A method for docking large cylindrical sections
By combining four-degree-of-freedom and five-degree-of-freedom docking platforms with the fitting and judgment lines of detection points on the data acquisition plane, the problems of low precision and low efficiency in the assembly of large cylindrical modules were solved, and rapid and accurate module docking was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- AEROSUN CORP
- Filing Date
- 2025-01-07
- Publication Date
- 2026-07-14
AI Technical Summary
The existing technology for assembling large cylindrical modules suffers from problems such as high labor intensity, low assembly efficiency, poor docking accuracy, and significant influence from operator factors, especially in automated assembly where high-precision docking is difficult to achieve.
A four-degree-of-freedom active docking platform and a five-degree-of-freedom passive docking platform are adopted. By establishing a three-dimensional docking coordinate system, the judgment line is fitted using the coordinates of the detection points on the data acquisition plane to achieve the leveling and alignment of the modules.
It enables rapid, accurate, and low-cost docking of large cylindrical modules, simplifies the leveling process, improves docking accuracy and efficiency, and reduces reliance on operators.
Smart Images
Figure CN119772556B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a docking method for large cylindrical compartments, belonging to the field of automated assembly technology. Background Technology
[0002] In the fields 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 modules, automation during transport and docking is difficult to achieve, thus requiring high-precision, high-efficiency automated attitude adjustment and docking equipment. Currently, developed countries are gradually increasing their research on module docking technology; Boeing in the United States has adopted a hybrid docking mechanism for assembling the Boeing 787. At present, my country mainly uses traditional manual docking methods in the field of cylindrical module docking. Most of these methods involve using mobile docking vehicles, placing the module on the vehicle via a crane, and manually adjusting the position and angle of the vehicle. This assembly method is labor-intensive, inefficient, and has poor docking accuracy. Furthermore, the assembly process is greatly affected by the operator's own factors, resulting in significant uncertainty.
[0003] In recent years, there has been a lot of research on establishing a measurement field based on laser trackers to achieve segment docking. Chinese invention patent CN202111176427.3 discloses a large component cylindrical segment docking test platform and docking method based on trial assembly simulation. The test platform uses a handheld 3D scanner to acquire the surface shape data of the cylindrical segment, uses a high-precision real-time measurement camera to acquire the position information of key feature points on the end face of the cylindrical segment, and uses a six-degree-of-freedom motion platform to control the motion of the moving parts. 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 segment on the platform, which has certain limitations. Summary of the Invention
[0004] The technical problem to be solved by this invention is: how to quickly, accurately, and cost-effectively dock large cylindrical modules.
[0005] To solve the above-mentioned technical problems, the technical solution proposed by this invention is: a docking method for a large cylindrical module, 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 three-dimensional coordinate system for docking at the docking site of the large cylindrical module. The x-axis and y-axis of the docking three-dimensional coordinate system are perpendicular to each other and intersect at the origin o. The x-axis and y-axis lie in the same plane parallel to the ground. The z-axis of the docking three-dimensional coordinate system is perpendicular to the plane containing the x-axis and y-axis. The y-axis is parallel to the axis to be docked of the large cylindrical module. The four-degree-of-freedom active docking platform can move and rotate the large cylindrical module placed on it along the x and z axes. The five-degree-of-freedom passive docking platform can move and rotate the large cylindrical module placed on it along the x, y, and z axes. Place the first and second cylindrical modules 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: The first cylindrical section is leveled by using the four-degree-of-freedom active docking platform.
[0008] Step 3: The second cylindrical section is leveled by using the five-degree-of-freedom passive docking platform.
[0009] Step 4: The first cylindrical section is moved along the x-axis and z-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is also moved along the x-axis and z-axis by the five-degree-of-freedom passive docking platform, so that the central axes of the first cylindrical section and the second cylindrical section are aligned.
[0010] Step 5: The second cylindrical section is rotated around the y-axis by the five-degree-of-freedom passive docking platform until the hole on the second cylindrical section is aligned with the hole on the first cylindrical section by manual judgment, thus completing the alignment of the holes of the first and second cylindrical sections.
[0011] Step 6: The second cylindrical section is moved along the y-axis by the five-degree-of-freedom passive docking platform. When the distance d between the second cylindrical section and the first cylindrical section is less than the docking distance threshold... At that time, the second cylindrical section docks with the first cylindrical section.
[0012] Furthermore, the specific content of step 2 is as follows:
[0013] Step 2.1: Define the center axis of the first cylindrical section. The plane is the first data acquisition plane; the intersection of the first data acquisition plane and the outer cylindrical surface of the first cylindrical section forms the first data acquisition line and the 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 to form the first detection point coordinate set A1 and the second detection point coordinate set A2, as shown in the following formulas (1) and (2).
[0014] (1)
[0015] In equation (1), These are the coordinates from the first detection point, the second detection point to the nth detection point on the first data acquisition line. These are the y-axis and z-axis coordinates of the first detection point on the first data acquisition line on the first data acquisition plane. These are the y-axis and z-axis coordinates of the second detection point on the first data acquisition line on the first data acquisition plane. These are the y-axis and z-axis coordinates of the nth detection point on the first data acquisition line on the first data acquisition plane.
[0016] (2)
[0017] In equation (2), These are the coordinates of the first and second detection points on the second data acquisition line, up to the nth detection point. These are the y-axis and z-axis coordinates of the first detection point on the second data acquisition line on the first data acquisition plane. These are the y-axis and z-axis coordinates of the second detection point on the second data acquisition line on the first data acquisition plane. These are the y-axis and z-axis coordinates of the nth detection point on the second data acquisition line on the first data acquisition plane.
[0018] Based on all the data in A1, a first judgment line Z1 is fitted on the first data acquisition plane, as shown in the following equation (3).
[0019] (3)
[0020] In equation (3), It is the dependent variable of the first judgment line; It is the independent variable of the first judgment line; It is the first slope of the first judgment line fitted based on all the data in A1; It is the first intercept of the first judgment line fitted based on all the data in A1;
[0021] Based on all the data in A2, a second judgment line Z2 is fitted on the first data acquisition plane, as shown in the following equation (4).
[0022] (4)
[0023] In equation (4), It is the dependent variable of the second judgment line; It is the independent variable of the second judgment line; It is the second slope of the second judgment line fitted based on all the data in A2; It is the second intercept of the second judgment line fitted based on all the data in A2;
[0024] Step 2.2: Set the first slope and the second slope Substitute into the following formula (5) for judgment,
[0025] (5)
[0026] In equation (5), and These are the first and second judgment thresholds, respectively, both of which are empirical values;
[0027] If the requirements of formula (5) are met, it means that the first cylindrical section is not significantly tilted relative to the xoy plane, and the first cylindrical section does not need to be rotated relative to the x-axis.
[0028] If the requirements of formula (5) are not met, it indicates that the first cylindrical section is significantly tilted relative to the xoy plane. In this case, the four-degree-of-freedom active docking platform drives the first cylindrical section to rotate around the x-axis to adjust until the first inclination is reached. Until the second slope satisfies the requirements of formula (5);
[0029] Step 2.3: Define the center axis of the first cylindrical section. The plane is the second data acquisition plane; the intersection of the second data acquisition plane and the outer cylindrical surface of the first cylindrical section forms the third data acquisition line and the 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 the third detection point coordinate set A3 and the fourth detection point coordinate set A4, as shown in the following formulas (6) and (7).
[0030] (6)
[0031] In equation (6), These are the coordinates of the first and second detection points on the third data acquisition line to the m-th detection point; These are the y-axis and x-axis coordinates of the first detection point on the third data acquisition line on the second data acquisition plane. These are the y-axis and x-axis coordinates of the second detection point on the third data acquisition line on the second data acquisition plane. These are the y-axis and x-axis coordinates of the m-th detection point on the third data acquisition line on the second data acquisition plane.
[0032] (7)
[0033] In equation (7), These are the coordinates of the first and second detection points on the fourth data acquisition line, up to the m-th detection point. These are the y-axis and x-axis coordinates of the first detection point on the fourth data acquisition line on the second data acquisition plane. These are the y-axis and x-axis coordinates of the second detection point on the fourth data acquisition line on the second data acquisition plane. These are the y-axis and x-axis coordinates of the m-th detection point on the fourth data acquisition line on the second data acquisition plane.
[0034] Based on 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 equation (8), X3 is the dependent variable of the third judgment line; It is the independent variable of the third judgment line; It is the third slope of the third judgment line fitted based on all the data in A3; It is the third intercept of the third judgment line fitted based on all the data in A3;
[0037] Based on 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).
[0038] (9)
[0039] In equation (9), X4 is the dependent variable of the fourth judgment line; It is the independent variable of the fourth judgment line; It is the fourth slope of the fourth judgment line fitted based on all the data in A4; It is the fourth intercept of the fourth judgment line fitted based on all the data in A4;
[0040] Step 2.4: Adjust the third slope and the fourth slope Substitute into the following equation (10) for judgment,
[0041] (10)
[0042] In equation (10), and These are the third and fourth judgment thresholds, respectively, both of which are empirical values;
[0043] If the requirements of formula (10) are met, it means that the first cylindrical section is not significantly tilted relative to the yoz plane, and the first cylindrical section does not need to be rotated relative to the z axis.
[0044] If the requirements of formula (10) are not met, it indicates that the first cylindrical section is significantly tilted relative to the yoz plane. In this case, the four-degree-of-freedom active docking platform drives the first cylindrical section to rotate and adjust around the z-axis until the third inclination is reached. and the fourth slope Continue 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 requirements of formula (10) are met, the first cylindrical section is leveled.
[0046] Furthermore, the specific content of step 3 is as follows:
[0047] Step 3.1: Define the center axis of the second cylindrical section. The plane is the third data acquisition plane; the intersection of the third data acquisition plane and the outer cylindrical surface of the second cylindrical section forms the fifth data acquisition line and the 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 the fifth detection point coordinate set A5 and the sixth detection point coordinate set A6, as shown in the following formulas (11) and (12).
[0048] (11)
[0049] In equation (11), These are the coordinates of the first and second detection points to the Nth detection point on the fifth data acquisition line. The first detection point on the fifth data acquisition line has the y-axis and z-axis coordinates on the third data acquisition plane. These are the y-axis and z-axis coordinates of the second detection point on the fifth data acquisition line on the third data acquisition plane. These are the y-axis and z-axis coordinates of the Nth detection point on the fifth data acquisition line on the third data acquisition plane.
[0050] (12)
[0051] In equation (12), These are the coordinates of the first and second detection points to the Nth detection point on the sixth data acquisition line; The first detection point on the sixth data acquisition line has the y-axis and z-axis coordinates on the third data acquisition plane. The y-axis and z-axis coordinates of the second detection point on the sixth data acquisition line on the third data acquisition plane; These are the y-axis and z-axis coordinates of the Nth detection point on the sixth data acquisition line on the third data acquisition plane.
[0052] Based on all the data in A5, a fifth judgment line Z5 is fitted on the third data acquisition plane, as shown in the following formula (13).
[0053] (13)
[0054] In equation (13), It is the dependent variable of the fifth judgment line; It is the independent variable of the fifth judgment line; It is the fifth slope of the fifth judgment line fitted based on all the data in A5; It is the fifth intercept of the fifth judgment line fitted based on all the data in A5;
[0055] Based on all the data in A6, a sixth judgment line Z6 is fitted on the third data acquisition plane, as shown in the following formula (14).
[0056] (14)
[0057] In equation (14), It is the dependent variable of the sixth judgment line; It is the independent variable of the sixth judgment line; It is the sixth slope of the sixth judgment line fitted based on all the data in A6; It is the sixth intercept of the sixth judgment line fitted based on all the data in A6;
[0058] Step 3.2: Adjust the fifth slope and the sixth slope Substitute into equation (15) for judgment.
[0059] (15)
[0060] In equation (15), and These are the fifth and sixth judgment thresholds, respectively, both of which are empirical values;
[0061] If the requirements of formula (15) are met, it means that the second cylindrical section is not significantly tilted relative to the xoy plane, and the second cylindrical section does not need to be rotated relative to the x-axis.
[0062] If the requirements of formula (15) are not met, it indicates that the second cylindrical section is significantly tilted relative to the xoy plane. In this case, the five-degree-of-freedom passive docking platform drives the second cylindrical section to rotate around the x-axis until the fifth inclination is reached. and the sixth slope Continue until the requirements of formula (15) are met;
[0063] Step 3.3: Define the center axis of the second cylindrical section. The plane is the fourth data acquisition plane; the intersection of the fourth data acquisition plane and the outer cylindrical surface of the second cylindrical 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 are collected in real time to form the seventh detection point coordinate set A7 and the eighth detection point coordinate set A8, as shown in the following formulas (16) and (17).
[0064] (16)
[0065] In equation (16), These are the coordinates of the first and second detection points on the seventh data acquisition line, extending to the Mth detection point. The y-axis and x-axis coordinates of the first detection point on the seventh data acquisition line on the fourth data acquisition plane; The y-axis and x-axis coordinates of the second detection point on the seventh data acquisition line on the fourth data acquisition plane; These are the y-axis and x-axis coordinates of the Mth detection point on the seventh data acquisition line on the fourth data acquisition plane.
[0066] (17)
[0067] In equation (17), These are the coordinates from the first detection point, the second detection point to the Mth detection point on the eighth data acquisition line; The y-axis and x-axis coordinates of the first detection point on the eighth data acquisition line on the fourth data acquisition plane; The y-axis and x-axis coordinates of the second detection point on the eighth data acquisition line on the fourth data acquisition plane; These are the y-axis and x-axis coordinates of the Mth detection point on the eighth data acquisition line on the fourth data acquisition plane.
[0068] Based on all the data in A7, a seventh judgment line X7 is fitted on the fourth data acquisition plane, as shown in the following formula (18).
[0069] (18)
[0070] In equation (18), It is the dependent variable of the seventh judgment line; It is the independent variable of the seventh judgment line; It is the seventh slope of the seventh judgment line fitted based on all the data in A7; It is the seventh intercept of the seventh judgment line fitted based on all the data in A7;
[0071] Based on all the data in A8, the eighth judgment line X8 is fitted on the fourth data acquisition plane, as shown in the following formula (19).
[0072] (19)
[0073] In equation (19), It is the dependent variable of the eighth judgment line; It is the independent variable of the eighth judgment line; It is the eighth slope of the eighth judgment line fitted based on all the data in A8; It is the eighth intercept of the eighth judgment line fitted based on all the data in A8;
[0074] Step 3.4: Adjust the seventh slope and the eighth slope Substitute into the following equation (20) for judgment,
[0075] (20)
[0076] In equation (20), and These are the seventh and eighth judgment thresholds, respectively, both of which are empirical values;
[0077] If the requirements of formula (20) are met, it means that the second cylindrical section is not significantly tilted relative to the yoz plane, and the second cylindrical section does not need to be rotated relative to the z-axis.
[0078] If the requirements of formula (20) are not met, it indicates that the second cylindrical section is significantly tilted relative to the yoz plane. In this case, the five-degree-of-freedom passive docking platform drives the second cylindrical section to rotate around the z-axis until the seventh inclination is reached. and the eighth slope Continue until the requirements of formula (20) are met;
[0079] The fifth slope and the sixth slope The requirements of formula (15) are met and the seventh slope is... and the eighth slope When the requirements of formula (20) are met, the second cylindrical section is leveled.
[0080] Furthermore, the specific content of step 4 is as follows: Project the central axes of both the first and second cylindrical sections onto the xoz plane to form the axial coordinates of the first cylindrical section. Second cylindrical section axis coordinates ;
[0081] The and Substitute into the following equation (21) to make a judgment.
[0082] (twenty one)
[0083] In equation (21), It is an alignment threshold, an empirical value;
[0084] If formula (21) is satisfied, it means that the first cylindrical section and the second cylindrical section have completed axis alignment;
[0085] If formula (21) is not satisfied, the first cylindrical section is moved along the x-axis and z-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is also moved along the x-axis and z-axis by the five-degree-of-freedom passive docking platform until the... and Satisfies formula (21);
[0086] When the and When formula (21) is satisfied, the first cylindrical section and the second cylindrical section are aligned on the axis.
[0087] Furthermore, 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 from 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 section and the second cylindrical section are already in the same xoy plane, and the following steps are continued;
[0091] If formula (22) is not satisfied, the first cylindrical section is moved along the z-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is also moved 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.
[0092] Step 4.2: Substitute the third intercept b3, fourth intercept b4, seventh intercept b7, and eighth intercept b8 from the third judgment line X3, fourth judgment line X4, seventh judgment line X7, and 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 section and the second cylindrical section are aligned;
[0095] If formula (23) is not satisfied, the first cylindrical section is moved along the x-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is also moved 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).
[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 axis of the first cylindrical section and the second cylindrical section are aligned.
[0097] The beneficial effects of this invention are: 1. In the docking process of the modules, this invention uses a data acquisition plane passing through the central axis of the module to form a data acquisition line on the outer wall of the cylindrical module, and acquires the coordinates of the module to form a judgment line to determine the tilt of the module to be docked and perform leveling. This eliminates the need for complex force analysis in the leveling process; leveling is achieved simply by fitting the judgment line to the coordinates, greatly accelerating the leveling process during the alignment of the cylindrical modules. 2. This invention provides two simple and quick methods for rapidly aligning the central axes of two modules: the projection method based on the central axis of the module and the judgment intercept method based on the module's judgment. Attached Figure Description
[0098] Figure 1 This is a flowchart of Embodiment 1 of the present invention.
[0099] Figure 2 This is a flowchart of Embodiment 2 of the present invention. Detailed Implementation
[0100] The docking method for a large cylindrical compartment according to the present invention will be further described below with reference to specific embodiments and accompanying drawings.
[0101] Example 1
[0102] The docking method for large modules 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, it includes the following steps:
[0103] Step 1: Establish a three-dimensional coordinate system for docking on the ground at the docking site. The x-axis and y-axis of the docking three-dimensional coordinate system are perpendicular to each other and intersect at the origin o. The x-axis and y-axis lie in the same plane parallel to the ground. The z-axis of the docking three-dimensional coordinate system is perpendicular to the plane containing the x-axis and y-axis. The y-axis is parallel to the docking axis of the segment to be docked. The four-degree-of-freedom active docking platform can move and rotate along the x and z axes. The five-degree-of-freedom passive docking platform can move and rotate along the x, y, and z axes. Place the first and second cylindrical segments 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: The first cylindrical section is leveled by using a four-degree-of-freedom active docking platform;
[0105] The specific details of step 2 are as follows:
[0106] Step 2.1: Define the center axis of the first cylindrical section. The plane is the first data acquisition plane; the intersection of the first data acquisition plane and the outer cylindrical surface of the first cylindrical section forms the first data acquisition line and the 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 to form the first detection point coordinate set A1 and the second detection point coordinate set A2, as shown in the following formulas (1) and (2).
[0107] (1)
[0108] In equation (1), These are the coordinates of the first and second detection points to the nth detection point on the first data acquisition line. The y-axis and z-axis coordinates of the first detection point on the first data acquisition line on the first data acquisition plane; The y-axis and z-axis coordinates of the second detection point on the first data acquisition line on the first data acquisition plane; These are the y-axis and z-axis coordinates of the nth detection point on the first data acquisition line on the first data acquisition plane.
[0109] (2)
[0110] In equation (2), These are the coordinates of the first and second detection points on the second data acquisition line, and the nth detection point. The y-axis and z-axis coordinates of the first detection point on the second data acquisition line on the first data acquisition plane; The y-axis and z-axis coordinates of the second detection point on the second data acquisition line on the first data acquisition plane; These are the y-axis and z-axis coordinates of the nth detection point on the second data acquisition line on the first data acquisition plane.
[0111] Based on all the data in A1, the first judgment line Z1 is fitted on the first data acquisition plane, as shown in the following equation (3).
[0112] (3)
[0113] In equation (3), It is the dependent variable of the first judgment line; It is the independent variable of the first judgment line; It is the first slope of the first judgment line fitted based on all the data in A1; It is the first intercept of the first judgment line fitted based on all the data in A1;
[0114] Based on all the data in A2, the second judgment line Z2 is fitted on the first data acquisition plane, as shown in the following equation (4).
[0115] (4)
[0116] In equation (4), It is the dependent variable of the second judgment line; It is the independent variable of the second judgment line; It is the second slope of the second judgment line fitted based on all the data in A2; It is the second intercept of the second judgment line fitted based on all the data in A2;
[0117] Step 2.2: Set the first slope Second slope Substitute into the following formula (5) for judgment,
[0118] (5)
[0119] In equation (5), and These are the first and second judgment thresholds, respectively, both of which are empirical values;
[0120] If the requirements of formula (5) are met, it means that the first cylindrical section is not significantly tilted relative to the xoy plane, and the first cylindrical section does not need to be rotated relative to the x-axis.
[0121] If the requirements of formula (5) are not met, it indicates that the first cylindrical section is significantly tilted relative to the xoy plane. In this case, the four-degree-of-freedom active docking platform drives the first cylindrical section to rotate around the x-axis to adjust until the first inclination is reached. Until the second slope meets the requirements of formula (5);
[0122] Step 2.3: Define the center axis of the first cylindrical section. The plane is the second data acquisition plane; the intersection of the second data acquisition plane and the outer cylindrical surface of the first cylindrical section forms the third data acquisition line and the 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 the third detection point coordinate set A3 and the fourth detection point coordinate set A4, as shown in the following formulas (6) and (7).
[0123] (6)
[0124] In equation (6), These are the coordinates from the first and second detection points to the m-th detection point on the third data acquisition line. The y-axis and x-axis coordinates of the first detection point on the third data acquisition line on the second data acquisition plane; The y-axis and x-axis coordinates of the second detection point on the third data acquisition line on the second data acquisition plane; These are the y-axis and x-axis coordinates of the m-th detection point on the third data acquisition line on the second data acquisition plane.
[0125] (7)
[0126] In equation (7), These are the coordinates from the first and second detection points to the m-th detection point on the fourth data acquisition line. The y-axis and x-axis coordinates of the first detection point on the fourth data acquisition line on the second data acquisition plane; The y-axis and x-axis coordinates of the second detection point on the fourth data acquisition line on the second data acquisition plane; These are the y-axis and x-axis coordinates of the m-th detection point on the fourth data acquisition line on the second data acquisition plane.
[0127] Based on all the data in A3, a third judgment line X3 is fitted on the second data acquisition plane, as shown in equation (8) below.
[0128] (8)
[0129] In equation (8), X3 is the dependent variable of the third judgment line; It is the independent variable of the third judgment line; It is the third slope of the third judgment line fitted based on all the data in A3; It is the third intercept of the third judgment line fitted based on all the data in A3;
[0130] Based on all the data in A4, the fourth judgment line X4 is fitted on the second data acquisition plane, as shown in the following equation (9).
[0131] (9)
[0132] In equation (9), X4 is the dependent variable of the fourth judgment line; It is the independent variable of the fourth judgment line; It is the fourth slope of the fourth judgment line fitted based on all the data in A4; It is the fourth intercept of the fourth judgment line fitted based on all the data in A4;
[0133] Step 2.4: Adjust the third slope and the fourth slope Substitute into the following equation (10) for judgment,
[0134] (10)
[0135] In equation (10), and These are the third and fourth judgment thresholds, respectively, both of which are empirical values;
[0136] If the requirements of formula (10) are met, it means that the first cylindrical section is not significantly tilted relative to the yoz plane, and the first cylindrical section does not need to be rotated relative to the z-axis.
[0137] If the requirements of formula (10) are not met, it indicates that the first cylindrical section is significantly tilted relative to the yoz plane. In this case, the four-degree-of-freedom active docking platform drives the first cylindrical section to rotate around the z-axis to adjust until the third inclination is reached. and the fourth slope Continue until the requirements of formula (10) are met;
[0138] First slope Second slope Satisfying formula (5) and the third slope and the fourth slope When the requirements of formula (10) are met, the first cylindrical section is leveled.
[0139] Step 3: The second cylindrical section is leveled by using a five-degree-of-freedom passive docking platform;
[0140] The specific details of step 3 are as follows:
[0141] Step 3.1: Define the center axis of the second cylindrical section. The plane is the third data acquisition plane; the intersection of the third data acquisition plane and the outer cylindrical surface of the second cylindrical section forms the fifth data acquisition line and the 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 the fifth detection point coordinate set A5 and the sixth detection point coordinate set A6, as shown in the following formulas (11) and (12).
[0142] (11)
[0143] In equation (11), These are the coordinates of the first and second detection points to the Nth detection point on the fifth data acquisition line; These are the y-axis and z-axis coordinates of the first detection point on the fifth data acquisition line on the third data acquisition plane. These are the y-axis and z-axis coordinates of the second detection point on the fifth data acquisition line on the third data acquisition plane. These are the y-axis and z-axis coordinates of the Nth detection point on the fifth data acquisition line on the third data acquisition plane.
[0144] (12)
[0145] In equation (12), These are the coordinates of the first and second detection points to the Nth detection point on the sixth data acquisition line; These are the y-axis and z-axis coordinates of the first detection point on the sixth data acquisition line on the third data acquisition plane. These are the y-axis and z-axis coordinates of the second detection point on the sixth data acquisition line on the third data acquisition plane. These are the y-axis and z-axis coordinates of the Nth detection point on the sixth data acquisition line on the third data acquisition plane.
[0146] Based on 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 equation (13), It is the dependent variable of the fifth judgment line; It is the independent variable of the fifth judgment line; It is the fifth slope of the fifth judgment line fitted based on all the data in A5; It is the fifth intercept of the fifth judgment line fitted based on all the data in A5;
[0149] Based on all the data in A6, the sixth judgment line Z6 is fitted on the third data acquisition plane, as shown in the following equation (14).
[0150] (14)
[0151] In equation (14), It is the dependent variable of the sixth judgment line; It is the independent variable of the sixth judgment line; It is the sixth slope of the sixth judgment line fitted based on all the data in A6; It is the sixth intercept of the sixth judgment line fitted based on all the data in A6;
[0152] Step 3.2: Adjust the fifth slope and the sixth slope Substitute into equation (15) for judgment.
[0153] (15)
[0154] In equation (15), and These are the fifth and sixth judgment thresholds, respectively, both of which are empirical values;
[0155] If the requirements of formula (15) are met, it means that the second cylindrical section is not significantly tilted relative to the xoy plane, and the second cylindrical section does not need to be rotated relative to the x-axis.
[0156] If the requirements of formula (15) are not met, it indicates that the second cylindrical section is significantly tilted relative to the xoy plane. In this case, the five-degree-of-freedom passive docking platform drives the second cylindrical section to rotate around the x-axis to adjust until the fifth inclination is reached. and the sixth slope Continue until the requirements of formula (15) are met;
[0157] Step 3.3: Define the center axis of the second cylindrical section. The plane is the fourth data acquisition plane; the intersection of the fourth data acquisition plane and the outer cylindrical surface of the second cylindrical 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 are collected in real time to form the seventh detection point coordinate set A7 and the eighth detection point coordinate set A8, as shown in the following formulas (16) and (17).
[0158] (16)
[0159] In equation (16), These are the coordinates from the first and second detection points to the Mth detection point on the seventh data acquisition line. These are the y-axis and x-axis coordinates of the first detection point on the seventh data acquisition line on the fourth data acquisition plane. These are the y-axis and x-axis coordinates of the second detection point on the seventh data acquisition line on the fourth data acquisition plane. These are the y-axis and x-axis coordinates of the Mth detection point on the seventh data acquisition line on the fourth data acquisition plane.
[0160] (17)
[0161] In equation (17), These are the coordinates from the first and second detection points to the Mth detection point on the eighth data acquisition line. These are the y-axis and x-axis coordinates of the first detection point on the eighth data acquisition line on the fourth data acquisition plane. These are the y-axis and x-axis coordinates of the second detection point on the eighth data acquisition line on the fourth data acquisition plane. These are the y-axis and x-axis coordinates of the Mth detection point on the eighth data acquisition line on the fourth data acquisition plane.
[0162] Based on 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 equation (18), It is the dependent variable of the seventh judgment line; It is the independent variable of the seventh judgment line; It is the seventh slope of the seventh judgment line fitted based on all the data in A7; It is the seventh intercept of the seventh judgment line fitted based on all the data in A7;
[0165] Based on all the data in A8, the eighth judgment line X8 is fitted on the fourth data acquisition plane, as shown in the following formula (19).
[0166] (19)
[0167] In equation (19), It is the dependent variable of the eighth judgment line; It is the independent variable of the eighth judgment line; It is the eighth slope of the eighth judgment line fitted based on all the data in A8; It is the eighth intercept of the eighth judgment line fitted based on all the data in A8;
[0168] Step 3.4: Set the seventh slope and the eighth slope Substitute into the following equation (20) for judgment,
[0169] (20)
[0170] In equation (20), and These are the seventh and eighth judgment thresholds, respectively, both of which are empirical values;
[0171] If the requirements of formula (20) are met, it means that the second cylindrical section is not significantly tilted relative to the yoz plane, and the second cylindrical section does not need to be rotated relative to the z-axis.
[0172] If the requirements of formula (20) are not met, it indicates that the second cylindrical section is significantly tilted relative to the yoz plane. In this case, the five-degree-of-freedom passive docking platform drives the second cylindrical section to rotate around the z-axis to adjust until the seventh inclination is reached. and the eighth slope Continue until the requirements of formula (20) are met;
[0173] Fifth slope and the sixth slope The requirements of formula (15) are met and the seventh slope is... and the eighth slope When the requirements of formula (20) are met, the second cylindrical section is leveled.
[0174] Step 4: The first cylindrical section is moved along the x-axis and z-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is also moved along the x-axis and z-axis by the five-degree-of-freedom passive docking platform, so that the axes of the first and second cylindrical sections are aligned.
[0175] Step 4 is as follows: Project the central axes of both the first and second cylindrical sections onto the xoz plane to form the axial coordinates of the first cylindrical section. Second cylindrical section axis coordinates ;
[0176] Will and Substitute into the following equation (21) to make a judgment.
[0177] (twenty one)
[0178] In equation (21), It is an alignment threshold, an empirical value;
[0179] If formula (21) is satisfied, it means that the first cylindrical section and the second cylindrical section have completed axis alignment;
[0180] If formula (21) is not satisfied, the first cylindrical module is moved along the x-axis and z-axis by the four-degree-of-freedom active docking platform; the second cylindrical module is also moved 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 section and the second cylindrical section are aligned on the axis.
[0182] Step 5: The second cylindrical section is rotated around the y-axis by a five-degree-of-freedom passive docking platform until the hole on the second cylindrical section is aligned with the hole on the first cylindrical section, thus completing the alignment of the holes on the first and second cylindrical sections.
[0183] Step 6: The second cylindrical section is moved along the y-axis by a five-degree-of-freedom passive docking platform. When the distance d between the second cylindrical section and the first cylindrical section is less than the docking distance threshold... At that time, the second cylindrical section completed docking with the first cylindrical section.
[0184] Example 2
[0185] The docking method for the large cylindrical compartments in this embodiment is the same as that in Embodiment 1, except for step 4.
[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 from 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 cylindrical section and the second cylindrical section are already in the same xoy plane, and the following steps are continued;
[0190] If formula (22) is not satisfied, the first cylindrical section is moved along the z-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is also moved 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, fourth intercept b4, seventh intercept b7, and eighth intercept b8 from the third judgment line X3, fourth judgment line X4, seventh judgment line X7, and 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 cylindrical section and the second cylindrical section are aligned;
[0194] If formula (23) is not satisfied, the first cylindrical section is moved along the x-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is also moved 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 section and the second cylindrical section are aligned.
Claims
1. A docking method for a large cylindrical module, involving a four-degree-of-freedom active docking platform and a five-degree-of-freedom passive docking platform, characterized in that: Includes the following steps: Step 1: Establish a three-dimensional coordinate system for docking at the docking site of the large cylindrical module. The x-axis and y-axis of the docking three-dimensional coordinate system are perpendicular to each other and intersect at the origin o, and the plane containing them is parallel to the ground. The z-axis of the docking three-dimensional coordinate system is perpendicular to the plane containing the x-axis and y-axis. The y-axis is parallel to the axis to be docked of the large cylindrical module. The four-degree-of-freedom active docking platform can drive the large cylindrical module placed on itself to move and rotate along the x and z axes. The five-degree-of-freedom passive docking platform can drive the large cylindrical module placed on itself to move and rotate along the x, y, and z axes. Place the first and second cylindrical modules 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. Step 2: The first cylindrical section is leveled by using the four-degree-of-freedom active docking platform. Step 3: The second cylindrical section is leveled by using the five-degree-of-freedom passive docking platform. Step 4: The first cylindrical section is moved along the x-axis and z-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is also moved along the x-axis and z-axis by the five-degree-of-freedom passive docking platform, so that the central axes of the first cylindrical section and the second cylindrical section are aligned. Step 5: The second cylindrical section is rotated around the y-axis by the five-degree-of-freedom passive docking platform until the hole on the second cylindrical section is aligned with the hole on the first cylindrical section by manual judgment, thus completing the alignment of the holes of the first and second cylindrical sections. Step 6: The second cylindrical section is moved along the y-axis by the five-degree-of-freedom passive docking platform. When the distance d between the second cylindrical section and the first cylindrical section is less than the docking distance threshold... At that time, the second cylindrical section docks with the first cylindrical section; The specific content of step 2 is as follows: Step 2.1: Define the center axis of the first cylindrical section. The plane is the first data acquisition plane; the intersection of the first data acquisition plane and the outer cylindrical surface of the first cylindrical section forms the first data acquisition line and the 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 to form the first detection point coordinate set A1 and the second detection point coordinate set A2, as shown in the following formulas (1) and (2). （1） In equation (1), These are the coordinates from the first detection point, the second detection point to the nth detection point on the first data acquisition line. These are the y-axis and z-axis coordinates of the first detection point on the first data acquisition line on the first data acquisition plane. These are the y-axis and z-axis coordinates of the second detection point on the first data acquisition line on the first data acquisition plane. These are the y-axis and z-axis coordinates of the nth detection point on the first data acquisition line on the first data acquisition plane. （2） In equation (2), These are the coordinates of the first and second detection points on the second data acquisition line, up to the nth detection point. These are the y-axis and z-axis coordinates of the first detection point on the second data acquisition line on the first data acquisition plane. These are the y-axis and z-axis coordinates of the second detection point on the second data acquisition line on the first data acquisition plane. These are the y-axis and z-axis coordinates of the nth detection point on the second data acquisition line on the first data acquisition plane. Based on all the data in A1, a first judgment line Z1 is fitted on the first data acquisition plane, as shown in the following equation (3). （3） In equation (3), It is the dependent variable of the first judgment line; It is the independent variable of the first judgment line; It is the first slope of the first judgment line fitted based on all the data in A1; It is the first intercept of the first judgment line fitted based on all the data in A1; Based on all the data in A2, a second judgment line Z2 is fitted on the first data acquisition plane, as shown in the following equation (4). （4） In equation (4), It is the dependent variable of the second judgment line; It is the independent variable of the second judgment line; It is the second slope of the second judgment line fitted based on all the data in A2; It is the second intercept of the second judgment line fitted based on all the data in A2; Step 2.2: Set the first slope and the second slope Substitute into the following formula (5) for judgment, （5） In equation (5), and These are the first and second judgment thresholds, respectively, both of which are empirical values; If the requirements of formula (5) are met, it means that the first cylindrical section is not significantly tilted relative to the xoy plane, and the first cylindrical section does not need to be rotated relative to the x-axis. If the requirements of formula (5) are not met, it indicates that the first cylindrical section is significantly tilted relative to the xoy plane. In this case, the four-degree-of-freedom active docking platform drives the first cylindrical section to rotate around the x-axis to adjust until the first inclination is reached. The second slope is satisfied until it meets the requirements of formula (5).
2. The docking method for large cylindrical compartments according to claim 1, characterized in that: Step 2 also includes: Step 2.3: Define the center axis of the first cylindrical section. The plane is the second data acquisition plane; the intersection of the second data acquisition plane and the outer cylindrical surface of the first cylindrical section forms the third data acquisition line and the 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 the third detection point coordinate set A3 and the fourth detection point coordinate set A4, as shown in the following formulas (6) and (7). （6） In equation (6), These are the coordinates of the first and second detection points on the third data acquisition line to the m-th detection point; These are the y-axis and x-axis coordinates of the first detection point on the third data acquisition line on the second data acquisition plane. These are the y-axis and x-axis coordinates of the second detection point on the third data acquisition line on the second data acquisition plane. These are the y-axis and x-axis coordinates of the m-th detection point on the third data acquisition line on the second data acquisition plane. （7） In equation (7), These are the coordinates of the first and second detection points on the fourth data acquisition line, up to the m-th detection point. These are the y-axis and x-axis coordinates of the first detection point on the fourth data acquisition line on the second data acquisition plane. These are the y-axis and x-axis coordinates of the second detection point on the fourth data acquisition line on the second data acquisition plane. These are the y-axis and x-axis coordinates of the m-th detection point on the fourth data acquisition line on the second data acquisition plane. Based on 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 equation (8), X3 is the dependent variable of the third judgment line; It is the independent variable of the third judgment line; It is the third slope of the third judgment line fitted based on all the data in A3; It is the third intercept of the third judgment line fitted based on all the data in A3; Based on 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). （9） In equation (9), X4 is the dependent variable of the fourth judgment line; It is the independent variable of the fourth judgment line; It is the fourth slope of the fourth judgment line fitted based on all the data in A4; It is the fourth intercept of the fourth judgment line fitted based on all the data in A4; Step 2.4: Adjust the third slope and the fourth slope Substitute into the following equation (10) for judgment, （10） In equation (10), and These are the third and fourth judgment thresholds, respectively, both of which are empirical values; If the requirements of formula (10) are met, it means that the first cylindrical section is not significantly tilted relative to the yoz plane, and the first cylindrical section does not need to be rotated relative to the z axis. If the requirements of formula (10) are not met, it indicates that the first cylindrical section is significantly tilted relative to the yoz plane. In this case, the four-degree-of-freedom active docking platform drives the first cylindrical section to rotate and adjust around the z-axis until the third inclination is reached. and the fourth slope Continue 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 requirements of formula (10) are met, the first cylindrical section is leveled.
3. The docking method for large cylindrical compartments according to claim 2, characterized in that: The specific details of step 3 are as follows: Step 3.1: Define the center axis of the second cylindrical section. The plane is the third data acquisition plane; the intersection of the third data acquisition plane and the outer cylindrical surface of the second cylindrical section forms the fifth data acquisition line and the 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 the fifth detection point coordinate set A5 and the sixth detection point coordinate set A6, as shown in the following formulas (11) and (12). （11） In equation (11), These are the coordinates of the first and second detection points to the Nth detection point on the fifth data acquisition line. The first detection point on the fifth data acquisition line has the y-axis and z-axis coordinates on the third data acquisition plane. These are the y-axis and z-axis coordinates of the second detection point on the fifth data acquisition line on the third data acquisition plane. These are the y-axis and z-axis coordinates of the Nth detection point on the fifth data acquisition line on the third data acquisition plane. （12） In equation (12), These are the coordinates of the first and second detection points to the Nth detection point on the sixth data acquisition line; The first detection point on the sixth data acquisition line has the y-axis and z-axis coordinates on the third data acquisition plane. The y-axis and z-axis coordinates of the second detection point on the sixth data acquisition line on the third data acquisition plane; These are the y-axis and z-axis coordinates of the Nth detection point on the sixth data acquisition line on the third data acquisition plane. Based on all the data in A5, a fifth judgment line Z5 is fitted on the third data acquisition plane, as shown in the following formula (13). （13） In equation (13), It is the dependent variable of the fifth judgment line; It is the independent variable of the fifth judgment line; It is the fifth slope of the fifth judgment line fitted based on all the data in A5; It is the fifth intercept of the fifth judgment line fitted based on all the data in A5; Based on all the data in A6, a sixth judgment line Z6 is fitted on the third data acquisition plane, as shown in the following formula (14). （14） In equation (14), It is the dependent variable of the sixth judgment line; It is the independent variable of the sixth judgment line; It is the sixth slope of the sixth judgment line fitted based on all the data in A6; It is the sixth intercept of the sixth judgment line fitted based on all the data in A6; Step 3.2: Adjust the fifth slope and the sixth slope Substitute into equation (15) for judgment. （15） In equation (15), and These are the fifth and sixth judgment thresholds, respectively, both of which are empirical values; If the requirements of formula (15) are met, it means that the second cylindrical section is not significantly tilted relative to the xoy plane, and the second cylindrical section does not need to be rotated relative to the x-axis. If the requirements of formula (15) are not met, it indicates that the second cylindrical section is significantly tilted relative to the xoy plane. In this case, the five-degree-of-freedom passive docking platform drives the second cylindrical section to rotate around the x-axis until the fifth inclination is reached. and the sixth slope Continue until the requirements of formula (15) are met; Step 3.3: Define the center axis of the second cylindrical section. The plane is the fourth data acquisition plane; the intersection of the fourth data acquisition plane and the outer cylindrical surface of the second cylindrical 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 formulas (16) and (17). （16） In equation (16), These are the coordinates of the first and second detection points on the seventh data acquisition line, extending to the Mth detection point. The y-axis and x-axis coordinates of the first detection point on the seventh data acquisition line on the fourth data acquisition plane; The y-axis and x-axis coordinates of the second detection point on the seventh data acquisition line on the fourth data acquisition plane; These are the y-axis and x-axis coordinates of the Mth detection point on the seventh data acquisition line on the fourth data acquisition plane. （17） In equation (17), These are the coordinates from the first detection point, the second detection point to the Mth detection point on the eighth data acquisition line; The y-axis and x-axis coordinates of the first detection point on the eighth data acquisition line on the fourth data acquisition plane; The y-axis and x-axis coordinates of the second detection point on the eighth data acquisition line on the fourth data acquisition plane; These are the y-axis and x-axis coordinates of the Mth detection point on the eighth data acquisition line on the fourth data acquisition plane. Based on all the data in A7, a seventh judgment line X7 is fitted on the fourth data acquisition plane, as shown in the following formula (18). （18） In equation (18), It is the dependent variable of the seventh judgment line; It is the independent variable of the seventh judgment line; It is the seventh slope of the seventh judgment line fitted based on all the data in A7; It is the seventh intercept of the seventh judgment line fitted based on all the data in A7; Based on all the data in A8, the eighth judgment line X8 is fitted on the fourth data acquisition plane, as shown in the following formula (19). （19） In equation (19), It is the dependent variable of the eighth judgment line; It is the independent variable of the eighth judgment line; It is the eighth slope of the eighth judgment line fitted based on all the data in A8; It is the eighth intercept of the eighth judgment line fitted based on all the data in A8; Step 3.4: Adjust the seventh slope and the eighth slope Substitute into the following equation (20) for judgment, （20） In equation (20), and These are the seventh and eighth judgment thresholds, respectively, both of which are empirical values; If the requirements of formula (20) are met, it means that the second cylindrical section is not significantly tilted relative to the yoz plane, and the second cylindrical section does not need to be rotated relative to the z axis. If the requirements of formula (20) are not met, it indicates that the second cylindrical section is significantly tilted relative to the yoz plane. In this case, the five-degree-of-freedom passive docking platform drives the second cylindrical section to rotate around the z-axis until the seventh inclination is reached. and the eighth slope Continue until the requirements of formula (20) are met; The fifth slope and the sixth slope The requirements of formula (15) are met and the seventh slope is... and the eighth slope When the requirements of formula (20) are met, the second cylindrical section is leveled.
4. The docking method for large cylindrical compartments according to claim 3, characterized in that: The specific content of step 4 is as follows: Project the central axes of both the first cylindrical section and the second cylindrical section onto the xoz plane to form the axis coordinates of the first cylindrical section. Second cylindrical section axis coordinates ; The and Substitute into the following equation (21) to make a judgment. （21） In equation (21), It is an alignment threshold, an empirical value; If formula (21) is satisfied, it means that the first cylindrical section and the second cylindrical section have completed axis alignment; If formula (21) is not satisfied, the first cylindrical section is moved along the x-axis and z-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is also moved along the x-axis and z-axis by the five-degree-of-freedom passive docking platform until the... and Satisfies formula (21); When the and When formula (21) is satisfied, the first cylindrical section and the second cylindrical section are aligned on the axis.
5. The docking method for large cylindrical compartments according to claim 3, characterized in that: The specific details of step 4 are as follows: Step 4.1: Substitute the first intercept b1, second intercept b2, fifth intercept b5, and sixth intercept b6 from 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 section and the second cylindrical section are already in the same xoy plane, and the following steps are continued; If formula (22) is not satisfied, the first cylindrical section is moved along the z-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is moved 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; Step 4.2: Substitute the third intercept b3, fourth intercept b4, seventh intercept b7, and eighth intercept b8 from the third judgment line X3, fourth judgment line X4, seventh judgment line X7, and 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 section and the second cylindrical section are aligned; If formula (23) is not satisfied, the first cylindrical section is moved along the x-axis by the four-degree-of-freedom active docking platform; the second cylindrical section is moved 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). 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 axis of the first cylindrical section and the second cylindrical section are aligned.