Butt joint method for large cylindrical cabin sections

Abstract

The invention discloses a butt joint method for large cylindrical cabin sections, and belongs to the technical field of automatic assembly. Comprising the following steps that a first cylindrical cabin section and a second cylindrical cabin section which need to be in butt joint are placed on a four-degree-of-freedom active butt joint platform and a five-degree-of-freedom passive butt joint platform correspondingly; the first cylindrical cabin section and the second cylindrical cabin section are driven to complete leveling; the first cylindrical cabin section is driven to move along the x axis and the z axis; the second cylindrical cabin section also moves along the x-axis and the z-axis, so that the central axes of the first cylindrical cabin section and the second cylindrical cabin section are aligned; the second barrel-shaped cabin section is driven to rotate around the y axis, so that hole alignment of the first barrel-shaped cabin section and the second barrel-shaped cabin section is completed; and the second cylindrical cabin section is driven to move along the y axis, and butt joint is completed. According to the method, the data acquisition line is leveled in the butt joint process of the cabin sections, complex force analysis does not need to be used in the leveling process of the cabin sections, leveling is carried out only by fitting the judgment line through simple coordinates, and the speed of the leveling process in the alignment process of the cylindrical cabin sections is greatly increased.

Description

Technical Field

[0001] The invention relates to a method for docking large cylindrical cabin sections, belonging to the technical field of automatic assembly. Background Art

[0002] In the field of automated assembly technology such as aerospace and marine engineering, the quality of assembly determines the final reliability and performance of the product. Due to the large mass and size of various large cylindrical cabins during assembly, it is difficult to automate the transportation and docking process. Therefore, a high-precision and efficient automated attitude adjustment docking equipment is needed. At present, foreign developed countries are gradually increasing their research on cabin docking technology. Boeing in the United States has adopted a hybrid docking mechanism to assemble the Boeing 787. At present, my country mainly uses traditional manual docking process methods in the field of cylindrical cabin docking. Most of them use movable docking vehicles for cabin docking. The cabin is placed on the docking vehicle by driving, and the position and angle of the docking vehicle are manually adjusted. This assembly method has high labor intensity, low assembly efficiency, poor docking accuracy, and is greatly affected by the operator's own factors during the assembly process, with high uncertainty.

[0003] In recent years, there have been many studies on establishing a measurement field based on a laser tracker to achieve cabin docking. Chinese invention patent CN202111176427.3 discloses a large-component barrel docking test bench and docking method based on trial assembly simulation. The test bench obtains the surface shape data of the barrel segment through a handheld 3D scanner, obtains the position information of the key feature points on the end face of the barrel segment through a high-precision real-time measurement camera, and performs six-degree-of-freedom motion control on the moving parts through a six-degree-of-freedom motion platform. However, the six-degree-of-freedom platform is expensive, and the measurement accuracy of 3D vision is not high, resulting in a large docking error of the cabin segments on the platform, which has certain limitations. Summary of the invention

[0004] The technical problem to be solved by the present invention is: how to dock large cylindrical cabin sections quickly, accurately and at low cost.

[0005] In order to solve the above technical problems, the technical solution proposed in the present invention is: a docking method for a large cylindrical compartment, involving a four-degree-of-freedom active docking platform and a five-degree-of-freedom passive docking platform, comprising the following steps:

[0006] Step 1: Establish a docking three-dimensional coordinate system at the docking site of the large cylindrical compartment, wherein the x-axis and y-axis of the docking three-dimensional coordinate system intersect perpendicularly with the origin o, the x-axis and y-axis are located in the same plane parallel to the ground, and the z-axis of the docking three-dimensional coordinate system is perpendicular to the plane where the x-axis and y-axis are located; the y-axis is parallel to the axis of the large cylindrical compartment to be docked; the four-degree-of-freedom active docking platform can drive the large cylindrical compartment placed on it to move along the x- and z-axes and rotate along the x- and z-axes; the five-degree-of-freedom passive docking platform can drive the large cylindrical compartment placed on it to move along the x-, y-, and z-axes and rotate along the x- and z-axes; place the first cylindrical compartment and the second cylindrical compartment to be docked at the docking site on the four-degree-of-freedom active docking platform and the five-degree-of-freedom passive docking platform respectively;

[0007] Step 2: driving the first cylindrical cabin section to complete leveling through the four-degree-of-freedom active docking platform;

[0008] Step 3: driving the second cylindrical cabin section to complete leveling through the five-degree-of-freedom passive docking platform;

[0009] Step 4: The four-degree-of-freedom active docking platform drives the first cylindrical compartment to move along the x-axis and the z-axis; the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to move along the x-axis and the z-axis, so that the central axis of the first cylindrical compartment is aligned with the central axis of the second cylindrical compartment;

[0010] Step 5: The second cylindrical compartment segment is driven to rotate around the y-axis by the five-degree-of-freedom passive docking platform until it is manually determined that the holes on the second cylindrical compartment segment are aligned with the holes on the first cylindrical compartment segment, thereby completing the alignment of the holes of the first cylindrical compartment segment and the second cylindrical compartment segment;

[0011] Step 6: The second cylindrical compartment is driven to move along the y-axis by the five-degree-of-freedom passive docking platform. When the distance d between the second cylindrical compartment and the first cylindrical compartment is less than the docking distance threshold When the second cylindrical compartment section is docked with the first cylindrical compartment section.

[0012] Further, the specific content of step 2 is as follows:

[0013] Step 2.1: Define the axis through the central axis of the first cylindrical compartment The plane is a first data acquisition plane; the intersection of the first data acquisition plane and the outer cylindrical surface of the first tubular compartment section forms a first data acquisition line and a second data acquisition line, n detection points are located on the first data acquisition line and the second data acquisition line respectively, and the coordinates of the n detection points on the first data acquisition line and the second data acquisition line are collected in real time; the coordinates of the n detection points on the first data acquisition line and the second data acquisition line collected in real time are collected respectively to form a first detection point coordinate set A1 and a second detection point coordinate set A2, as shown in the following equations (1) and (2),

[0014] (1)

[0015] In formula (1), are the coordinates of the first detection point, the second detection point to the nth detection point on the first data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the nth detection point on the first data acquisition line on the first data acquisition plane;

[0016] (2)

[0017] In formula (2), are the coordinates of the first detection point, the second detection point to the nth detection point on the second data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the second data acquisition line on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the second data acquisition line on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the n-th detection point on the second data acquisition line on the first data acquisition plane;

[0018] A first judgment line Z1 is fitted on the first data acquisition plane according to all the data in A1, as shown in the following formula (3):

[0019] (3)

[0020] In formula (3), is the dependent variable of the first judgment line; is the independent variable of the first judgment line; is the first slope of the first judgment line fitted according to all the data in A1; is the first intercept of the first judgment line fitted according to all the data in A1;

[0021] A second judgment line Z2 is fitted on the first data acquisition plane according to all the data in A2, as shown in the following formula (4):

[0022] (4)

[0023] In formula (4), is the dependent variable of the second judgment line; is the independent variable of the second judgment line; is the second slope of the second judgment line fitted according to all the data in A2; is the second intercept of the second judgment line fitted according to all the data in A2;

[0024] Step 2.2: The first slope and the second slope Substitute it into the following formula (5) to make a judgment:

[0025] (5)

[0026] In formula (5), and They are the first judgment threshold and the second judgment threshold, both of which are empirical values;

[0027] If the requirement of formula (5) is met, it means that the first cylindrical compartment has no obvious inclination compared to the xoy plane, and the first cylindrical compartment does not need to be rotated relative to the x-axis;

[0028] If the requirement of formula (5) is not met, it means that the first cylindrical compartment is significantly tilted compared to the xoy plane. At this time, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to rotate around the x-axis until the first slope is and the second slope satisfies the requirement of formula (5);

[0029] Step 2.3: Define the axis of the first cylindrical compartment The plane is the second data acquisition plane; the intersection of the second data acquisition plane and the outer cylindrical surface of the first tubular compartment section forms a third data acquisition line and a fourth data acquisition line, m detection points are located on the third data acquisition line and the fourth data acquisition line respectively, and the coordinates of the m detection points on the third data acquisition line and the fourth data acquisition line are collected in real time; the coordinates of the m detection points on the third data acquisition line and the fourth data acquisition line collected in real time are collected to form a third detection point coordinate set A3 and a fourth detection point coordinate set A4, as shown in the following equations (6) and (7),

[0030] (6)

[0031] In formula (6), are the coordinates of the first detection point, the second detection point to the mth detection point on the third data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the third data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the third data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the m-th detection point on the third data acquisition line on the second data acquisition plane;

[0032] (7)

[0033] In formula (7), are the coordinates of the first detection point, the second detection point to the mth detection point on the fourth data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the fourth data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the fourth data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the m-th detection point on the fourth data acquisition line on the second data acquisition plane;

[0034] According to all the data in A3, a third judgment line X3 is fitted on the second data acquisition plane, as shown in the following formula (8):

[0035] (8)

[0036] In formula (8), X3 is the dependent variable of the third judgment line; is the independent variable of the third judgment line; is the third slope of the third judgment line fitted according to all the data in A3; is the third intercept of the third judgment line fitted according to all the data in A3;

[0037] A fourth judgment line X4 is fitted on the second data acquisition plane according to all the data in A4, as shown in the following formula (9):

[0038] (9)

[0039] In formula (9), X4 is the dependent variable of the fourth judgment line; is the independent variable of the fourth judgment line; is the fourth slope of the fourth judgment line fitted according to all the data in A4; is the fourth intercept of the fourth judgment line fitted according to all the data in A4;

[0040] Step 2.4: The third slope and the fourth slope Substitute it into the following formula (10) to make a judgment:

[0041] (10)

[0042] In formula (10), and They are the third judgment threshold and the fourth judgment threshold, both of which are empirical values;

[0043] If the requirement of formula (10) is met, it means that the first cylindrical compartment has no obvious inclination compared to the yoz plane, and the first cylindrical compartment does not need to be rotated relative to the z-axis;

[0044] If the requirement of formula (10) is not met, it means that the first cylindrical compartment is significantly tilted compared to the yoz plane. At this time, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to rotate around the z-axis until the third slope is and the fourth slope Until the requirements of formula (10) are met;

[0045] The first slope and the second slope Satisfying formula (5) and the third slope and the fourth slope When the requirement of formula (10) is met, the first cylindrical compartment is leveled.

[0046] Further, the specific content of step 3 is as follows:

[0047] Step 3.1: Define the axis through the central axis of the second cylindrical compartment The plane is the third data acquisition plane; the intersection of the third data acquisition plane and the outer cylindrical surface of the second tubular compartment section forms a fifth data acquisition line and a sixth data acquisition line, N detection points are located on the fifth data acquisition line and the sixth data acquisition line respectively, and the coordinates of the N detection points on the fifth data acquisition line and the sixth data acquisition line are collected in real time; the coordinates of the N detection points on the fifth data acquisition line and the sixth data acquisition line collected in real time are collected respectively to form a fifth detection point coordinate set A5 and a sixth detection point coordinate set A6, as shown in the following equations (11) and (12),

[0048] (11)

[0049] In formula (11), are the coordinates of the first detection point, the second detection point to the Nth detection point on the fifth data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the fifth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the fifth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the Nth detection point on the fifth data acquisition line on the third data acquisition plane;

[0050] (12)

[0051] In formula (12), are the coordinates of the first detection point, the second detection point to the Nth detection point on the sixth data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the sixth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the sixth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the Nth detection point on the sixth data acquisition line on the third data acquisition plane;

[0052] A fifth judgment line Z5 is fitted on the third data collection plane according to all the data in A5, as shown in the following formula (13):

[0053] (13)

[0054] In formula (13), is the dependent variable of the fifth judgment line; is the independent variable of the fifth judgment line; is the fifth slope of the fifth judgment line fitted according to all the data in A5; is the fifth intercept of the fifth judgment line fitted according to all the data in A5;

[0055] A sixth judgment line Z6 is fitted on the third data collection plane according to all the data in A6, as shown in the following formula (14):

[0056] (14)

[0057] In formula (14), is the dependent variable of the sixth judgment line; is the independent variable of the sixth judgment line; is the sixth slope of the sixth judgment line fitted according to all the data in A6; is the sixth intercept of the sixth judgment line fitted according to all the data in A6;

[0058] Step 3.2: Set the fifth slope and the sixth slope Substitute it into the following formula (15) to make a judgment:

[0059] (15)

[0060] In formula (15), and They are the fifth judgment threshold and the sixth judgment threshold, both of which are empirical values;

[0061] If the requirement of formula (15) is met, it means that the second cylindrical compartment has no obvious inclination compared with the xoy plane, and the second cylindrical compartment does not need to be rotated relative to the x-axis;

[0062] If the requirement of formula (15) is not met, it means that the second cylindrical compartment is significantly tilted compared to the xoy plane. At this time, the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to rotate around the x-axis until the fifth slope is and the sixth slope Until the requirements of formula (15) are met;

[0063] Step 3.3: Define the axis through the central axis of the second cylindrical compartment The plane is the fourth data acquisition plane; the intersection of the fourth data acquisition plane and the outer cylindrical surface of the second tubular compartment section forms a seventh data acquisition line and an eighth data acquisition line, M detection points are located on the seventh data acquisition line and the eighth data acquisition line respectively, and the coordinates of the M detection points on the seventh data acquisition line and the eighth data acquisition line are collected in real time; the coordinates of the M detection points on the seventh data acquisition line and the eighth data acquisition line collected in real time are collected to form a seventh detection point coordinate set A7 and an eighth detection point coordinate set A8, as shown in the following equations (16) and (17),

[0064] (16)

[0065] In formula (16), are the coordinates of the first detection point, the second detection point to the Mth detection point on the seventh data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the seventh data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the seventh data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the Mth detection point on the seventh data acquisition line on the fourth data acquisition plane;

[0066] (17)

[0067] In formula (17), are the coordinates of the first detection point, the second detection point to the Mth detection point on the eighth data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the eighth data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the eighth data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the Mth detection point on the eighth data acquisition line on the fourth data acquisition plane;

[0068] A seventh judgment line X7 is fitted on the fourth data acquisition plane according to all the data in A7, as shown in the following formula (18):

[0069] (18)

[0070] In formula (18), is the dependent variable of the seventh judgment line; is the independent variable of the seventh judgment line; is the seventh slope of the seventh judgment line fitted according to all the data in A7; is the seventh intercept of the seventh judgment line fitted according to all the data in A7;

[0071] According to all the data in A8, an eighth judgment line X8 is fitted on the fourth data acquisition plane, as shown in the following formula (19):

[0072] (19)

[0073] In formula (19), is the dependent variable of the eighth judgment line; is the independent variable of the eighth judgment line; is the eighth slope of the eighth judgment line fitted according to all the data in A8; is the eighth intercept of the eighth judgment line fitted according to all the data in A8;

[0074] Step 3.4: Set the seventh slope and the eighth slope Substitute it into the following formula (20) to make a judgment:

[0075] (20)

[0076] In formula (20), and They are the seventh judgment threshold and the eighth judgment threshold, both of which are empirical values;

[0077] If the requirement of formula (20) is met, it means that the second cylindrical compartment has no obvious inclination compared with the yoz plane, and the second cylindrical compartment does not need to be rotated relative to the z-axis;

[0078] If the requirement of formula (20) is not met, it means that the second cylindrical compartment is significantly tilted compared to the yoz plane. At this time, the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to rotate around the z-axis until the seventh slope is and the eighth slope Until the requirements of formula (20) are met;

[0079] The fifth slope and the sixth slope Satisfies the requirements of formula (15) and the seventh slope and the eighth slope When the requirement of formula (20) is met, the second cylindrical compartment is leveled.

[0080] Further, the specific content of step 4 is as follows: project the central axes of the first cylindrical compartment and the second cylindrical compartment onto the xoz plane to form the axis coordinates of the first cylindrical compartment and the axis coordinates of the second cylindrical compartment ;

[0081] The and Substitute into the following formula (21) to make a judgment:

[0082] (twenty one)

[0083] In formula (21), is the alignment judgment threshold, which is an empirical value;

[0084] If formula (21) is satisfied, it means that the first cylindrical compartment section and the second cylindrical compartment section have completed axis alignment;

[0085] If formula (21) is not satisfied, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to move along the x-axis and the z-axis; the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to move along the x-axis and the z-axis until the and Satisfies formula (21);

[0086] When the and When formula (21) is satisfied, the first cylindrical compartment section and the second cylindrical compartment section complete axis alignment.

[0087] Further, the specific content of step 4 is as follows:

[0088] Step 4.1: Substitute the first intercept b1, second intercept b2, fifth intercept b5 and sixth intercept b6 of the first judgment line Z1, second judgment line Z2, fifth judgment line Z5 and sixth judgment line Z6 obtained in step 2 and step 3 into the following formula (22) for judgment:

[0089] (twenty two)

[0090] If formula (22) is satisfied, it means that the central axes of the first cylindrical compartment section and the second cylindrical compartment section are already in the same xoy plane, and the following steps are continued;

[0091] If formula (22) is not satisfied, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to move along the z-axis; the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to move along the z-axis until the first intercept b1, the second intercept b2, the fifth intercept b5 and the sixth intercept b6 satisfy formula (22), and the following steps are continued;

[0092] Step 4.2: Substitute the third intercept b3, the fourth intercept b4, the seventh intercept b7 and the eighth intercept b8 of the third judgment line X3, the fourth judgment line X4, the seventh judgment line X7 and the eighth judgment line X8 obtained in step 2 and step 3 into the following formula (23) for judgment:

[0093] (twenty three)

[0094] If formula (23) is satisfied, it means that the central axes of the first cylindrical compartment section and the second cylindrical compartment section are aligned;

[0095] If formula (23) is not satisfied, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to move along the x-axis; the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to move along the x-axis until the third intercept b3, the fourth intercept b4, the seventh intercept b7 and the eighth intercept b8 satisfy formula (23);

[0096] When the first intercept b1, the second intercept b2, the fifth intercept b5 and the sixth intercept b6 satisfy formula (22) and the third intercept b3, the fourth intercept b4, the seventh intercept b7 and the eighth intercept b8 satisfy formula (23), the central axes of the first cylindrical compartment section and the second cylindrical compartment section are aligned.

[0097] The beneficial effects of the present invention are as follows: 1. In the process of docking the cabin segments, the present invention uses a data acquisition plane passing through the central axis of the cabin segment to form a data acquisition line on the outer cylinder wall of the cylindrical cabin segment and collects the coordinates of the cabin segment to form a judgment line to judge the inclination of the cabin segment to be docked and perform leveling. There is no need to use complex force analysis for the cabin segment leveling process. Only by simply fitting the judgment line with the coordinates to perform leveling, the speed of the leveling process in the alignment of the cylindrical cabin segment is greatly accelerated. 2. The present invention provides two simple and quick methods, namely, the projection method of the central axis of the cabin segment and the judgmental intercept judgment method of the cabin segment, so that the central axes of the two cabin segments can be quickly aligned. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] Figure 1 It is a flow chart of the first embodiment of the present invention.

[0099] Figure 2 It is a flow chart of the second embodiment of the present invention. DETAILED DESCRIPTION

[0100] The following is a further description of a method for docking a large cylindrical compartment section of the present invention in conjunction with specific embodiments and drawings.

[0101] Embodiment 1

[0102] The docking method of the large cabin in this embodiment involves a four-degree-of-freedom active docking platform and a five-degree-of-freedom passive docking platform, such as Figure 1 As shown, the following steps are included:

[0103] Step 1: Establish a docking three-dimensional coordinate system on the ground at the docking site. The x-axis and y-axis of the docking three-dimensional coordinate system intersect perpendicularly with the origin o, the x-axis and y-axis are located in the same plane parallel to the ground, and the z-axis of the docking three-dimensional coordinate system is perpendicular to the plane where the x-axis and y-axis are located; the y-axis is parallel to the axis of the cabin to be docked; the four-degree-of-freedom active docking platform can move along the x- and z-axes and rotate along the x- and z-axes; the five-degree-of-freedom passive docking platform can move along the x-, y-, and z-axes and rotate along the x- and z-axes; place the first cylindrical cabin section and the second cylindrical cabin section to be docked at the docking site on the four-degree-of-freedom active docking platform and the five-degree-of-freedom passive docking platform respectively;

[0104] Step 2: Use the four-degree-of-freedom active docking platform to drive the first cylindrical cabin to complete leveling;

[0105] The specific contents of step 2 are as follows:

[0106] Step 2.1: Define the axis through the centerline of the first cylindrical compartment The plane is the first data acquisition plane; the intersection of the first data acquisition plane and the outer cylindrical surface of the first tubular compartment section forms a first data acquisition line and a second data acquisition line, n detection points are located on the first data acquisition line and the second data acquisition line respectively, and the coordinates of the n detection points on the first data acquisition line and the second data acquisition line are collected in real time; the coordinates of the n detection points on the first data acquisition line and the second data acquisition line collected in real time are collected respectively to form a first detection point coordinate set A1 and a second detection point coordinate set A2, as shown in the following equations (1) and (2),

[0107] (1)

[0108] In formula (1), are the coordinates of the first detection point, the second detection point to the nth detection point on the first data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the first data acquisition line on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the first data acquisition line on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the nth detection point on the first data acquisition line on the first data acquisition plane;

[0109] (2)

[0110] In formula (2), are the coordinates of the first detection point, the second detection point to the nth detection point on the second data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the second data acquisition line on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the second data acquisition line on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the nth detection point on the second data acquisition line on the first data acquisition plane;

[0111] The first judgment line Z1 is fitted on the first data acquisition plane according to all the data in A1, as shown in the following formula (3):

[0112] (3)

[0113] In formula (3), is the dependent variable of the first judgment line; is the independent variable of the first judgment line; is the first slope of the first judgment line fitted according to all the data in A1; is the first intercept of the first judgment line fitted based on all the data in A1;

[0114] The second judgment line Z2 is fitted on the first data acquisition plane according to all the data in A2, as shown in the following formula (4):

[0115] (4)

[0116] In formula (4), is the dependent variable of the second judgment line; is the independent variable of the second judgment line; is the second slope of the second judgment line fitted according to all the data in A2; is the second intercept of the second judgment line fitted according to all the data in A2;

[0117] Step 2.2: Set the first slope and the second slope Substitute it into the following formula (5) to make a judgment:

[0118] (5)

[0119] In formula (5), and They are the first judgment threshold and the second judgment threshold, both of which are empirical values;

[0120] If the requirements of formula (5) are met, it means that the first cylindrical compartment has no obvious inclination compared to the xoy plane, and the first cylindrical compartment does not need to be rotated relative to the x-axis;

[0121] If the requirements of formula (5) are not met, it means that the first cylindrical cabin section is significantly tilted compared to the xoy plane. At this time, the four-degree-of-freedom active docking platform drives the first cylindrical cabin section to rotate around the x-axis until the first slope is Until the second slope meets the requirements of formula (5);

[0122] Step 2.3: Define the axis through the centerline of the first cylindrical compartment The plane is the second data acquisition plane; the intersection of the second data acquisition plane and the outer cylindrical surface of the first tubular compartment section forms a third data acquisition line and a fourth data acquisition line, m detection points are located on the third data acquisition line and the fourth data acquisition line respectively, and the coordinates of the m detection points on the third data acquisition line and the fourth data acquisition line are collected in real time; the coordinates of the m detection points on the third data acquisition line and the fourth data acquisition line collected in real time are collected to form a third detection point coordinate set A3 and a fourth detection point coordinate set A4, as shown in the following equations (6) and (7),

[0123] (6)

[0124] In formula (6), are the coordinates of the first detection point, the second detection point to the mth detection point on the third data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the third data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the third data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the m-th detection point on the third data acquisition line on the second data acquisition plane;

[0125] (7)

[0126] In formula (7), are the coordinates of the first detection point, the second detection point to the mth detection point on the fourth data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the fourth data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the fourth data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the m-th detection point on the fourth data acquisition line on the second data acquisition plane;

[0127] According to all the data in A3, a third judgment line X3 is fitted on the second data acquisition plane, as shown in the following formula (8):

[0128] (8)

[0129] In formula (8), X3 is the dependent variable of the third judgment line; is the independent variable of the third judgment line; is the third slope of the third judgment line fitted based on all the data in A3; is the third intercept of the third judgment line fitted based on all the data in A3;

[0130] According to all the data in A4, a fourth judgment line X4 is fitted on the second data acquisition plane, as shown in the following formula (9):

[0131] (9)

[0132] In formula (9), X4 is the dependent variable of the fourth judgment line; is the independent variable of the fourth judgment line; is the fourth slope of the fourth judgment line fitted according to all the data in A4; is the fourth intercept of the fourth judgment line fitted based on all the data in A4;

[0133] Step 2.4: The third slope and the fourth slope Substitute it into the following formula (10) to make a judgment:

[0134] (10)

[0135] In formula (10), and They are the third judgment threshold and the fourth judgment threshold, both of which are empirical values;

[0136] If the requirements of formula (10) are met, it means that the first cylindrical cabin section has no obvious inclination compared to the yoz plane, and the first cylindrical cabin section does not need to be rotated relative to the z axis;

[0137] If the requirements of formula (10) are not met, it means that the first cylindrical cabin section is significantly tilted compared to the yoz plane. At this time, the four-degree-of-freedom active docking platform drives the first cylindrical cabin section to rotate around the z axis until the third slope is and the fourth slope Until the requirements of formula (10) are met;

[0138] First slope and the second slope Satisfying formula (5) and the third slope and the fourth slope When the requirements of formula (10) are met, the first cylindrical tank section completes leveling.

[0139] Step 3: Use the five-degree-of-freedom passive docking platform to drive the second cylindrical cabin to complete leveling;

[0140] The specific contents of step 3 are as follows:

[0141] Step 3.1: Define the axis through the center axis of the second cylindrical compartment The plane is the third data acquisition plane; the intersection of the third data acquisition plane and the outer cylindrical surface of the second tubular compartment section forms a fifth data acquisition line and a sixth data acquisition line, N detection points are located on the fifth data acquisition line and the sixth data acquisition line respectively, and the coordinates of the N detection points on the fifth data acquisition line and the sixth data acquisition line are collected in real time; the coordinates of the N detection points on the fifth data acquisition line and the sixth data acquisition line collected in real time are collected to form a fifth detection point coordinate set A5 and a sixth detection point coordinate set A6, as shown in the following equations (11) and (12),

[0142] (11)

[0143] In formula (11), are the coordinates of the first detection point, the second detection point to the Nth detection point on the fifth data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the fifth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the fifth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the Nth detection point on the fifth data acquisition line on the third data acquisition plane;

[0144] (12)

[0145] In formula (12), are the coordinates of the first detection point, the second detection point to the Nth detection point on the sixth data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the sixth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the sixth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the Nth detection point on the sixth data acquisition line on the third data acquisition plane;

[0146] According to all the data in A5, the fifth judgment line Z5 is fitted on the third data acquisition plane, as shown in the following formula (13):

[0147] (13)

[0148] In formula (13), is the dependent variable of the fifth judgment line; is the independent variable of the fifth judgment line; is the fifth slope of the fifth judgment line fitted according to all the data in A5; is the fifth intercept of the fifth judgment line fitted based on all the data in A5;

[0149] According to all the data in A6, the sixth judgment line Z6 is fitted on the third data acquisition plane, as shown in the following formula (14):

[0150] (14)

[0151] In formula (14), is the dependent variable of the sixth judgment line; is the independent variable of the sixth judgment line; is the sixth slope of the sixth judgment line fitted according to all the data in A6; is the sixth intercept of the sixth judgment line fitted based on all the data in A6;

[0152] Step 3.2: Set the fifth slope and the sixth slope Substitute it into the following formula (15) to make a judgment:

[0153] (15)

[0154] In formula (15), and They are the fifth judgment threshold and the sixth judgment threshold, both of which are empirical values;

[0155] If the requirements of formula (15) are met, it means that the second cylindrical compartment has no obvious inclination compared with the xoy plane, and the second cylindrical compartment does not need to be rotated relative to the x-axis;

[0156] If the requirements of formula (15) are not met, it means that the second cylindrical cabin section is significantly tilted compared to the xoy plane. At this time, the five-degree-of-freedom passive docking platform drives the second cylindrical cabin section to rotate around the x-axis until the fifth slope is and the sixth slope Until the requirements of formula (15) are met;

[0157] Step 3.3: Define the axis through the center axis of the second cylindrical compartment The plane is the fourth data acquisition plane; the intersection of the fourth data acquisition plane and the outer cylindrical surface of the second tubular compartment section forms the seventh data acquisition line and the eighth data acquisition line, M detection points are located on the seventh data acquisition line and the eighth data acquisition line respectively, and the coordinates of the M detection points on the seventh data acquisition line and the eighth data acquisition line are collected in real time; the coordinates of the M detection points on the seventh data acquisition line and the eighth data acquisition line collected in real time are collected to form the seventh detection point coordinate set A7 and the eighth detection point coordinate set A8, as shown in the following equations (16) and (17),

[0158] (16)

[0159] In formula (16), are the coordinates of the first detection point, the second detection point to the Mth detection point on the seventh data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the seventh data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the seventh data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the Mth detection point on the seventh data acquisition line on the fourth data acquisition plane;

[0160] (17)

[0161] In formula (17), are the coordinates of the first detection point, the second detection point to the Mth detection point on the eighth data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the eighth data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the eighth data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the Mth detection point on the eighth data acquisition line on the fourth data acquisition plane;

[0162] According to all the data in A7, the seventh judgment line X7 is fitted on the fourth data acquisition plane, as shown in the following formula (18):

[0163] (18)

[0164] In formula (18), is the dependent variable of the seventh judgment line; It is the independent variable of the seventh judgment line; is the seventh slope of the seventh judgment line fitted according to all the data in A7; is the seventh intercept of the seventh judgment line fitted based on all the data in A7;

[0165] According to all the data in A8, an eighth judgment line X8 is fitted on the fourth data acquisition plane, as shown in the following formula (19):

[0166] (19)

[0167] In formula (19), is the dependent variable of the eighth judgment line; It is the independent variable of the eighth judgment line; is the eighth slope of the eighth judgment line fitted according to all the data in A8; is the eighth intercept of the eighth judgment line fitted according to all the data in A8;

[0168] Step 3.4: Set the seventh slope and the eighth slope Substitute it into the following formula (20) to make a judgment:

[0169] (20)

[0170] In formula (20), and They are the seventh judgment threshold and the eighth judgment threshold, both of which are empirical values;

[0171] If the requirements of formula (20) are met, it means that the second cylindrical cabin section has no obvious inclination compared with the yoz plane, and the second cylindrical cabin section does not need to be rotated relative to the z axis;

[0172] If the requirement of formula (20) is not met, it means that the second cylindrical cabin section is significantly tilted compared to the yoz plane. At this time, the five-degree-of-freedom passive docking platform drives the second cylindrical cabin section to rotate around the z axis until the seventh slope is and the eighth slope Until the requirements of formula (20) are met;

[0173] Fifth Slope and the sixth slope Satisfy the requirements of formula (15) and the seventh slope and the eighth slope When the requirements of formula (20) are met, the second cylindrical tank section completes leveling.

[0174] Step 4: The four-degree-of-freedom active docking platform drives the first cylindrical compartment to move along the x-axis and the z-axis; the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to move along the x-axis and the z-axis, so that the axes of the first cylindrical compartment and the second cylindrical compartment are aligned;

[0175] The specific content of step 4 is as follows: Project the central axes of the first cylindrical compartment and the second cylindrical compartment onto the xoz plane to form the axis coordinates of the first cylindrical compartment and the axis coordinates of the second cylindrical compartment ;

[0176] Will and Substitute into the following formula (21) to make a judgment:

[0177] (twenty one)

[0178] In formula (21), is the alignment judgment threshold, which is an empirical value;

[0179] If formula (21) is satisfied, it means that the first cylindrical compartment section and the second cylindrical compartment section have completed axis alignment;

[0180] If formula (21) is not satisfied, the first cylindrical compartment is driven to move along the x-axis and z-axis by the four-degree-of-freedom active docking platform; the second cylindrical compartment is also driven to move along the x-axis and z-axis by the five-degree-of-freedom passive docking platform until and Satisfies formula (21);

[0181] when and When formula (21) is satisfied, the first cylindrical compartment section and the second cylindrical compartment section are aligned in their axes.

[0182] Step 5: The second cylindrical compartment segment is driven to rotate around the y-axis by the five-degree-of-freedom passive docking platform until it is manually determined that the holes on the second cylindrical compartment segment are aligned with the holes on the first cylindrical compartment segment, thereby completing the alignment of the holes of the first cylindrical compartment segment and the second cylindrical compartment segment.

[0183] Step 6: Use the five-degree-of-freedom passive docking platform to drive the second cylindrical compartment to move along the y-axis. When the distance d between the second cylindrical compartment and the first cylindrical compartment is less than the docking distance threshold At this time, the second cylindrical compartment section completes docking with the first cylindrical compartment section.

[0184] Embodiment 2

[0185] The docking method of the large cylindrical compartment in this embodiment is the same as that in the first embodiment except that step 4 is different.

[0186] like Figure 2 As shown, the specific content of step 4 in this embodiment is as follows:

[0187] Step 4.1: Substitute the first intercept b1, second intercept b2, fifth intercept b5 and sixth intercept b6 of the first judgment line Z1, second judgment line Z2, fifth judgment line Z5 and sixth judgment line Z6 obtained in step 2 and step 3 into the following formula (22) for judgment:

[0188] (twenty two)

[0189] If formula (22) is satisfied, it means that the central axes of the first tubular compartment and the second tubular compartment are already in the same xoy plane, and the following steps are continued;

[0190] If formula (22) is not satisfied, the first tubular cabin section is driven to move along the z-axis by the four-degree-of-freedom active docking platform; the second tubular cabin section is also driven to move along the z-axis by the five-degree-of-freedom passive docking platform until the first intercept b1, the second intercept b2, the fifth intercept b5 and the sixth intercept b6 satisfy formula (22), and the following steps are continued;

[0191] Step 4.2: Substitute the third intercept b3, the fourth intercept b4, the seventh intercept b7 and the eighth intercept b8 of the third judgment line X3, the fourth judgment line X4, the seventh judgment line X7 and the eighth judgment line X8 obtained in step 2 and step 3 into the following formula (23) for judgment:

[0192] (twenty three)

[0193] If formula (23) is satisfied, it means that the central axes of the first tubular compartment and the second tubular compartment are aligned;

[0194] If formula (23) is not satisfied, the first tubular cabin section is driven to move along the x-axis by the four-degree-of-freedom active docking platform; the second tubular cabin section is also driven to move along the x-axis by the five-degree-of-freedom passive docking platform until the third intercept b3, the fourth intercept b4, the seventh intercept b7 and the eighth intercept b8 satisfy formula (23);

[0195] When the first intercept b1, the second intercept b2, the fifth intercept b5 and the sixth intercept b6 satisfy formula (22) and the third intercept b3, the fourth intercept b4, the seventh intercept b7 and the eighth intercept b8 satisfy formula (23), the central axes of the first cylindrical compartment section and the second cylindrical compartment section are aligned.

Claims

1. A docking method for a large cylindrical compartment, involving a four-degree-of-freedom active docking platform and a five-degree-of-freedom passive docking platform, characterized in that: The following steps are involved: Step 1: Establish a docking three-dimensional coordinate system at the docking site of the large cylindrical compartment, wherein the x-axis and y-axis of the docking three-dimensional coordinate system intersect perpendicularly at the origin o, and the plane where they are located is parallel to the ground, and the z-axis of the docking three-dimensional coordinate system is perpendicular to the plane where the x-axis and y-axis are located; the y-axis is parallel to the axis of the large cylindrical compartment to be docked; the four-degree-of-freedom active docking platform can drive the large cylindrical compartment placed on it to move along the x-axis and z-axis and rotate along the x-axis and z-axis; the five-degree-of-freedom passive docking platform can drive the large cylindrical compartment placed on it to move along the x-axis, y-axis and z-axis and rotate along the x-axis and z-axis; the first cylindrical compartment and the second cylindrical compartment to be docked at the docking site are placed on the four-degree-of-freedom active docking platform and the five-degree-of-freedom passive docking platform respectively; Step 2: driving the first cylindrical cabin section to complete leveling through the four-degree-of-freedom active docking platform; Step 3: driving the second cylindrical cabin section to complete leveling through the five-degree-of-freedom passive docking platform; Step 4: The four-degree-of-freedom active docking platform drives the first cylindrical compartment to move along the x-axis and the z-axis; the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to move along the x-axis and the z-axis, so that the central axis of the first cylindrical compartment is aligned with the central axis of the second cylindrical compartment; Step 5: The second cylindrical compartment segment is driven to rotate around the y-axis by the five-degree-of-freedom passive docking platform until it is manually determined that the holes on the second cylindrical compartment segment are aligned with the holes on the first cylindrical compartment segment, thereby completing the alignment of the holes of the first cylindrical compartment segment and the second cylindrical compartment segment; Step 6: Drive the second cylindrical compartment section to move along the y-axis through the five-degree-of-freedom passive docking platform. When the distance d between the second cylindrical compartment section and the first cylindrical compartment section is less than the docking distance threshold When the second cylindrical compartment section is docked with the first cylindrical compartment section.

2. The method for docking large cylindrical compartments according to claim 1, characterized in that: The specific contents of step 2 are as follows: Step 2.1: Define the axis of the first cylindrical compartment The plane is a first data acquisition plane; the intersection of the first data acquisition plane and the outer cylindrical surface of the first tubular compartment section forms a first data acquisition line and a second data acquisition line, n detection points are located on the first data acquisition line and the second data acquisition line respectively, and the coordinates of the n detection points on the first data acquisition line and the second data acquisition line are collected in real time; the coordinates of the n detection points on the first data acquisition line and the second data acquisition line collected in real time are collected respectively to form a first detection point coordinate set A1 and a second detection point coordinate set A2, as shown in the following equations (1) and (2), （1） In formula (1), are the coordinates of the first detection point, the second detection point to the nth detection point on the first data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the nth detection point on the first data acquisition line on the first data acquisition plane; （2） In formula (2), are the coordinates of the first detection point, the second detection point to the nth detection point on the second data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the second data acquisition line on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the second data acquisition line on the first data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the n-th detection point on the second data acquisition line on the first data acquisition plane; A first judgment line Z1 is fitted on the first data acquisition plane according to all the data in A1, as shown in the following formula (3): （3） In formula (3), is the dependent variable of the first judgment line; is the independent variable of the first judgment line; is the first slope of the first judgment line fitted according to all the data in A1; is the first intercept of the first judgment line fitted according to all the data in A1; A second judgment line Z2 is fitted on the first data acquisition plane according to all the data in A2, as shown in the following formula (4): （4） In formula (4), is the dependent variable of the second judgment line; is the independent variable of the second judgment line; is the second slope of the second judgment line fitted according to all the data in A2; is the second intercept of the second judgment line fitted according to all the data in A2; Step 2.2: The first slope and the second slope Substitute it into the following formula (5) to make a judgment: （5） In formula (5), and They are the first judgment threshold and the second judgment threshold, both of which are empirical values; If the requirement of formula (5) is met, it means that the first cylindrical compartment has no obvious inclination compared to the xoy plane, and the first cylindrical compartment does not need to be rotated relative to the x-axis; If the requirement of formula (5) is not met, it means that the first cylindrical compartment is significantly tilted compared to the xoy plane. At this time, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to rotate around the x-axis until the first slope is and the second slope satisfies the requirement of formula (5); Step 2.3: Define the axis of the first cylindrical compartment The plane is the second data acquisition plane; the intersection of the second data acquisition plane and the outer cylindrical surface of the first tubular compartment section forms a third data acquisition line and a fourth data acquisition line, m detection points are located on the third data acquisition line and the fourth data acquisition line respectively, and the coordinates of the m detection points on the third data acquisition line and the fourth data acquisition line are collected in real time; the coordinates of the m detection points on the third data acquisition line and the fourth data acquisition line collected in real time are collected to form a third detection point coordinate set A3 and a fourth detection point coordinate set A4, as shown in the following equations (6) and (7), （6） In formula (6), are the coordinates of the first detection point, the second detection point to the mth detection point on the third data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the third data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the third data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the m-th detection point on the third data acquisition line on the second data acquisition plane; （7） In formula (7), are the coordinates of the first detection point, the second detection point to the mth detection point on the fourth data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the fourth data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the fourth data acquisition line on the second data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the m-th detection point on the fourth data acquisition line on the second data acquisition plane; According to all the data in A3, a third judgment line X3 is fitted on the second data acquisition plane, as shown in the following formula (8): （8） In formula (8), X3 is the dependent variable of the third judgment line; is the independent variable of the third judgment line; is the third slope of the third judgment line fitted according to all the data in A3; is the third intercept of the third judgment line fitted according to all the data in A3; A fourth judgment line X4 is fitted on the second data acquisition plane according to all the data in A4, as shown in the following formula (9): （9） In formula (9), X4 is the dependent variable of the fourth judgment line; is the independent variable of the fourth judgment line; is the fourth slope of the fourth judgment line fitted according to all the data in A4; is the fourth intercept of the fourth judgment line fitted according to all the data in A4; Step 2.4: The third slope and the fourth slope Substitute it into the following formula (10) to make a judgment: （10） In formula (10), and They are the third judgment threshold and the fourth judgment threshold, both of which are empirical values; If the requirement of formula (10) is met, it means that the first cylindrical compartment has no obvious inclination compared to the yoz plane, and the first cylindrical compartment does not need to be rotated relative to the z-axis; If the requirement of formula (10) is not met, it means that the first cylindrical compartment is significantly tilted compared to the yoz plane. At this time, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to rotate around the z-axis until the third slope is and the fourth slope Until the requirements of formula (10) are met; The first slope and the second slope Satisfying formula (5) and the third slope and the fourth slope When the requirement of formula (10) is met, the first cylindrical compartment is leveled.

3. The method for docking large cylindrical tank sections according to claim 1, characterized in that: The specific contents of step 3 are as follows: Step 3.1: Define the axis through the central axis of the second cylindrical compartment The plane is the third data acquisition plane; the intersection of the third data acquisition plane and the outer cylindrical surface of the second tubular compartment section forms a fifth data acquisition line and a sixth data acquisition line, N detection points are located on the fifth data acquisition line and the sixth data acquisition line respectively, and the coordinates of the N detection points on the fifth data acquisition line and the sixth data acquisition line are collected in real time; the coordinates of the N detection points on the fifth data acquisition line and the sixth data acquisition line collected in real time are collected respectively to form a fifth detection point coordinate set A5 and a sixth detection point coordinate set A6, as shown in the following equations (11) and (12), （11） In formula (11), are the coordinates of the first detection point, the second detection point to the Nth detection point on the fifth data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the fifth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the fifth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the Nth detection point on the fifth data acquisition line on the third data acquisition plane; （12） In formula (12), are the coordinates of the first detection point, the second detection point to the Nth detection point on the sixth data acquisition line; are the y-axis coordinate and the z-axis coordinate of the first detection point on the sixth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the second detection point on the sixth data acquisition line on the third data acquisition plane; are the y-axis coordinate and the z-axis coordinate of the Nth detection point on the sixth data acquisition line on the third data acquisition plane; A fifth judgment line Z5 is fitted on the third data collection plane according to all the data in A5, as shown in the following formula (13): （13） In formula (13), is the dependent variable of the fifth judgment line; is the independent variable of the fifth judgment line; is the fifth slope of the fifth judgment line fitted according to all the data in A5; is the fifth intercept of the fifth judgment line fitted according to all the data in A5; A sixth judgment line Z6 is fitted on the third data collection plane according to all the data in A6, as shown in the following formula (14): （14） In formula (14), is the dependent variable of the sixth judgment line; is the independent variable of the sixth judgment line; is the sixth slope of the sixth judgment line fitted according to all the data in A6; is the sixth intercept of the sixth judgment line fitted according to all the data in A6; Step 3.2: Set the fifth slope and the sixth slope Substitute it into the following formula (15) to make a judgment: （15） In formula (15), and They are the fifth judgment threshold and the sixth judgment threshold, both of which are empirical values; If the requirement of formula (15) is met, it means that the second cylindrical compartment has no obvious inclination compared with the xoy plane, and the second cylindrical compartment does not need to be rotated relative to the x-axis; If the requirement of formula (15) is not met, it means that the second cylindrical compartment is significantly tilted compared to the xoy plane. At this time, the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to rotate around the x-axis until the fifth slope is and the sixth slope Until the requirements of formula (15) are met; Step 3.3: Define the axis through the central axis of the second cylindrical compartment The plane is the fourth data acquisition plane; the intersection of the fourth data acquisition plane and the outer cylindrical surface of the second tubular compartment section forms a seventh data acquisition line and an eighth data acquisition line, M detection points are located on the seventh data acquisition line and the eighth data acquisition line respectively, and the coordinates of the M detection points on the seventh data acquisition line and the eighth data acquisition line are collected in real time; the coordinates of the M detection points on the seventh data acquisition line and the eighth data acquisition line collected in real time are collected to form a seventh detection point coordinate set A7 and an eighth detection point coordinate set A8, as shown in the following equations (16) and (17), （16） In formula (16), are the coordinates of the first detection point, the second detection point to the Mth detection point on the seventh data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the seventh data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the seventh data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the Mth detection point on the seventh data acquisition line on the fourth data acquisition plane; （17） In formula (17), are the coordinates of the first detection point, the second detection point to the Mth detection point on the eighth data acquisition line; are the y-axis coordinate and the x-axis coordinate of the first detection point on the eighth data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the second detection point on the eighth data acquisition line on the fourth data acquisition plane; are the y-axis coordinate and the x-axis coordinate of the Mth detection point on the eighth data acquisition line on the fourth data acquisition plane; A seventh judgment line X7 is fitted on the fourth data acquisition plane according to all the data in A7, as shown in the following formula (18): （18） In formula (18), is the dependent variable of the seventh judgment line; is the independent variable of the seventh judgment line; is the seventh slope of the seventh judgment line fitted according to all the data in A7; is the seventh intercept of the seventh judgment line fitted according to all the data in A7; According to all the data in A8, an eighth judgment line X8 is fitted on the fourth data acquisition plane, as shown in the following formula (19): （19） In formula (19), is the dependent variable of the eighth judgment line; is the independent variable of the eighth judgment line; is the eighth slope of the eighth judgment line fitted according to all the data in A8; is the eighth intercept of the eighth judgment line fitted according to all the data in A8; Step 3.4: Set the seventh slope and the eighth slope Substitute it into the following formula (20) to make a judgment: （20） In formula (20), and They are the seventh judgment threshold and the eighth judgment threshold, both of which are empirical values; If the requirement of formula (20) is met, it means that the second cylindrical compartment has no obvious inclination compared with the yoz plane, and the second cylindrical compartment does not need to be rotated relative to the z-axis; If the requirement of formula (20) is not met, it means that the second cylindrical compartment is significantly tilted compared to the yoz plane. At this time, the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to rotate around the z-axis until the seventh slope is and the eighth slope Until the requirements of formula (20) are met; The fifth slope and the sixth slope Satisfies the requirements of formula (15) and the seventh slope and the eighth slope When the requirement of formula (20) is met, the second cylindrical compartment is leveled.

4. The method for docking large cylindrical tank sections according to any one of claims 1 to 3, characterized in that: The specific content of step 4 is as follows: project the central axes of the first cylindrical compartment and the second cylindrical compartment onto the xoz plane to form the axis coordinates of the first cylindrical compartment and the axis coordinates of the second cylindrical compartment ; The and Substitute into the following formula (21) to make a judgment: （21） In formula (21), is the alignment judgment threshold, which is an empirical value; If formula (21) is satisfied, it means that the first cylindrical compartment section and the second cylindrical compartment section have completed axis alignment; If formula (21) is not satisfied, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to move along the x-axis and the z-axis; the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to move along the x-axis and the z-axis until the and Satisfies formula (21); When the and When formula (21) is satisfied, the first cylindrical compartment section and the second cylindrical compartment section complete axis alignment.

5. The method for docking large cylindrical tank sections according to any one of claims 1 to 3, characterized in that: The specific contents of step 4 are as follows: Step 4.1: Substitute the first intercept b1, second intercept b2, fifth intercept b5 and sixth intercept b6 of the first judgment line Z1, second judgment line Z2, fifth judgment line Z5 and sixth judgment line Z6 obtained in step 2 and step 3 into the following formula (22) for judgment: （22） If formula (22) is satisfied, it means that the central axes of the first cylindrical compartment section and the second cylindrical compartment section are already in the same xoy plane, and the following steps are continued; If formula (22) is not satisfied, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to move along the z-axis; the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to move along the z-axis until the first intercept b1, the second intercept b2, the fifth intercept b5 and the sixth intercept b6 satisfy formula (22), and the following steps are continued; Step 4.2: Substitute the third intercept b3, the fourth intercept b4, the seventh intercept b7 and the eighth intercept b8 of the third judgment line X3, the fourth judgment line X4, the seventh judgment line X7 and the eighth judgment line X8 obtained in step 2 and step 3 into the following formula (23) for judgment: （23） If formula (23) is satisfied, it means that the central axes of the first cylindrical compartment section and the second cylindrical compartment section are aligned; If formula (23) is not satisfied, the four-degree-of-freedom active docking platform drives the first cylindrical compartment to move along the x-axis; the five-degree-of-freedom passive docking platform drives the second cylindrical compartment to move along the x-axis until the third intercept b3, the fourth intercept b4, the seventh intercept b7 and the eighth intercept b8 satisfy formula (23); When the first intercept b1, the second intercept b2, the fifth intercept b5 and the sixth intercept b6 satisfy formula (22) and the third intercept b3, the fourth intercept b4, the seventh intercept b7 and the eighth intercept b8 satisfy formula (23), the central axes of the first cylindrical compartment section and the second cylindrical compartment section are aligned.

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