A butt joint method for large cylinder segment products based on visual monitoring

Abstract

The application discloses a butt joint method of large cylinder segment products based on visual monitoring, which comprises the following steps: when the relative distance between the cylinder segment flange face and the butt joint face is within a first distance range, a coarse adjustment mode is adopted; during the coarse adjustment process, the measurement data of a telephoto camera is used to drive the transport vehicle chassis to adjust the relative pose of the cylinder segment and the butt joint face; when the relative distance between the cylinder segment flange face and the butt joint face is within a second distance range, the coarse adjustment is switched to fine adjustment; during the fine adjustment process, the measurement data of a close-up camera is used to drive the multi-degree-of-freedom adjustment mechanism of the transport vehicle to adjust the relative pose of the cylinder segment and the butt joint face; after the fine adjustment is completed, the transport vehicle is controlled to perform a straight-line reversing operation, and when the cylinder segment flange face and the butt joint face are in contact, a fastening operation is performed. The segmented butt joint method is adopted, the chassis is quickly coarsely adjusted by the measurement data of the telephoto camera, and the multi-degree-of-freedom adjustment mechanism is accurately adjusted by the close-up camera, so that the relay type execution process is realized, the butt joint speed is improved, and the butt joint accuracy is ensured.

Description

Technical Field

[0001] This invention relates to the field of large cylindrical section docking technology, and more specifically, to a docking method for large cylindrical section products based on visual monitoring. Background Technology

[0002] Large cylindrical products (diameter not less than 2m, length not less than 16m) are transported over long distances by specialized transport vehicles. Afterward, a docking operation is required via the flange face at the tail end of the cylindrical section to complete subsequent operations. Current methods primarily involve an observer and driver coordinating to initially position the transport vehicle, followed by gradual adjustments using a hand-cranked mechanism to align the tail end flange with the docking surface.

[0003] The existing docking operation plan has the following problems: ① The observer needs to observe from both the front of the transport vehicle and both sides of the flange at the rear end of the cylinder section. Due to the large size of the transport vehicle and the cylinder section, and the large error of human observation, the operator often finds that the adjustment mechanism cannot be adjusted properly when manually driving it. The vehicle body posture needs to be readjusted and the adjustment mechanism needs to be operated again. The chassis and superstructure adjustment mechanisms are repeatedly cross-adjusted, which makes the whole process cumbersome and the operation cycle long; ② The skill levels of each transport vehicle driver and observer are uneven. Relying solely on manual observation and operation will also affect the accuracy of operation and work efficiency. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide a docking method for large cylindrical products based on visual monitoring. From the perspective of segmented docking, two sets of cameras, one with a long focal length and the other with a short focal length, are used to achieve accurate measurement within different distance ranges through field of view connection. The camera monitors the deviation information of the docking surface in real time to ensure that the docking is completed in one go and avoid repeated adjustments. The docking is achieved by the chassis and the degree of freedom adjustment mechanism in the two distance ranges of far and near, respectively. The docking speed is improved while ensuring docking accuracy, thereby overcoming the shortcomings of the above-mentioned prior art.

[0005] To achieve the above-mentioned technical objectives, embodiments of the present invention disclose a docking method for large cylindrical section products based on visual monitoring, comprising:

[0006] When the relative distance between the flange face of the cylindrical section and the mating surface is within the first distance range, a reversing operation is performed. During the reversing process, the coarse adjustment of the position of the flange face of the cylindrical section is performed simultaneously, so that the flange face of the cylindrical section gradually moves closer to the mating surface.

[0007] During the coarse adjustment process, the measurement data from the telephoto camera is used to drive the chassis of the transport vehicle to adjust the relative position of the cylindrical section and the docking surface.

[0008] When the relative distance between the flange face and the mating face of the cylindrical section is within the second distance range, switch from coarse adjustment to fine adjustment;

[0009] During the fine-tuning process, the measurement data from the near-focus camera is used to drive the multi-degree-of-freedom adjustment mechanism of the transport vehicle to adjust the relative pose of the cylinder section and the docking surface;

[0010] After fine-tuning, control the transport vehicle to perform a straight reverse operation, and perform a tightening operation when the flange face of the cylinder section and the mating face come into contact.

[0011] Furthermore, the present invention provides a docking method for large cylindrical product segments based on visual monitoring, wherein the coarse adjustment step includes:

[0012] The transport vehicle begins reversing from an initial position where the relative distance between the flange face and the mating face of the cylindrical section is the first distance.

[0013] The relative pose of the flange face and mating face of the cylinder section is measured using a telephoto camera;

[0014] Extract the relative pose information of the flange face and mating face of the cylinder section;

[0015] The control system calculates the adjustment amounts of the transport vehicle chassis in each direction, including the longitudinal deflection angle adjustment, the lateral offset adjustment, and the longitudinal offset adjustment.

[0016] The vehicle chassis is controlled in real time to adjust the vehicle's position and posture based on the adjustment amounts in each direction.

[0017] When the relative distance between the flange face and the mating face of the cylinder section is the second distance, the first stop is made and the transport vehicle wheels are straightened.

[0018] Furthermore, the present invention provides a method for docking large cylindrical section products based on visual monitoring, wherein the fine-tuning step includes:

[0019] Switch the telephoto camera to the close-up camera during the first stop.

[0020] The relative pose of the flange face and mating face of the cylinder section is measured using a close-focus camera;

[0021] The control system calculates and controls the multi-degree-of-freedom adjustment mechanism to perform the first fine adjustment of the cylinder segment's posture;

[0022] After the first fine-tuning is completed, control the transport vehicle to reverse so that the flange face and mating face of the cylinder section are close together;

[0023] The second shutdown is performed when the relative distance between the flange face and the mating face of the cylinder section reaches the third distance.

[0024] The relative pose of the flange face and mating face of the cylinder section is measured using a close-focus camera;

[0025] The control system calculates and controls the multi-degree-of-freedom adjustment mechanism to perform the second fine adjustment of the cylinder segment's posture;

[0026] After the second fine-tuning, the multi-degree-of-freedom adjustment mechanism is stopped.

[0027] Furthermore, in the present invention, a docking method for large cylindrical products based on visual monitoring, wherein the following steps are performed when switching from coarse adjustment to fine adjustment:

[0028] Calculate and predict the feasibility of docking and executing multi-degree-of-freedom adjustment mechanisms;

[0029] Determine whether the multi-degree-of-freedom adjustment mechanism meets the initial precision requirements for fine-tuning;

[0030] If not, proceed with the coarse adjustment steps;

[0031] If so, then control the transport vehicle chassis to stop moving and perform fine-tuning steps.

[0032] Furthermore, the present invention provides a method for docking large cylindrical segment products based on visual monitoring, wherein during the reversing process of the transport vehicle before the second parking after the first fine adjustment, a near-focus camera is used to measure the relative pose of the flange surface and the docking surface of the cylindrical segment in real time, so that the adjustment margin of the multi-degree-of-freedom adjustment mechanism always meets the adjustment requirements of the second fine adjustment.

[0033] Furthermore, in the present invention, a docking method for large cylindrical segment products based on visual monitoring, wherein the sequence of the multi-degree-of-freedom adjustment mechanism adjusting the cylindrical segment pose during the first and second fine-tuning is as follows:

[0034] Adjust the pitch and yaw of the cylinder section;

[0035] Adjust the height and lateral movement of the cylinder section;

[0036] Adjust the axial roll of the cylinder section.

[0037] Furthermore, the present invention provides a docking method for large cylindrical segment products based on visual monitoring, wherein the method for adjusting the position and orientation of the cylindrical segment by the transport vehicle chassis is as follows:

[0038] The longitudinal deflection angle of the cylinder section is adjusted using the figure-eight steering mode of the transport vehicle chassis;

[0039] The lateral offset of the cylinder section is adjusted by using the inclined travel mode of the transport vehicle chassis;

[0040] The longitudinal offset of the cylinder section is adjusted by using the straight-line mode of the transport vehicle chassis.

[0041] Furthermore, the present invention provides a docking method for large cylindrical section products based on visual monitoring, wherein the telephoto camera is installed at the rear of the transport vehicle, and the near-focus camera is installed at the tail of the cylindrical section.

[0042] Furthermore, the present invention provides a docking method for large cylindrical products based on visual monitoring, wherein the first distance range is 3-20m and the second distance range is 0-3m.

[0043] Furthermore, the present invention provides a docking method for large cylindrical products based on visual monitoring, wherein the first distance is 20m, the second distance is 3m, and the third distance is 0.5m.

[0044] The beneficial effects of this invention are as follows: Accurate measurement across the entire distance range is ensured by connecting the effective measurement ranges of different cameras. A relay-style execution process, where the transport vehicle chassis is rapidly coarsely adjusted by measurement data from the telephoto camera and precisely adjusted by a multi-degree-of-freedom adjustment mechanism driven by the near-focus camera, entrusts the final precise alignment and docking control to the high-precision multi-degree-of-freedom adjustment mechanism independently, thus overcoming the operational accuracy control problems caused by changes in the transport vehicle chassis position. By employing the aforementioned methods of achieving docking within both the longer and shorter distance ranges through the transport vehicle chassis and the multi-degree-of-freedom adjustment mechanism respectively, docking speed is improved while ensuring docking accuracy. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating a method for docking large cylindrical products based on visual monitoring according to the present invention.

[0046] Figure 2 This is a schematic diagram illustrating the actual operation of a docking method for large cylindrical products based on visual monitoring according to the present invention.

[0047] Among them: 1. Transport vehicle; 2. Tube segment product; 3. Close-focus camera; 4. Long-focus camera; 5. Docking tooling; 6. Tube segment flange face; 7. Docking surface. Detailed Implementation

[0048] The following description, in conjunction with the accompanying drawings, provides a detailed explanation and illustration of a docking method for large cylindrical products based on visual monitoring, in accordance with the present invention.

[0049] This invention discloses a visual monitoring-based docking method for large cylindrical products, applicable to, for example... Figure 2 In the scene shown. Figure 2 In the process, the cylindrical segment 2 is placed on the truck bed of the transport vehicle 1. A close-focus camera 3 is installed at the rear end of the cylindrical segment 2, and a telephoto camera 4 is installed at the rear of the transport vehicle 1. The docking fixture 5 is arranged in a fixed position. The docking fixture 5 can be another cylindrical segment or other devices or equipment that need to be docked. During actual docking, the transport vehicle 1 needs to be moved in front of the docking fixture 5 so that the flange surface 6 of the cylindrical segment is aligned with the docking surface 7 of the docking fixture.

[0050] exist Figure 2In the diagram, from top to bottom, are the starting position of the coarse adjustment, the position of the first fine adjustment, the position of the second fine adjustment, the position of the docking completion, the relative position of the transport vehicle, the flange face of the cylinder section, and the docking surface. The dotted lines represent the fields of view of the near-focus camera and the far-focus camera, respectively.

[0051] like Figure 1 As shown, based on the above scenario, the following docking method is adopted, which includes:

[0052] S100: When the relative distance between the cylindrical flange face and the mating face is within the first distance range, a reversing operation is performed. During the reversing process, the position of the cylindrical flange face is coarsely adjusted simultaneously, so that the cylindrical flange face gradually moves closer to the mating face.

[0053] Specifically, the first distance range is set to 3-20m, and the telephoto camera is installed at the rear of the transport vehicle. That is to say, when docking, the transport vehicle first needs to be moved to a position where the relative distance between the flange face of the cylinder section and the docking surface is about 20m, which is defined as the initial position of docking and also the starting position of coarse adjustment. The telephoto camera is used to measure and realize the rapid approach of the flange face of the cylinder section to the docking surface.

[0054] S110: During the coarse adjustment process, the measurement data from the telephoto camera is used to drive the chassis of the transport vehicle to adjust the relative position of the cylindrical section and the docking surface.

[0055] Specifically, a telephoto camera is used to measure the relative pose of the flange face and the mating surface of the cylindrical section from a distance. The image information captured by the telephoto camera needs to be extracted by the supporting control equipment and image processing software, and the relative pose of the flange face and the mating surface of the cylindrical section is calculated into the adjustment amount of the transport vehicle chassis.

[0056] More specifically, the above coarse adjustment steps include:

[0057] The relative distance between the transport vehicle and the flange face and mating face of the cylinder section is defined as the first distance (i.e., Figure 2 The vehicle starts reversing from the initial position of D1 (in this embodiment, the first distance is set to 20m, and the specific value of the first distance can be determined according to the maximum high-precision recognition distance of the telephoto camera).

[0058] The relative pose of the flange face and mating face of the cylinder section is measured using a telephoto camera.

[0059] Extract the relative pose information of the flange face and mating face of the cylinder section.

[0060] The control system calculates the adjustment amounts of the transport vehicle chassis in each direction, including longitudinal offset adjustment, lateral offset adjustment, and longitudinal offset adjustment.

[0061] The vehicle chassis is controlled in real time to adjust the vehicle's position based on the amount of adjustment in each direction.

[0062] Given that the adjustment amounts of the transport vehicle chassis in all directions are known, the specific method for determining the position and orientation of the transport vehicle chassis adjustment cylinder segment is as follows:

[0063] The longitudinal deflection angle of the cylinder section is adjusted using the figure-eight steering mode of the transport vehicle chassis;

[0064] The lateral offset of the cylinder section is adjusted by using the inclined travel mode of the transport vehicle chassis;

[0065] The longitudinal offset of the cylinder section is adjusted by using the straight-line mode of the transport vehicle chassis.

[0066] When the relative distance between the flange face and the mating face of the cylindrical section is the second distance (i.e.) Figure 2 When the D2 is reached, the first stop is performed and the wheels of the transport vehicle are straightened (in this embodiment, the second distance is set to 3m, and the specific value of the second distance can be determined by the closest distance that the telephoto camera can accurately identify and the farthest high-precision identification distance of the near-focus camera).

[0067] In other words, when the relative distance between the flange face and the mating surface of the cylindrical section is 3m, the transport vehicle stops and straightens its wheels, marking the end of the coarse adjustment phase and the first fine adjustment position in the fine adjustment process. During the coarse adjustment, the telephoto lens performs real-time measurements, meaning that the adjustment range of the transport vehicle chassis in all directions is updated continuously as the transport vehicle moves. Therefore, the coarse adjustment process can ensure both docking accuracy and speed, improving docking efficiency.

[0068] S200: When the relative distance between the flange face and the mating face of the cylindrical section is within the second distance range, switch from coarse adjustment to fine adjustment;

[0069] Specifically, the second distance range is set to 0-3m, and the close-focus camera is installed on the flange face of the cylindrical section. In other words, the docking process is carried out in segments, first with coarse adjustment, followed by fine adjustment. Each segment of the docking process utilizes the camera's preferred processing distance, ensuring high-precision docking throughout the entire process.

[0070] When switching from coarse to fine adjustment, the following steps also need to be performed:

[0071] Calculate and predict the feasibility of docking and executing multi-degree-of-freedom adjustment mechanisms;

[0072] Determine whether the multi-degree-of-freedom adjustment mechanism meets the initial precision requirements for fine-tuning;

[0073] If not, proceed with the coarse adjustment steps;

[0074] If so, then control the transport vehicle chassis to stop moving and perform fine-tuning steps.

[0075] This step is to ensure that the fine-tuning process is not affected by coarse-tuning errors. In practice, coarse-tuning is generally sufficient to meet the accuracy requirements of fine-tuning. This design is also intended for use in emergency situations, allowing for a second coarse-tuning to achieve the fine-tuning requirements, making the docking process more reliable, increasing system robustness, and preventing docking interruptions.

[0076] S210: During the fine-tuning process, the measurement data from the close-focus camera is used to drive the multi-degree-of-freedom adjustment mechanism of the transport vehicle to adjust the relative pose of the cylinder section and the docking surface;

[0077] Specifically, a close-focus camera is used to measure the relative pose of the flange face and the mating surface of the cylinder section at a relatively close distance. The image information captured by the close-focus camera needs to be extracted by the supporting control equipment and image processing software, and the relative pose of the flange face and the mating surface of the cylinder section is calculated into the adjustment amount of the multi-degree-of-freedom adjustment mechanism.

[0078] More specifically, the above fine-tuning steps include:

[0079] Switch the telephoto camera to the close-up camera during the first stop.

[0080] The relative pose of the flange face and mating face of the cylinder section is measured using a close-focus camera;

[0081] The control system calculates and controls the multi-degree-of-freedom adjustment mechanism to perform the first fine adjustment of the cylinder segment's posture;

[0082] After the first fine-tuning is completed, control the transport vehicle to reverse so that the flange face and mating face of the cylinder section are close together;

[0083] When the relative distance between the flange face and the mating face of the cylindrical section is the third distance (i.e.) Figure 2 The second stop is made at point D3, and the third stop is 0.5m away.

[0084] The relative pose of the flange face and mating face of the cylinder section is measured using a close-focus camera;

[0085] The control system calculates and controls the multi-degree-of-freedom adjustment mechanism to perform the second fine adjustment of the cylinder segment's posture;

[0086] After the second fine-tuning, the multi-degree-of-freedom adjustment mechanism is stopped.

[0087] In this step, the fine-tuning is divided into two parts. The first fine-tuning occurs when the relative distance between the flange face and the mating surface is 3m during the docking process. Then, the flange face and the mating surface are moved from 3m to 0.5m while reversing. A second fine-tuning occurs when the relative distance is 0.5m, followed by a straight-line reversing operation. This process is flexible and reliable, ensuring the accuracy of the mating between the flange face and the mating surface through two error corrections.

[0088] More specifically, the sequence of adjusting the cylinder segment's pose by the multi-degree-of-freedom adjustment mechanism in the first and second fine-tuning processes is as follows:

[0089] First, adjust the pitch and yaw of the cylinder section to make the flange face of the cylinder section parallel to the mating surface;

[0090] Then, adjust the height and lateral movement of the cylinder section to align the flange face of the cylinder section with the mating face;

[0091] Finally, adjust the axial roll of the cylinder section to align the flange face of the cylinder section with the mounting hole that matches the mating surface, which will facilitate subsequent tightening.

[0092] This step is to standardize the sequence of adjusting the cylinder segment's position and orientation by the multi-degree-of-freedom adjustment mechanism during the fine-tuning and docking process between the flange face and the mating surface of the cylinder segment. Its control is simple and reasonable, which can ensure the consistency of the execution process, facilitate repeated execution, reduce system expenditure, and ensure high controllability and easy debugging of the orderly execution steps, thereby reducing the failure rate.

[0093] More specifically, during the reversing process of the transport vehicle before the second stop after the first fine adjustment, a close-focus camera is used to measure the relative position and orientation of the flange face and the mating face of the cylinder section in real time, so that the adjustment margin of the multi-degree-of-freedom adjustment mechanism always meets the adjustment requirements of the second fine adjustment.

[0094] This step is to ensure the continuity of the first and second fine-tuning processes, thereby improving the docking fine-tuning through two consecutive fine-tuning processes.

[0095] S300: After fine-tuning, control the transport vehicle to perform a straight reverse operation, and perform a tightening operation when the flange face of the cylinder section and the mating face come into contact.

[0096] The purpose of this invention is to provide a docking method for large cylindrical segments based on visual monitoring. The target cylindrical segments have a diameter of at least 2m and a length of at least 16m. A transport vehicle can adjust the position and orientation of the cylindrical segment using its chassis and multi-degree-of-freedom adjustment mechanism. The fully loaded transport vehicle is at least 20m long. The transport vehicle reverses approximately 20m to move the flange of the cylindrical segment towards the docking surface, completing the docking. The entire docking process is automated. Visual monitoring equipment (long-range and close-range cameras) serves as the means of monitoring the position and orientation of the docking surface, possessing strong structural feature recognition capabilities and mature recognition algorithms. Furthermore, throughout the adjustment process, the visual cameras (long-range and close-range cameras) continuously update the relative position and orientation of the cylindrical segment flange and the docking surface, as well as the corresponding adjustments of the chassis and multi-degree-of-freedom adjustment mechanism in each direction, ensuring that the position and orientation deviation is always online and controllable, thus achieving docking adjustment in one step. Therefore, this invention provides fully autonomous control of the docking process, improving docking speed while ensuring docking accuracy, and solving the problems of low accuracy, cumbersome operation, and long docking cycles associated with transport vehicles carrying cylindrical segments for docking tasks.

[0097] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0098] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and simple improvements made on the substantive content of the present invention should be included within the protection scope of the present invention.

Claims

1. A docking method for large cylindrical section products based on visual monitoring, characterized in that, include: When the relative distance between the flange face of the cylindrical section and the mating surface is within the first distance range, a reversing operation is performed. During the reversing process, the coarse adjustment of the position of the flange face of the cylindrical section is performed simultaneously, so that the flange face of the cylindrical section gradually moves closer to the mating surface. During the coarse adjustment process, the measurement data from the telephoto camera is used to drive the chassis of the transport vehicle to adjust the relative position of the cylindrical section and the docking surface. When the relative distance between the flange face and the mating face of the cylindrical section is within the second distance range, switch from coarse adjustment to fine adjustment; When switching from coarse adjustment to fine adjustment, the following steps also need to be performed: Calculate and predict the feasibility of docking and executing multi-degree-of-freedom adjustment mechanisms; Determine whether the multi-degree-of-freedom adjustment mechanism meets the initial precision requirements for fine-tuning; If not, proceed with the coarse adjustment steps; If so, then control the transport vehicle chassis to stop moving and perform fine-tuning steps; During the fine-tuning process, the measurement data from the near-focus camera is used to drive the multi-degree-of-freedom adjustment mechanism of the transport vehicle to adjust the relative pose of the cylinder section and the docking surface; The fine-tuning steps include: Switch the telephoto camera to the close-up camera during the first stop. The relative pose of the flange face and mating face of the cylinder section is measured using a close-focus camera; The control system calculates and controls the multi-degree-of-freedom adjustment mechanism to perform the first fine adjustment of the cylinder segment's posture; After the first fine-tuning is completed, control the transport vehicle to reverse so that the flange face and mating face of the cylinder section are close together; The second shutdown is performed when the relative distance between the flange face and the mating face of the cylinder section reaches the third distance. The relative pose of the flange face and mating face of the cylinder section is measured using a close-focus camera; The control system calculates and controls the multi-degree-of-freedom adjustment mechanism to perform the second fine adjustment of the cylinder segment's posture; After the second fine-tuning, the multi-degree-of-freedom adjustment mechanism was stopped from moving. After fine-tuning, control the transport vehicle to perform a straight reverse operation, and perform a tightening operation when the flange face of the cylinder section and the mating face come into contact.

2. The docking method for large cylindrical segment products based on visual monitoring according to claim 1, characterized in that, The coarse adjustment steps include: The transport vehicle begins reversing from an initial position where the relative distance between the flange face and the mating face of the cylindrical section is the first distance. The relative pose of the flange face and mating face of the cylinder section is measured using a telephoto camera; Extract the relative pose information of the flange face and mating face of the cylinder section; The control system calculates the adjustment amounts of the transport vehicle chassis in each direction, including the longitudinal deflection angle adjustment, the lateral offset adjustment, and the longitudinal offset adjustment. The vehicle chassis is controlled in real time to adjust the vehicle's position and posture based on the adjustment amounts in each direction. When the relative distance between the flange face and the mating face of the cylinder section is the second distance, the first stop is made and the transport vehicle wheels are straightened.

3. The docking method for large cylindrical section products based on visual monitoring according to claim 1, characterized in that, During the reversing process of the transport vehicle before the second parking after the first fine adjustment, a near-focus camera is used to measure the relative position and orientation of the flange surface and the mating surface of the cylinder section in real time, so that the adjustment margin of the multi-degree-of-freedom adjustment mechanism always meets the adjustment requirements of the second fine adjustment.

4. The docking method for large cylindrical section products based on visual monitoring according to claim 1, characterized in that, In the first and second fine-tuning processes, the sequence of adjusting the cylinder segment's pose by the multi-degree-of-freedom adjustment mechanism is as follows: Adjust the pitch and yaw of the cylinder section; Adjust the height and lateral movement of the cylinder section; Adjust the axial roll of the cylinder section.

5. The docking method for large cylindrical section products based on visual monitoring according to claim 2, characterized in that, The method for determining the relative position of the chassis adjustment cylinder section and the docking surface of the transport vehicle is as follows: The longitudinal deflection angle of the cylinder section is adjusted using the figure-eight steering mode of the transport vehicle chassis; The lateral offset of the cylinder section is adjusted by using the inclined travel mode of the transport vehicle chassis; The longitudinal offset of the cylinder section is adjusted by using the straight-line mode of the transport vehicle chassis.

6. The docking method for large cylindrical section products based on visual monitoring according to claim 1, characterized in that, The telephoto camera is installed at the rear of the transport vehicle, and the near-focus camera is installed at the rear of the cylindrical section.

7. The docking method for large cylindrical section products based on visual monitoring according to claim 1, characterized in that, The first distance range is 3-20m, and the second distance range is 0-3m.

8. The docking method for large cylindrical section products based on visual monitoring according to claim 1, characterized in that, The first distance is 20m, the second distance is 3m, and the third distance is 0.5m.

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