to claim 1, characterized in that, The truss module includes a first transverse track unit, a second transverse track unit, and two longitudinal track units. The first transverse track unit includes a first transverse track and a first transverse drive component, and the second transverse track unit includes a second transverse track and a second transverse drive component. Both the first transverse track and the second transverse track are horizontally arranged, and the length direction of the first transverse track is perpendicular to the length direction of the second transverse track. The second transverse track is mounted on the first transverse track via the first transverse drive member, and the first transverse drive member is used to drive the second transverse track to move along the first transverse track. The longitudinal track unit includes a mounting base, a longitudinal robotic arm, and a longitudinal drive component. The mounting base is mounted on the second transverse track via the second transverse drive component, which drives the mounting base to move along the second transverse track. The longitudinal robotic arm is vertically arranged and mounted on the mounting base via the longitudinal drive component, which drives the longitudinal robotic arm to move in the vertical direction.

3. The satellite dynamic environment simulation test system according to claim 2, characterized in that, The end effector module includes a robotic arm and a collaborative robot. The robotic arm is mounted at the bottom of one of the longitudinal robotic arms, and the collaborative robot is mounted at the bottom of the other longitudinal robotic arm.

4. The satellite dynamic environment simulation test system according to claim 3, characterized in that, The visual guidance detection module includes two cameras, which are mounted one-to-one on the two longitudinal robotic arms. The cameras are area array industrial cameras or binocular 3D cameras.

5. The satellite dynamic environment simulation test system according to claim 2, characterized in that, It also includes a triaxial accelerometer that is communicatively connected to the control module, the triaxial accelerometer being mounted on the solar array, antenna surface, and / or instrument panel of the satellite under test.

6. The satellite dynamic environment simulation test system according to claim 2, characterized in that, It also includes strain gauges that are communicatively connected to the control module, and the strain gauges are used to be installed on the solar panels, antenna surfaces, and / or instrument panels of the satellite under test.

7. The satellite dynamic environment simulation test system according to any one of claims 2 to 6, characterized in that, It also includes a force sensor that is communicatively connected to the control module, the force sensor being mounted on the solar array, antenna surface, and / or instrument panel of the satellite under test.

8. A satellite dynamic environment testing method, characterized in that, The satellite dynamic environment simulation test system as described in any one of claims 2 to 7 is used, and the method includes: To locate a satellite and obtain its position information; The control end effector module captures the satellite based on the location information; The control end effector module moves the satellite from the transport trolley to the electric vibration table.

9. The satellite dynamic environment testing method according to claim 8, characterized in that, The end effector module includes a robotic arm and a collaborative robot. The robotic arm is mounted on the bottom end of one of the longitudinal robotic arms, and the collaborative robot is mounted on the bottom end of the other longitudinal robotic arm. The vision-guided detection module includes two cameras, which are mounted one-to-one on the two longitudinal robotic arms. The cameras are binocular 3D cameras. The method further includes: Two images of the installation interface under test were acquired from the satellite from different angles. Based on the principle of parallax, the three-dimensional information and position information of the installation interface under test were calculated. Control the binocular 3D camera to perform laser scanning on the target area to form a three-dimensional point cloud map containing height information; Extract height data from the 3D point cloud map; The three-dimensional point cloud map is segmented and cropped in a single layer to extract the plane layer where the installation interface under test is located, thereby generating a local point cloud that only contains the installation interface under test. Based on the processed local point cloud data, the size, shape, and position of each installation interface are detected one by one.

10. The satellite dynamic environment testing method according to claim 9, characterized in that, Prior to locating the satellite to obtain its position information, the method further includes: After the satellite is fully assembled, the Manufacturing Execution System (MES) generates a mechanical test work order and pushes it to the mechanical test workshop. According to the test work order, the satellite was transported to the vibration table position by a guided transport trolley. After the control end effector module moves the satellite from the transport trolley to the electric vibration table, the method further includes: The end effector is controlled to scan the satellite's identification code and obtain a pre-set test outline for the satellite from the MES based on the identification code. The test outline includes sine, random, and shock test patterns. According to the test outline, the test sequence including pre-test, low-level sinusoidal scan, formal sinusoidal test, random test, shock test and post-low-level scan shall be executed in sequence. During the execution of the test sequence, the key response point data of the satellite is transmitted back to the MES in real time and monitored in real time. If the test phenomenon or response abnormality is detected, the test is stopped and an alarm is triggered, and the MES suspends all subsequent processes of the satellite. After all the test sequences are completed, a judgment is made based on the collected test data and preset criteria. The test result is determined to be qualified, unqualified, or accepted with concession, and the judgment conclusion is pushed to the MES. After receiving a qualified judgment, the MES will release the satellite to enter the next production process.

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