Large-span arched steel corrugated plate hoisting alignment method and device

Abstract

The application provides a large-span arched steel corrugated plate hoisting alignment method and device, and relates to the field of data processing. In the method, before hoisting alignment, a steel corrugated plate component coordinate system, a joint edge coordinate system and a hole group coordinate system are constructed and rigidly bound to unify the alignment reference; impedance controllable hoisting and reversible corridor constraints are introduced during hoisting, the constraint state is identified in real time by combining interface reversibility fingerprint, and irreversible constraints are avoided by lateral detour; stable insertable window center posture is determined by using zero mean limited perturbation and multiple crossing sampling; on this basis, flexible locking is realized by using a flexible guide body, and fastening is realized by combining interface fingerprint gating, thereby realizing stable and high-precision hoisting alignment without overall backoff. The technical solution provided by the application facilitates improving the accuracy of large-span arched steel corrugated plate hoisting alignment.

Description

Technical Field

[0001] This application relates to the technical field of data processing, specifically to a method and apparatus for hoisting and aligning a large-span arched corrugated steel plate. Background Technology

[0002] With the widespread application of prefabricated structures, modular construction, and large-span spatial structures in transportation, municipal, and underground engineering, large-span arched corrugated steel plates are increasingly used in tunnel lining, culverts, arch bridges, and underground passages due to their light weight, good ductility, and fast construction speed. Consequently, the hoisting and alignment operations have evolved from assembling small-to-medium-scale components to a complex spatial assembly process relying on multi-degree-of-freedom collaborative control. In this engineering context, corrugated steel plate components typically exhibit characteristics such as large scale, high flexibility, continuous seams, and dense perforations. During hoisting, high-precision alignment must be achieved within a limited working space, while simultaneously ensuring construction safety, assembly efficiency, and structural stress rationality.

[0003] However, existing hoisting alignment methods still rely on experience-based geometric alignment and gradual tightening, treating hoisting alignment as a continuously adjustable process. They lack systematic modeling and process control for the feasible range of the assembly path, the evolution of constraint states, and the degree-of-freedom reduction mechanism. This results in alignment behavior being highly sensitive to attitude, displacement, contact state, and tightening sequence under conditions of large spans, thin walls, and flexible components, significantly increasing the uncertainty of the construction process. Against this complex backdrop, the irreversibility of the assembly path, induced by friction, local contact, temporary constraints, and initial tightening, gradually emerges during hoisting alignment, ultimately leading to a significant reduction in the accuracy of hoisting alignment for large-span arched corrugated steel plates.

[0004] Therefore, there is an urgent need for a method and device for hoisting and aligning large-span arched corrugated steel plates. Summary of the Invention

[0005] This application provides a method and apparatus for hoisting and aligning large-span arched corrugated steel plates, which facilitates improving the accuracy of hoisting and aligning large-span arched corrugated steel plates.

[0006] The first aspect of this application provides a method for hoisting and aligning a large-span arched corrugated steel plate. The method includes: before hoisting and alignment begins, acquiring a steel corrugated plate component coordinate system, a joint edge coordinate system, and a hole group coordinate system to characterize the relative assembly relationship of the large-span arched corrugated steel plates to be assembled; rigidly binding the steel corrugated plate component coordinate system, the joint edge coordinate system, and the hole group coordinate system to obtain a binding result; wherein, micro-vibration patches and micro-displacement targets are pre-arranged on the joint edges of the large-span arched corrugated steel plate to be assembled; during the hoisting process, configuring the hoisting system to an impedance-controllable hoisting state, and constructing a... The reverse corridor constraint, through the binding result and the reversible corridor constraint, ensures that the large-span arched corrugated steel plate to be spliced ​​maintains reversible sliding capability in the tangential direction of the splice edge coordinate system, so as to maintain a safe gap range in the normal direction of the splice edge coordinate system; the micro-vibration patch outputs swept-frequency micro-vibration and obtains the interface reversibility fingerprint, which is composed of the amplitude-frequency response and phase response of the splice edge under swept-frequency micro-vibration excitation, and compares the interface reversibility fingerprint with the baseline interface reversibility fingerprint. When it is determined that the interface reversibility fingerprint has migrated from the first constraint state to the second constraint state, the impedance-controlled hoisting state is driven. The system performs lateral bypass correction to bring the seam edge back to the first constraint state, where the constraint force of the first constraint state is less than that of the second constraint state. While maintaining the reversible corridor constraint, a zero-mean constrained perturbation is introduced to perform multiple traversal samplings of the relative posture of the seam edge. In each traversal sampling, the hole group deviation pattern and port misalignment distribution are obtained based on the micro-displacement target. When it is determined that the hole group deviation pattern remains consistent during the traversal sampling, the port misalignment distribution does not flip, and the interface reversibility fingerprint maintains the first constraint state, the corresponding relative posture is determined as the center posture of the insertable window, and the zero-mean constrained perturbation... The center is locked within a preset range of the center orientation of the insertable window; based on the center orientation of the insertable window, the insertion system is controlled to synchronously insert a flexible guide to form a flexible lock, and the interface reversibility fingerprint is monitored during the insertion of the flexible guide. When the interface reversibility fingerprint migrates to the second constraint state, the insertion system is controlled to trigger the flexible guide to automatically retract and execute the zero-mean restricted perturbation to capture a new center orientation of the insertable window. The flexible guide is configured to limit axial force and make radial clearance and has automatic retraction capability, and can be inserted into feature holes in the hole group with a mutual spacing greater than a preset distance.After completing the flexible locking, interface fingerprint gating fastening is performed. Pre-tightening increments are applied alternately, and consistency verification is conducted after each increment based on the interface reversibility fingerprint, the hole group deviation pattern, and the port misalignment distribution. Verification results are obtained. Based on these results, the impedance-controllable hoisting state, and the zero-mean-constrained perturbation, the hoisting and alignment of the large-span arched corrugated steel plate to be assembled is completed without relying on overall retraction.

[0007] A second aspect of this application provides a hoisting and alignment device for a large-span arched corrugated steel plate. The device includes an acquisition module and a processing module. The acquisition module, before hoisting and alignment begins, acquires the coordinate system of the corrugated steel plate components, the coordinate system of the joint edges, and the coordinate system of the hole groups, which characterize the relative assembly relationship of the large-span arched corrugated steel plates to be assembled. The acquisition module then rigidly binds the coordinate system of the corrugated steel plate components, the coordinate system of the joint edges, and the coordinate system of the hole groups to obtain a binding result. Micro-vibration patches and micro-displacement targets are pre-arranged on the joint edges of the large-span arched corrugated steel plates to be assembled. The processing module, during the hoisting process, configures the hoisting system to an impedance-controllable hoisting state. In the impedance-controlled hoisting state, a reversible corridor constraint is constructed. Through the binding result and the reversible corridor constraint, the large-span arched corrugated steel plate to be spliced ​​maintains reversible sliding capability in the tangential direction of the splice edge coordinate system, thereby maintaining a safe gap range in the normal direction of the splice edge coordinate system. The processing module is also used to output swept-frequency micro-vibration through the micro-vibration patch and acquire the interface reversibility fingerprint. The interface reversibility fingerprint is composed of the amplitude-frequency response and phase response of the splice edge under swept-frequency micro-vibration excitation. The interface reversibility fingerprint is compared with the baseline interface reversibility fingerprint. When it is determined that the interface reversibility fingerprint has migrated from the first constraint state to the second constraint state, the drive... The impedance-controlled hoisting state is used to perform lateral bypass correction so that the seam edge returns to the first constraint state, where the constraint force of the first constraint state is less than that of the second constraint state. The processing module is further configured to, while maintaining the reversible corridor constraint, introduce a zero-mean constrained perturbation to perform multiple traversal samplings of the relative attitude of the seam edge. In each traversal sampling, the hole group deviation pattern and port misalignment distribution are obtained based on the micro-displacement target. When it is determined that the hole group deviation pattern remains consistent and the port misalignment distribution does not flip during the traversal sampling, and the interface reversibility fingerprint maintains the first constraint state, the corresponding relative attitude is determined as the center attitude of the insertable window, and the zero-mean constrained perturbation is used to... The center of the restricted perturbation is locked within a preset range of the center orientation of the insertable window; the processing module is also used to control the insertion system to synchronously insert a flexible guide to form a flexible lock based on the center orientation of the insertable window, and to monitor the interface reversibility fingerprint during the insertion of the flexible guide. When the interface reversibility fingerprint migrates to the second constraint state, the insertion system is controlled to trigger the flexible guide to automatically retract and execute the zero-mean restricted perturbation to capture a new center orientation of the insertable window. The flexible guide is configured to have axial force limiting and radial clearance and automatic retraction capability, and can be inserted into feature holes in the hole group with a mutual spacing greater than a preset distance.The processing module is further configured to perform interface fingerprint gating fastening after completing flexible locking. This involves alternately applying pre-tightening increments and performing consistency verification based on the interface reversibility fingerprint, the hole group deviation pattern, and the port misalignment distribution after each pre-tightening increment. The verification result is then obtained. Based on the verification result, the impedance-controllable hoisting state, and the zero-mean-constrained perturbation, the hoisting and alignment of the large-span arched corrugated steel plate to be assembled can be completed without relying on overall retraction.

[0008] A third aspect of this application provides an electronic device including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, and both the user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method described above.

[0009] A fourth aspect of this application provides a non-transitory computer-readable storage medium storing instructions that, when executed, perform the method described above.

[0010] In summary, one or more technical solutions provided in this application have at least the following technical effects or advantages:

[0011] By transforming the hoisting and alignment process of large-span arched corrugated steel plates from traditional geometric static alignment and empirical adjustments into a dynamic assembly process based on observable, determineable, and reversible interface constraints, and by establishing and rigidly binding a unified coordinate system for the corrugated steel plate components, the joint edge coordinate system, and the hole group coordinate system before hoisting, all subsequent attitude adjustments, interface monitoring, and insertion control have a consistent spatial reference basis, avoiding misjudgments caused by the mixing of multiple references from the outset. The synergistic introduction of impedance-controllable hoisting conditions and reversible corridor constraints ensures that the joint edges retain reversible sliding capability in the tangential direction and maintain a stable safe clearance range in the normal direction, thereby suppressing the premature erosion of assembly degrees of freedom by friction, wedging, and transient compaction. Furthermore, by constructing an interface reversibility fingerprint using micro-vibration patches and micro-displacement targets, the migration of the joint interface from a weakly constrained state to a strongly constrained state is achieved. By identifying potential irreversible paths in advance and combining them with lateral detour correction, the system transforms them into evasive paths, effectively preventing the premature triggering of irreversible intervals in the assembly path. Through zero-mean constrained perturbation and multiple cross-sampling, the alignment target is improved from single-point geometric coincidence to stable capture of the center attitude of the insertable window, enabling the hole group deviation mode and port misalignment distribution to converge in a reversible state, thus improving alignment robustness. Through the synchronous insertion and automatic retraction mechanism of the flexible guide, the locking process is made reversible, preventing the overall locking caused by local insertion behavior. By using interface fingerprint gating fastening and alternating verification of pre-tightening increments, the fastening process is incorporated into the interface state closed-loop control, allowing anomalies caused by pre-tightening to be resolved within the local retraction range. Ultimately, high-reliability alignment is achieved without relying on overall retraction and re-lifting, thereby significantly improving the accuracy of the hoisting and alignment of large-span arched corrugated steel plates. Attached Figure Description

[0012] Figure 1 A flowchart illustrating a method for hoisting and aligning a large-span arched corrugated steel plate, as provided in an embodiment of this application.

[0013] Figure 2 A schematic diagram of a module for hoisting and aligning a large-span arched corrugated steel plate, provided in an embodiment of this application;

[0014] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0015] Explanation of reference numerals in the attached figures: 21. Acquisition module; 22. Processing module; 31. Processor; 32. Communication bus; 33. User interface; 34. Network interface; 35. Memory. Detailed Implementation

[0016] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0017] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0018] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0019] To solve the above-mentioned technical problems, this application provides a method for hoisting and aligning large-span arched corrugated steel plates, referring to... Figure 1 , Figure 1 This is a flowchart illustrating a method for hoisting and aligning a large-span arched corrugated steel plate, as provided in an embodiment of this application. The method is applied to a server and includes steps S110 to S160, as follows:

[0020] S110. Before the hoisting and alignment begins, obtain the steel corrugated plate component coordinate system, joint edge coordinate system, and hole group coordinate system to characterize the relative assembly relationship of the large-span arched steel corrugated plates to be spliced. Then, rigidly bind the steel corrugated plate component coordinate system, joint edge coordinate system, and hole group coordinate system to obtain the binding result. Among them, micro-vibration patches and micro-displacement targets are pre-arranged on the joint edge of the large-span arched steel corrugated plates to be spliced.

[0021] Specifically, in this embodiment, the server is a computing node used to centrally execute calculations, judgments, and control decisions throughout the entire hoisting and alignment process. It does not directly participate in the execution of mechanical actions, but rather serves as the core carrier for information processing and control command generation, forming a collaborative working relationship with the on-site hoisting equipment control system, insertion system, micro-vibration patch, and micro-displacement target. When establishing a steel corrugated plate component coordinate system based on a design model and a fabricated physical object, and using the steel corrugated plate component coordinate system as the upper reference datum, the design feature set of the large-span arched steel corrugated plate to be spliced ​​is first read from the design model. This design feature set includes at least the design boundary curves of the arch axis direction and the splice edge, as well as the design hole center set of the connecting holes within the splice area. Subsequently, a set of repeatable component reference points is arranged on the fabricated physical object. This set of reference points characterizes the stable geometric position of the steel corrugated plate and ensures it does not significantly drift due to local deflection during hoisting and handling. The measured coordinates of the component reference point set in the measurement coordinate system are obtained using micro-displacement targets or other three-dimensional measurement methods. The steel corrugated plate component coordinate system is a three-dimensional rectangular coordinate system bound to a single steel corrugated plate, used to uniformly describe the spatial position and attitude of the steel corrugated plate. The upper reference datum refers to the fact that the subsequently established splice edge coordinate system and hole group coordinate system both use the steel corrugated plate component coordinate system as the sole reference and do not introduce new reference coordinates. Based on this, along the splice of the large-span arched steel corrugated plate to be spliced... Edge curves are extracted to establish a joint edge coordinate system. These boundary curves are continuous spatial curves of the joint edge within the steel corrugated plate component coordinate system. They can be obtained by fitting discrete sampling points of the joint edge. Tangential and normal directions are defined at each segment of the boundary curve, allowing the joint edge coordinate system to express the joint's slippage trend along the arch direction using the tangential direction and the gap trend along the normal direction using the normal direction. Simultaneously, a hole group coordinate system is established based on the geometric center distribution of connecting holes within the joint area. This coordinate system is bound to the hole set and is used to uniformly characterize the overall translational and torsional deviations of the hole set. The geometric center distribution of the holes refers to the geometric shape of the point set formed by the center points of each connecting hole within the steel corrugated plate component coordinate system. When it is necessary to align the set of measured component reference points with the set of design features, the rigid body registration from the design coordinates to the measured coordinates can be defined as a combination of a rotation matrix and a translation vector. The rotation matrix and translation vector are determined by minimizing the registration residual, aligning the steel corrugated plate component coordinate system with the processed object under the same geometric reference. The expression is as follows:

[0022]

[0023] in, Indicates the first The coordinates of each design reference point in the design coordinate system Indicates the first The coordinates of each corresponding measured reference point in the measurement coordinate system. This represents the rotation matrix that rotates the design coordinate system to the measurement coordinate system while satisfying orthogonality constraints. This represents the translation vector that moves the design coordinate system to the measurement coordinate system. Rigid body registration is determined by minimizing the overall registration error of all reference points. and This ensures that the coordinate system of the subsequent splice edge and the coordinate system of the hole group are established on a consistent spatial reference and can move in unison with the overall movement of the corrugated steel plate.

[0024] When the coordinate system of the joint edge and the coordinate system of the hole group are uniformly mapped to the coordinate system of the corrugated steel plate component through a geometric mapping relationship to form a binding result, the geometric mapping relationship is a deterministic transformation relationship that transforms any point or direction vector in one local coordinate system to another coordinate system. Uniform mapping means that the coordinate systems of the joint edge and the hole group are mapped only through the coordinate system of the corrugated steel plate component, without direct mapping between them, thus avoiding the cumulative error caused by multiple mappings. The binding result is a set of mapping parameters containing the relative positions and attitudes between the coordinate systems. Its purpose is to limit the coordinate systems of the joint edge and the hole group relative to the coordinate system of the corrugated steel plate component. The spatial position and attitude of the coordinate system remain consistent with each other. That is, when the corrugated steel sheet undergoes rigid body motion during hoisting, the coordinate systems of the joint edge, the hole group, and the corrugated steel sheet component undergo the same rigid body motion synchronously without relative drift. In terms of implementation, the geometric mapping relationship can be organized into homogeneous transformation matrices to uniformly express rotation and translation. Homogeneous transformation matrices are established from the joint edge coordinate system to the corrugated steel sheet component coordinate system and from the hole group coordinate system to the corrugated steel sheet component coordinate system, respectively. This allows the homogeneous coordinates of any point in the local coordinate system to be directly mapped to the corrugated steel sheet component coordinate system. The expression is as follows:

[0025]

[0026]

[0027] in, This represents the homogeneous coordinates of the point in the coordinate system of the seam edge. This represents the homogeneous coordinates of a point in the hole group coordinate system. This represents the homogeneous coordinates of a point in the coordinate system of the corrugated steel plate component. This represents the homogeneous transformation matrix mapping from the coordinate system of the seam edge to the coordinate system of the corrugated steel plate component. This represents the homogeneous transformation matrix that maps from the hole group coordinate system to the corrugated steel plate component coordinate system. The homogeneous transformation matrix consists of rotation and translation components, which gives the tangential and normal directions of the joint edge and the main distribution direction of the hole group a unique and definite expression in the corrugated steel plate component coordinate system. Thus, in the subsequent calculation of impedance-controlled hoisting state, reversible corridor constraints and alignment criteria, all displacement and attitude quantities can be consistently interpreted based on the same coordinate reference and maintain the correlation between the preceding and following technical features.

[0028] Synchronous zero-point calibration of the micro-vibration patch and micro-displacement target ensures that the coordinate systems of the corrugated steel plate component, the joint edge, and the hole group form a unified alignment reference state in the initial state. The micro-vibration patch, fixed to the joint edge, applies controlled frequency-sweeping micro-vibrations to the joint edge, making the dynamic response of the joint interface observable. The micro-displacement target, fixed to the joint edge and hole group region, serves as a displacement observation marker, used by external measuring equipment or close-range sensors to read the relative displacement of the joint edge and the relative displacement of the hole group. Synchronous zero-point calibration refers to unifying the excitation reference phase of the micro-vibration patch, the excitation amplitude baseline, and the displacement zero point of the micro-displacement target within the same time window. This ensures that the subsequently obtained interface reversibility fingerprint, hole group deviation mode, and port misalignment distribution are all based on the same initial reference. The standard is used as a reference and is not affected by equipment startup bias or installation bias. During implementation, a standard frequency sweep micro-vibration is first triggered when the seam edge is in a state of no contact or very weak contact, and the excitation reference sequence of the micro-vibration patch is recorded. At the same time, the initial readings of the micro-displacement target in the steel corrugated plate component coordinate system, the seam edge coordinate system, and the hole group coordinate system are recorded. This initial reading is used as the displacement zero point and written into the calibration parameter set corresponding to the binding result, so that the target reading at any subsequent moment can be obtained by subtracting the displacement zero point to obtain the relative displacement. When it is necessary to unify the amplitude frequency response and phase response of the frequency sweep micro-vibration, the measured response signal can be expressed as a complex frequency response relative to the excitation signal, and the complex frequency response at the calibration moment is used as a reference for the baseline interface reversibility fingerprint, so that the data of different time windows are comparable. Its expression is:

[0029]

[0030] in, Indicates frequency as Frequency response function at time, This indicates that the micro-vibration patch operates at a frequency of Frequency domain representation of the excitation signal at time, This indicates that the micro-displacement target or corresponding measurement channel is at a frequency of The frequency domain representation of the response signal at time is used to form the amplitude-frequency response, and the phase-frequency response is used to form the phase response. This is achieved by using the frequency domain representation of the frequency response function obtained at the calibration time. The data is stored as a baseline interface reversibility fingerprint, which allows the interface reversibility fingerprint obtained in the subsequent alignment process to be compared with the baseline interface reversibility fingerprint under the same reference, and to form a traceable correlation with subsequent technical features such as reversible corridor constraints, lateral detour correction, and insertable window center attitude capture.

[0031] S120. During the lifting process, the lifting system is configured to an impedance-controllable lifting state, and a reversible corridor constraint is constructed under the impedance-controllable lifting state. Through the binding results and the reversible corridor constraint, the large-span arched corrugated steel plate to be spliced ​​maintains reversible sliding capability in the tangential direction of the splice edge coordinate system, so as to maintain a safe gap range in the normal direction of the splice edge coordinate system.

[0032] Specifically, during the lifting process, when uniformly mapping the motion control coordinates of the lifting system to the joint edge coordinate system, the current pose of the lifting system in the steel corrugated plate component coordinate system is first determined based on the binding result. This pose is then transformed into a pose expression in the joint edge coordinate system through coordinate transformation. This ensures that the translational control quantities of the lifting system correspond to the tangential, normal, and lateral directions of the joint edge coordinate system, and that the rotational control quantities correspond to the rotational components around the tangential, normal, and lateral axes. This avoids coupling errors caused by tangential adjustment leading to normal clamping due to the projection of control commands between different coordinate systems. The motion control coordinates are the reference coordinates used when the lifting system performs displacement and attitude control. Uniform mapping means that all subsequent control and monitoring quantities are expressed within the joint edge coordinate system. The joint edge coordinate system is a local coordinate system bound to the joint edge and moving in unison with the overall movement of the steel corrugated plate. The tangential direction is used to describe the direction of the joint along the edge. The relative slip trend is described in the normal direction, which describes the opening and closing trend of the gap on both sides of the joint, and in the lateral direction, which describes the misalignment and lateral offset trend on both sides of the joint. After completing the unified mapping, the hoisting system is configured as an impedance-controlled hoisting state based on the binding results. The impedance-controlled hoisting state means that the hoisting system no longer only tracks the position or velocity, but converts the displacement error and velocity error into a controlled equivalent force or equivalent constraint force through equivalent compliance and equivalent damping. This is to maintain controlled behavior with slippage, no overpressure, and minimal impact in contact-sensitive joint scenarios. The equivalent compliance is used to characterize the degree of displacement yielding allowed by a unit equivalent force, and the equivalent damping is used to characterize the suppression strength of relative velocity and to attenuate swaying and impact. The control quantities in the joint edge coordinate system can be impedance-constrained using the following formula, so that the tangential direction has reversible slippage capability, the normal direction is limited to the safe gap range, and the lateral direction is limited by damping constraints to suppress swaying:

[0033]

[0034] in, This represents the constraint force vector applied or equivalently presented by the hoisting system in the coordinate system of the seam edge. This represents the current displacement state vector of the corrugated steel plate in the coordinate system of the seam edge. This represents the target displacement state vector of the corrugated steel plate in the coordinate system of the seam edge. This represents the current velocity state vector of the corrugated steel plate in the coordinate system of the seam edge. This represents the target velocity state vector of the corrugated steel plate in the coordinate system of the seam edge. This represents the equivalent stiffness matrix, with its diagonal elements corresponding to the equivalent stiffness settings in the tangential, normal, and transverse directions, respectively. This represents the equivalent damping matrix, with its diagonal elements corresponding to the equivalent damping settings in the tangential, normal, and lateral directions, respectively. The principle expressed above is to transform displacement and velocity errors into controllable equivalent constraint forces through two sets of weight matrices. This allows the tangential direction to obtain a reciprocating and retractable sliding channel through lower equivalent stiffness and moderate equivalent damping, while the normal direction is suppressed by higher equivalent stiffness and higher equivalent damping to inhibit compaction and impact contact. The lateral direction is rapidly attenuated by higher equivalent damping to reduce the probability of sudden misalignment. Thus, during lifting and approaching the joint, the relative degrees of freedom required for alignment are continuously maintained without prematurely entering an irreversible constraint state.

[0035] When constructing reversible corridor constraints under impedance-controlled hoisting conditions, the reversible corridor constraint is defined as a combination of safety gap interval constraints and reversible slip interval constraints. Both types of interval constraints are bound to the joint edge coordinate system, enabling them to directly limit the opening and closing of the gap in the normal direction and the relative slippage in the tangential direction. The reversible corridor constraint allows the hoisting system to adjust and explore within a controlled local space, but any exploration must not cross boundary conditions that would lead to interface compaction, wedging, or frictional locking. The safety gap interval constraint is used to limit the gap value of the joint edge in the normal direction to always be between a preset lower limit and a preset upper limit, so as to avoid compaction due to excessively small gaps and excessively large gaps that would lead to subsequent alignment window capture. The failure of the reversible slip interval constraint is used to limit the relative displacement amplitude and relative displacement rate of the joint edge in the tangential direction to a preset range. This ensures that the tangential direction maintains sufficient reciprocating slip to eliminate geometric interference, while avoiding excessive tangential velocity that could cause impact adhesion or induce edge biting. In terms of implementation, the normal gap and tangential slip can be converted into constraint errors, and the constraint errors can be fed back to the dynamic parameter adjustment logic of equivalent compliance and equivalent damping. This makes the reversible corridor constraint not a static threshold, but a closed-loop constraint that can drive the controllable lifting state to change the yield degree and suppression strength in real time. This ensures that the lifting system moves around the reversible corridor constraint throughout the entire process of approaching the joint, rather than passively retreating after jamming occurs.

[0036] When real-time monitoring of clearance changes in the normal direction and relative displacement in the tangential direction based on micro-displacement targets, the readings of the micro-displacement targets are first converted to the joint edge coordinate system through binding results to obtain the normal clearance sequence and the tangential relative displacement sequence. The normal clearance sequence is then subjected to interval determination to determine whether it deviates from the safe clearance interval, and the tangential relative displacement sequence is subjected to amplitude and rate determination to determine whether it deviates from the reversible slip interval. The micro-displacement target is a marker and measurement object installed at the joint edge and its adjacent area to provide high-resolution relative displacement observation. Real-time monitoring refers to continuously updating the monitoring data at a time rhythm consistent with the hoisting control cycle and immediately participating in control decisions. The compacted fit state refers to the state where the joint edge generates continuous high contact pressure in the normal direction, leading to a significant increase in interface friction and suppression of the tangential slip channel. When the monitoring results show that the normal clearance approaches the lower limit of the safe clearance interval, the equivalent damping and equivalent stiffness corresponding to the normal direction are dynamically increased, making the hoisting system harder and more viscous in the normal direction, thereby optimizing... First, prevent further approach and force the system to release geometric interference through reversible tangential slip. When monitoring results show that the normal clearance is approaching the upper limit of the safe clearance range, moderately reduce the equivalent stiffness in the normal direction or adjust the target displacement in the normal direction while maintaining high damping to suppress oscillation, so that the normal clearance returns to the middle of the safe clearance range and maintains a light contact tendency. When monitoring results show that the tangential relative displacement amplitude is insufficient, causing the slip channel to attenuate, or the tangential relative displacement rate is too high, causing the impact risk to increase, dynamically adjust the equivalent stiffness in the tangential direction. Compliance and equivalent damping enable the tangential direction to maintain a reversible sliding capability that is reciprocating but not too fast. The principle of the above dynamic adjustment is to use the observable deviation provided by the micro-displacement target as a feedback signal, and map the deviation to the online adjustment of the equivalent compliance and equivalent damping parameters. This allows the hoisting system to pull the motion state back into the reversible corridor constraint by changing the local impedance shape without relying on the overall retraction. This ensures that the tangential reversible sliding capability is maintained during hoisting and approaching the joint, and prevents the normal direction from entering the compacted and fitted state.

[0037] S130. The interface reversibility fingerprint is obtained by outputting a sweep frequency micro-vibration through the micro-vibration patch. The interface reversibility fingerprint is composed of the amplitude frequency response and phase response of the seam edge under the excitation of the sweep frequency micro-vibration. The interface reversibility fingerprint is compared with the baseline interface reversibility fingerprint. When it is determined that the interface reversibility fingerprint has migrated from the first constraint state to the second constraint state, the drive impedance controllable hoisting state performs lateral bypass correction so that the seam edge returns to the first constraint state. The constraint force of the first constraint state is less than the constraint force of the second constraint state.

[0038] Specifically, when controlling the micro-vibration patch to output frequency-sweeping micro-vibrations along the tangential direction of the seam edge coordinate system to form a baseline interface reversible fingerprint, the excitation direction of the micro-vibration patch is kept consistent with the tangential direction of the seam edge coordinate system when the seam edge is in a non-contact or extremely weak contact state. Simultaneous sampling, segmented windowing, and overlapping averaging of the excitation and response signals are performed on the server side to obtain a noise-insensitive frequency domain estimation result. Preferably, instead of directly using the ratio of a single Fourier transform, the frequency response function is estimated using the cross power spectral density and the self-power spectral density. Simultaneously, the amplitude-frequency response, phase response, coherence function, and group delay are calculated as joint features of the baseline interface reversible fingerprint. This allows the baseline interface reversible fingerprint to characterize both the energy transfer law of the interface under weak constraints and the phase continuity and time delay stability of the interface under weak constraints. The calculation formulas can be written as follows:

[0039]

[0040]

[0041]

[0042]

[0043]

[0044] in, Indicates the reversible fingerprint of the baseline interface at frequency Frequency response function estimation at point , Indicates the first Estimation of the cross-power spectral density of the response signal and the excitation signal of each channel under baseline conditions. Indicates the first Self-power spectral density estimation of the excitation signal of each channel under baseline conditions Indicates the first Self-power spectral density estimation of the response signal of each channel under baseline conditions The coherence function represents the baseline state and is used to measure the excitation and response at different frequencies. The degree of linear correlation at the location, It represents the group delay under baseline conditions and is used to characterize the strength of the continuity and the degree of lag of phase changes with frequency. This indicates the number of measurement channels participating in the fusion. This indicates the average number of segments used per channel. Indicates the first The first channel Frequency domain representation of the baseline response signal. Indicates the first The first channel Frequency domain representation of the baseline excitation signal. This indicates the conjugate operation. This represents a frequency domain weighting or smoothing kernel function, used to suppress spectral leakage or enhance the robustness of a target frequency band. This represents the channel fusion weight, which can be adaptively set based on the channel signal-to-noise ratio, channel installation location, or coherence function level. This represents the phase expansion operator, used to eliminate pseudo-discontinuities caused by phase jumps. The above frequency response function estimation principle is to suppress random noise and transient disturbances by statistical averaging of power spectral density, and to provide a quantifiable reference for phase continuity using coherence function and group delay, thereby forming a baseline interface reversibility fingerprint that can be used as a comparison benchmark.

[0045] When outputting frequency-sweeping micro-vibrations with the same sweeping range and excitation direction under impedance-controlled hoisting conditions and acquiring interface reversibility fingerprints in real time, the sweeping range, sweeping step, excitation direction, sampling frequency, and segmented windowing method of the micro-vibration patch are kept consistent with the baseline to ensure the comparability of frequency domain estimations in different time windows. Power spectral density estimation, channel fusion, phase expansion, and group delay calculation are repeatedly performed within each sweeping cycle to obtain the real-time interface reversibility fingerprint. Furthermore, to improve the fingerprint's ability to distinguish between weakly and strongly constrained states in the dynamic environment of hoisting alignment, the logarithmic spectrum of the amplitude-frequency response, the expanded spectrum of the phase response, the group delay spectrum, the coherence function spectrum, and the frequency band energy ratio can be organized into a feature vector. Frequency band integration and robust normalization are used to suppress the influence of overall amplitude drift on the judgment. These can be expressed as follows:

[0046]

[0047]

[0048]

[0049]

[0050] in, Indicates time The corresponding frequency response function estimation, Indicates time The corresponding coherence function, Indicates time Corresponding group latency; Indicates time For the The fusion weights of the channels can be adaptively updated based on the channel coherence function level, channel saturation risk, or channel noise level. , , Representing time respectively No. Estimation of the cross power spectral density and self power spectral density corresponding to the channel; This represents the interface reversibility fingerprint feature vector used for migration determination. and This represents two preset frequency band sets, used to cover the low-frequency band, which is sensitive to interface slippage, and the mid-to-high-frequency band, which is sensitive to local interface contact stiffening, respectively. This represents a stable term used to avoid singularities in logarithmic calculations. The principle of the aforementioned eigenvector is to transform the detail curves in the frequency domain into frequency band integrals, thereby stably reflecting the overall trend of interface constraint states even when hoisting disturbances exist, and using coherence descent and group delay distortion as direct quantitative evidence of phase continuity degradation.

[0051] When comparing the interface reversibility fingerprint with the baseline interface reversibility fingerprint and triggering lateral bypass correction, the server first performs the following steps in the baseline state: Statistical modeling is performed to obtain the baseline mean vector and baseline covariance matrix. The real-time feature vector is then compared with the baseline statistical model using distance measurement and time-series cumulative determination. This allows the migration determination to possess both instantaneous sensitivity and continuous confirmation capabilities, avoiding false triggering of lateral detour corrections by single noise spikes. The migration determination can be constructed as a combination of Mahalanobis distance and cumulative sum testing. In the first constraint state, the distance is low and the cumulative sum does not increase; in the second constraint state, the distance increases and the cumulative sum continuously increases. The fact that the constraint force of the first constraint state is less than that of the second constraint state, in an engineering sense, means that in the first constraint state, the interface's restriction on relative motion is weak, and the system is still in a reversible and adjustable assembly stage; while in the second constraint state, the interface's restriction on relative motion is significantly strengthened, and the system enters an assembly stage that is difficult to revert to or even irreversible. This can be expressed as:

[0052]

[0053]

[0054]

[0055] in, The mean vector representing the baseline eigenvectors. The covariance matrix represents the baseline eigenvectors. This indicates the number of baseline sweep rounds used to build the baseline statistical model. Indicates the first The timestamp corresponding to the baseline sweep frequency. Indicates time Mahalanobis distance of real-time feature vectors relative to the baseline statistical model Denotes the inverse matrix of the covariance matrix. Indicates cumulative sums and statistics. Indicates the time step for real-time updates. This represents the drift reference threshold, used to make the cumulative sum statistic insensitive to small, normal fluctuations. The principle behind this determination is that Mahalanobis distance automatically considers the correlation between features using the covariance structure, making it more stable than looking at amplitude or phase alone. The cumulative sum statistic requires anomalies to occur continuously over time before triggering the migration determination, thus distinguishing occasional noise from true constraint migration. When the preset trigger threshold is exceeded and the coherence function continues to decrease or the group delay continues to distort in the critical frequency band, the interface reversibility fingerprint is determined to migrate from the first constraint state to the second constraint state. Based on the binding result, the controllable lifting state of the driving impedance is driven to perform lateral bypass correction, so that the lateral bypass correction strictly occurs in the lateral direction of the seam edge coordinate system and is still constrained by the safety gap range in the normal direction. At the same time, it maintains high compliance in the tangential direction to maintain reversible sliding capability, thereby pulling the interface from a strong constraint trend back to a weak constraint trend by changing the contact path.

[0056] During the lateral detour correction process, while updating the interface reversibility fingerprint and terminating the lateral detour correction, the server maintains the excitation configuration of the frequency sweep micro-vibration and continues calculation. , and Simultaneously, a micro-displacement target is used to confirm that the lateral bypass correction does not cause the normal clearance to fall below the safe clearance range or cause the tangential slip range to be destroyed. To avoid excessive lateral bypass correction causing new local engagement, the termination condition for lateral bypass correction can be set as the Mahalanobis distance falling back and accumulating and decaying. This is combined with coherence function recovery and group delay regression continuity as double confirmation, ensuring that the termination action occurs after the interface has indeed returned to the first constraint state. This can be expressed as:

[0057]

[0058] Termination Criteria:

[0059] in, This represents the change in Mahalanobis distance, used to help determine the recovery trend. This represents the upper limit of the allowed Mahalanobis distance under the first constraint state. This represents the upper limit of the allowed cumulative sum under the first constraint state. This represents the upper limit of the degenerate integral of the coherence function, used to require the recovery of linear correlation. This represents the upper limit of the group delay deviation from the integral, used to require phase continuity recovery. The baseline group delay is represented by the principle of the above termination criterion, which is to simultaneously constrain four types of quantities: statistical distance, time series cumulative linear correlation, phase continuity, etc. Lateral bypass correction is terminated only when the interface actually returns to the weak constraint and the reversible glide capability is not reduced, thereby suppressing the formation of irreversible constraint state and providing a stable preceding interface state for subsequent zero-mean constrained perturbation crossing sampling and insertable window center attitude capture.

[0060] S140. Under the condition of maintaining the reversible corridor constraint, a zero-mean restricted perturbation is introduced to perform multiple cross-sampling of the relative posture of the seam edge. In each cross-sampling, the hole group deviation pattern and port misalignment distribution are obtained based on the micro-displacement target. When it is determined that the hole group deviation pattern remains consistent and the port misalignment distribution does not flip during the cross-sampling, and the interface reversibility fingerprint maintains the first constraint state, the corresponding relative posture is determined as the center posture of the insertable window, and the center of the zero-mean restricted perturbation is locked within the preset range of the center posture of the insertable window.

[0061] Specifically, while maintaining the reversible corridor constraint, when mapping the zero-mean constrained perturbation to the seam edge coordinate system and limiting it to the tangential reciprocating translation component and the reciprocating yaw component around the normal axis, the server first decomposes the controllable degrees of freedom of the hoisting system into the tangential, normal, and lateral directions of the seam edge coordinate system based on the binding result. The zero-mean constrained perturbation is defined as two types of small-amplitude reciprocating perturbations that only act in the tangential direction and around the normal axis. This ensures that the zero-mean constrained perturbation does not directly change the target gap in the normal direction but always obeys the safety gap interval constraint, thus allowing for the insertion of windows without triggering the risk of compaction and bonding. Local exploration is conducted; zero-mean constrained perturbation refers to a perturbation strategy in which positive and negative perturbations cancel each other out within a perturbation period, resulting in zero macroscopic drift and only producing local cross-sampling effects. Mapping refers to expressing the displacement and angular components of the zero-mean constrained perturbation using the seam edge coordinate system as the sole reference. The reciprocating translation component is the alternating positive and negative displacement along the tangential direction, and the reciprocating yaw component is the alternating positive and negative rotation angle around the normal axis. To ensure that the cumulative displacement and cumulative angular displacement are zero within each perturbation period, the tangential displacement and yaw angle can be defined as symmetrical periodic signals, and the periodic integral constraint is used as the zero-mean condition, which is expressed as:

[0062]

[0063]

[0064]

[0065] in, Indicates time The perturbation displacement in the tangential direction, Indicates time The perturbation yaw angle about the normal axis, Indicates the fundamental frequency amplitude in the tangential direction. Indicates the fundamental frequency in the tangential direction. Indicates the initial phase of the fundamental wave in the tangential direction. Indicates the tangential direction. Second harmonic amplitude Indicates the tangential direction. First phase of the second harmonic This indicates the upper limit of the harmonic order in the tangential direction. Indicates the fundamental amplitude of the yaw angle. Indicates the fundamental frequency of the yaw angle. Indicates the yaw angle and the fundamental initial phase. Indicates the yaw angle. Second harmonic amplitude Indicates the yaw angle. First phase of the second harmonic This indicates the upper limit of the harmonic order of the yaw angle. This indicates the start time of the perturbation period. Indicates the duration of the perturbation period and satisfies Or for and The principle of the zero-mean condition is to use positive and negative symmetrical periodic signals to make the positive displacement and the reverse displacement within a period cancel each other out, thereby avoiding uncontrollable cumulative drift along the tangential direction or uncontrollable cumulative yaw around the normal axis during the exploration process of the hoisting system; In order to meet the constraints, the server calculates the normal gap in real time based on the micro-displacement target and limits the amplitude of the tangential velocity and yaw angular velocity, so that the amplitude and velocity of the zero-mean constrained micro-perturbation do not exceed the safety gap range and the first constraint state. The safety gap range is used to limit the normal gap to be no less than the preset lower limit and no greater than the preset upper limit, and the first constraint state is used to limit the interface to a state of weak constraint and reversible sliding capability not being reduced.

[0066] Under zero-mean constrained perturbation, when performing multiple traversal samplings and acquiring the hole group deviation pattern and port misalignment distribution in each traversal sampling, the server defines each perturbation cycle as a traversal sampling. In each traversal sampling, the impedance-controlled hoisting state and reversible corridor constraints remain in effect. Simultaneously, a micro-displacement target is used to collect the relative displacement sequence of the hole positions in the hole group region and the relative displacement sequence of misalignments along the arch direction at the seam edge, so that the same traversal sampling simultaneously outputs the hole group deviation pattern and port misalignment distribution. Traversal sampling refers to using zero-mean constrained perturbation to make the seam edge repeatedly cross several geometrically feasible interval boundaries within a local range around the current posture to detect whether an insertable window exists and whether it is stably reachable. The hole group deviation pattern is a patterned result used to characterize the combined characteristics of the overall translational and torsional components of the hole group, and the port misalignment distribution is a distributed result used to characterize the misalignment polarity and peak position along the arch direction at the seam edge. When calculating the hole group deviation pattern, the first hole in the hole group... The relative displacement of the center of each borehole in the borehole group coordinate system is denoted as . Furthermore, robust weighted least squares is used to decompose the relative displacement of the borehole group into a global translation vector and a global torsional vector, ensuring that the borehole group deviation mode remains stable even in the presence of noise and abnormal borehole positions. This can be expressed as:

[0067]

[0068]

[0069] in, This indicates the number of boreholes included in the calculation within the borehole group. Indicates the first The relative displacement vector of the center of each hole. This represents the overall translation component of the hole group. Indicates the overall torsional component of the pore group. Indicates the first The position vector of each hole center relative to the origin of the hole group coordinate system. This represents the displacement component caused by the overall torsion at that hole location. This represents a robust cost function used to reduce the impact of abnormal aperture locations on the estimation results. Indicates the first Noise scale or weighted normalization factor for each well site observation The second norm is used to represent the decomposition principle, which interprets the relative displacement of the hole group as the superposition of the overall rigid body translation and the overall rigid body micro-rotation at each hole location. A robust cost function is used to suppress abnormal observations caused by local hole burrs, sensor obstruction, or single-point slippage, thus obtaining a hole group deviation pattern that can characterize the overall deviation law of the hole group. When calculating the port misalignment distribution, the arch direction along the joint edge is selected. The lateral misalignment was obtained at each observation location. To characterize the polarity of the misalignment and the peak position, weighted sign consistency and peak centroid position are introduced as distribution features, expressed as follows:

[0070]

[0071]

[0072]

[0073] in, Indicates the first The relative displacement vectors on both sides of the seam at each observation location. This represents the horizontal unit direction vector in the coordinate system of the seam edge. Indicates the first Lateral misalignment at each observation location Indicates the number of observation locations. Indicates the first Weighting coefficients for each observation location, The sign function is used to characterize misaligned polarity. This represents the nonlinear emphasis coefficient and is used to enhance the contribution of large staggers to the distribution characteristics. This indicates the consistency index of misalignment polarity. Indicates the first The arc length coordinates of each observation position in the direction of the arch. The centroid coordinates represent the peak position of the misalignment; the principle behind the above-mentioned port misalignment distribution characteristics lies in using... To determine whether the polarity of the misaligned platform along the arch is uniform, use... This characterizes whether the energy concentration location of the misalignment is stable, thus providing a quantifiable basis for determining whether the subsequent port misalignment distribution has flipped.

[0074] When determining the center pose of the insertable window and locking the center of the zero-mean constrained perturbation during multiple traversal samplings, the server extracts the aperture group deviation pattern of each traversal sampling into the dominant deviation direction and dominant deviation type. The dominant deviation direction is defined as the direction of the maximum component of the overall translational component and the axis of the maximum component of the overall torsional component in the aperture group coordinate system. The dominant deviation type is defined as either overall translation-dominant or overall torsional-dominant, enabling consistency comparisons between different traversal samplings. Maintaining consistent dominant deviation directions means that the maximum component direction of the overall translational component does not reverse and the axis of the maximum component of the overall torsional component does not switch during consecutive traversal samplings. The port misalignment distribution not flipping means that the sign of the misalignment polarity consistency index does not reverse and the centroid coordinates of the misalignment peak position do not undergo a leapfrog migration. Maintaining the first constraint state for interface reversibility fingerprints means that the interface remains under weak constraints and the reversible sliding capability is not reduced. To form an executable decision based on the above conditions, continuous... The consistency criterion is constructed from the statistics of the second-pass sampling, and the center pose of the insertion window is determined when the criterion is met. The criterion can be written as:

[0075]

[0076]

[0077]

[0078] in, This represents the number of consecutive traverse samples used for consistency determination. Indicates the first The overall translational component of the hole group obtained from the second traverse sampling. Indicates the first The overall torsional component of the hole group obtained from the second traverse sampling. This indicates an indicator function that takes the value 1 if the condition within the parentheses is true, and 0 otherwise. This indicates the avoidance of stable terms with a denominator of zero. An angle threshold representing the consistency of the overall translation component direction. An angle threshold representing the consistency of the overall torsional component direction. Indicates the first The misalignment polarity consistency index obtained from the second traversal sampling. Indicates the first The centroid coordinates of the peak position of the misalignment obtained from the second cross-sampling. This represents the upper limit of the allowed peak position drift; the principle of the above consistency criterion is to use the similarity of the included vector angles to characterize whether the deviation patterns of the hole group are consistent in direction, and to use the consistency of the misalignment polarity and the upper limit of the peak position drift to characterize whether the port misalignment distribution is stable, thereby transforming the condition of stable reachability of the window into a verifiable condition of consistency in multiple samplings; when , , Furthermore, when the interface reversibility fingerprint determination is still in the first constraint state, the relative attitude of the corresponding seam edge is determined as the attitude of the insertable window center, and the center of the zero-mean restricted perturbation is locked within the preset range of the insertable window center attitude. The preset range is jointly limited by the tangential displacement tolerance, normal gap tolerance and yaw angle tolerance in the seam edge coordinate system. Locking means that the subsequent perturbation no longer drifts around any attitude, but performs a small zero-mean restricted perturbation around the insertable window center attitude, thereby maintaining the reversible sliding capability while maintaining the repeatability of the insertable window, so that the subsequent insertion of the flexible guide and the interface fingerprint gating fastening can be carried out within the stable alignment window and avoid the irreversible section of the assembly path being triggered in advance.

[0079] S150. Based on the center attitude of the insertable window, the insertion system is controlled to synchronously insert the flexible guide to form a flexible lock. During the insertion of the flexible guide, the interface reversibility fingerprint is monitored. When the interface reversibility fingerprint shows a migration to the second constraint state, the insertion system is controlled to trigger the flexible guide to automatically retract and execute a zero-mean constrained perturbation to capture the new center attitude of the insertable window. The flexible guide is configured to have axial force limiting and radial clearance and has automatic retraction capability. It can be inserted into the feature holes in the hole group with a mutual spacing greater than a preset distance.

[0080] Specifically, when mapping the motion control reference of the insertion system to the hole group coordinate system based on the center posture of the insertable window and performing synchronous insertion, the server first converts the pose of the center posture of the insertable window in the steel corrugated plate component coordinate system into the pose in the hole group coordinate system through binding results. This ensures that the insertion direction, insertion stroke, and insertion posture of the insertion system all use the hole group coordinate system as the sole reference, thereby guaranteeing that the insertion action directly aligns with the comprehensive error of the overall translation and torsion of the hole group rather than the local error of aligning with a single hole. The insertion system is an execution system capable of driving multiple insertion actuators and performing closed-loop control of insertion speed, insertion force, and insertion posture. The motion control reference is the reference coordinate system used by the insertion system when generating displacement and posture control commands. Mapping refers to establishing a unique coordinate transformation relationship between the control coordinates of the insertion system and the hole group coordinate system. The synchronous insertion mode refers to the simultaneous advancement of multiple flexible guides within the same time window at a consistent insertion rhythm, so that the hole group constraints are symmetrically established in space to avoid one side locking first, which would cause the hole group deviation mode to be solidified. Feature holes are a subset of holes in the hole group with a spacing greater than a preset distance. Their purpose is to enable the flexible guides to move within the hole group. The system forms a sufficient constraint arm to simultaneously suppress both the overall translation and torsion of the hole group. The preset distance is a threshold for screening characteristic hole positions and can be determined according to the hole group geometry, the guide body outer diameter, and the allowable travel. The flexible guide body is in a flexible working state, meaning that it is allowed to undergo controlled elastic deformation and limited radial sway during insertion to absorb residual deviations in the hole group without converting them into rigid engagement. The axial force limiting characteristic means that when the axial insertion force of the flexible guide body reaches the preset upper limit, the insertion system stops advancing or switches to constant force holding to avoid insertion... Further increases in input force lead to abrupt changes in interface constraints. Radial clearance characteristics refer to the flexible guide body allowing a certain range of displacement or angular sway in the radial direction, which is then corrected by elastic elements. This creates flexible constraints on the overall translation and torsion of the hole group during insertion, rather than rigid locking. To ensure that synchronous insertion generates controllable flexible constraints on the overall translation and torsion of the hole group, the local constraint forces of each flexible guide body can be superimposed in the hole group coordinate system to form an equivalent constraint force and moment for the hole group. This can be used to assess the sufficiency of the flexible locking constraint, expressed as:

[0081]

[0082] in, This represents the equivalent constraint force of the hole group formed by all the flexible guide bodies in the hole group coordinate system. This represents the equivalent constraint moment of the hole group formed by all the flexible guide bodies in the hole group coordinate system. This indicates the number of flexible guides inserted simultaneously. Indicates the first A flexible guide body generates a constraint force vector in its local contact coordinates, and this constraint force is limited by axial force limiting characteristics and modulated by radial clearance characteristics. Indicates the first The Jacobian matrix is ​​used to map the local contact coordinates of the flexible guide body to the hole group coordinate system and to project the local constraint forces onto the hole group coordinate system. Indicates the first The position vector of the center of the feature hole corresponding to each flexible guide body relative to the origin of the hole group coordinate system. This represents the cross product operation; the principle of the above superposition is that the constraint force formed by the synchronous insertion of multiple holes not only cancels the overall translation error of the hole group in the translation dimension, but also through the lever arm The overall torsional error of the hole group is suppressed in the rotational dimension, thereby establishing a retractable flexible lock without forced pulling.

[0083] During the insertion of the flexible guide body, frequency-sweeping micro-vibrations are output through micro-vibration patches, and the interface reversibility fingerprint is monitored in real time to gate the insertion and trigger automatic retraction. The frequency sweep range, excitation direction, and fingerprint calculation method of the frequency-sweeping micro-vibrations are kept consistent with the preceding interface reversibility fingerprint, ensuring that the interface constraint state remains observable and determinate throughout the insertion process. Maintaining the first constraint state of the interface reversibility fingerprint means that the seam edge interface is under weak constraint and the reversible sliding capability is not reduced. The migration of the interface reversibility fingerprint to the second constraint state means that the seam edge interface exhibits an adhesion or wedging tendency, leading to reversible sliding. Capacity begins to decay; the gating insertion implementation method involves performing migration determination on the fingerprint feature vector obtained from each round of frequency scanning on the server side, and using the migration determination result as the insertion permission condition for the insertion system. When the migration determination result corresponds to the first constraint state, synchronous insertion is still allowed; when the migration determination result corresponds to the second constraint state trend, automatic retreat is immediately triggered to revoke the formed local lock. To reduce false triggering and improve sensitivity to migration trends, a multi-index threshold and time consistency joint criterion can be constructed for the fingerprint feature vector, and this criterion is output as an insertion permission signal, expressed as:

[0084]

[0085] in, Indicates time Insertion permission signal and when When insertion continues Automatic yielding is triggered at certain times. The Mahalanobis distance representing the real-time interface reversibility fingerprint relative to the baseline statistical model. This represents the cumulative sum statistic used to suppress occasional fluctuations. Represents the coherence function. Indicates group delay. Indicates baseline group delay. This represents the set of frequency bands sensitive to interface slippage. This indicates the upper limit of the distance allowed under the first constraint state. This represents the maximum allowed cumulative limit under the first constraint state. This represents the upper limit of the integral of coherent degradation. This indicates the upper limit of the group delay deviation from the integral; the principle of the above criterion is to simultaneously constrain amplitude and phase statistical deviation, time persistence, linear correlation, and phase continuity, and only output the insertion permission signal when the interface maintains weak constraints, thereby binding the insertion action to the interface constraint state in real time; when When the insertion system is activated, the flexible guide body is triggered to enter the automatic retraction state. The automatic retraction state means that the flexible guide body retracts from the preset retraction stroke in the opposite direction of the original insertion direction and maintains the radial retraction characteristic during the retraction process, so that the local locking that has been formed is canceled without introducing new biting or pulling.

[0086] After the flexible guide completes its automatic retraction, a zero-mean constrained perturbation is executed to capture the new center attitude of the insertable window. The server first confirms that the flexible guide has retreated to a retraction position that no longer constrains the hole group, and keeps the insertion system in a standby holding state to avoid applying additional perturbations to the seam edge. Then, under the condition that the hoisting system is still constrained by the reversible corridor and is still in an impedance-controlled hoisting state, the zero-mean constrained perturbation is restored, causing the seam edge to perform multiple cross-sampling operations around the current attitude. During the cross-sampling, the hole group deviation pattern and port misalignment distribution are recalculated, while the interface reversibility fingerprint is continuously monitored to ensure that the interface maintains the first constraint state. Dynamic coupling refers to the fact that the advancement and retraction of the flexible lock are not determined by fixed stroke or fixed hole position conditions. The decision is not fixed, but determined by the real-time judgment result of the interface constraint state. To avoid triggering irreversible constraint states during the insertion phase, the local lock is promptly revoked and the window capture stage of zero-mean restricted perturbation is returned when the interface reversible fingerprint shows a tendency to migrate to the second constraint state. This ensures that the insertion process does not cross the irreversible interval of the assembly path. When the posture that satisfies the consistency of the hole group deviation mode, the non-flipping of the port misalignment distribution, and the maintenance of the first constraint state of the interface reversible fingerprint is recaptured, the posture is updated to the new center posture of the insertable window, and the center of the zero-mean restricted perturbation is locked within the preset range of the new center posture of the insertable window. Then, the insertion system is allowed to enter the synchronous insertion mode again, so that the flexible locking process iteratively converges in the closed loop and continuously maintains the reversible sliding capability.

[0087] S160. After completing the flexible locking, the interface fingerprint gate control fastening is performed. By alternately applying the pre-tightening increment and performing consistency verification based on the interface reversibility fingerprint, hole group deviation mode and port misalignment distribution after each pre-tightening increment, the verification result is obtained. Based on the verification result, the impedance controllable hoisting state and the zero-mean limited perturbation, the hoisting and alignment of the large-span arched steel corrugated plate to be spliced ​​is completed without relying on the overall retraction.

[0088] Specifically, after completing the flexible locking, when the fastening object is defined as a set of fastening holes bound to the hole group coordinate system and mapped as a symmetrical pre-tightening pair, the server first summarizes all the center points of the fastening holes that can be fastened in the hole group coordinate system to form a set of fastening holes. The position vector from the center point of each fastening hole to the geometric center of the hole group is used as the symmetry determination criterion, so that the subsequent pre-tightening load forms a symmetrical application path with approximately zero resultant moment near the geometric center of the hole group, thereby avoiding the premature solidification of the overall torsion of the hole group into an irreversible constraint by unilateral pre-tightening. The fastening object refers to the fastening holes used to apply the pre-tightening force and their corresponding fastening holes. The fastener set and hole group coordinate system are used to uniformly express the overall translational and torsional components of the hole position set. A symmetrical preload pair refers to two sets of fastening hole positions symmetrically distributed on both sides of the geometric center of the hole group, so that the induced effects of the symmetrical preload pair on the overall translational and torsional components of the hole group cancel each other out when the same preload increment is applied. To ensure that the construction of the symmetrical preload pair can take into account the non-ideal symmetry of the actual hole position distribution, the server can describe the matching of symmetrical preload pairs as a weighted bipartite matching, and determine the pairing relationship with the goal of minimizing the position vector mirror error and the torque balance error. Its expression is as follows:

[0089]

[0090] in, This represents the optimal pairing mapping. Represents the set of all feasible pairings. This indicates half the number of fastening holes involved in the pairing. Indicates the first The position vector of the center of a fastening hole relative to the geometric center of the hole group. Indicates the relationship with the first The center position vector of the mating fastening hole positions This represents the normalized result for the position vector direction. This represents the unit vector indicating the equivalent direction of the preload. , , These represent the weighting coefficients for the displacement-symmetric term, the direction-symmetric term, and the moment balance term, respectively. This indicates the avoidance of stable terms where the normalized denominator is zero; the above pairing principle is to simultaneously constrain the position mirror image, direction mirror image, and moment mirror image, so that the symmetrical pre-tightening pair is closer to mechanical symmetry near the geometric center of the hole group, thereby reducing the risk of yaw and misalignment caused by pre-tightening; at the same time, keeping the flexible guide body in a flexible working state and only providing positioning constraints without providing forced pulling constraints means that the flexible guide body continues to provide a retractable spatial constraint reference for the hole group, but does not apply additional pulling force to the joint to avoid the interface constraint state being forcibly pushed into the second constraint state.

[0091] When performing interface fingerprint-gated fastening under impedance-controlled hoisting conditions and alternately applying pre-tightening increments while entering the steady-state holding phase, the server maintains the hoisting system in an impedance-controlled hoisting state and sets the normal direction in the joint edge coordinate system to high-damping maintenance, the tangential direction to reversible sliding maintenance, and the lateral direction to vibration suppression maintenance. This ensures that transient disturbances caused by wrench impact, fastener friction, or hole wall engagement during pre-tightening do not directly translate into normal compaction and bonding. Interface fingerprint-gated fastening refers to using the interface reversible fingerprint as the fastening permission condition and retraction trigger condition, making... The tightening mechanism shifts from torque-based to interface-state-based. Preload increment refers to adding only a small amount of preload each time, observing whether the system remains reversible after the increment. Alternating application refers to applying preload increments alternately at symmetrical positions (left-right or front-back) to control the resultant torque. To ensure a calculable cycle for alternating application—steady-state holding—reapplication, the server can discretize the target preload force sequence for each symmetrical preload pair and maintain a low-amplitude reciprocating state with zero-mean constrained perturbations at each step into the steady-state holding stage to avoid the formation of a static friction plateau. This can be expressed as:

[0092]

[0093]

[0094]

[0095] in, Indicates the first Symmetrical pre-tightening after each increment The cumulative pre-tension target, Indicates symmetrical preload pair The initial preload target, Indicates the first Subsymmetric preload The preload increment applied when selected, The choice variable is used to express the order of alternating application. Indicates the first The zero-mean constrained perturbation tangential displacement amplitude corresponding to the next increment. This indicates the upper limit of the initial low-amplitude perturbation. This represents the minimum amplitude required to maintain microslip. The above planning principle is to use discrete increments to control the reversible granularity of the pre-tightening process, and to use micro-perturbations whose amplitude gradually decreases with the number of increment steps to maintain the interface in the first constraint state of the micro-slip channel, so as to delay the formation of the irreversible constraint state as much as possible while the tightening gradually increases.

[0096] When consistency verification is performed based on interface reversibility fingerprint, hole group deviation pattern, and port misalignment distribution, and the verification result is passed, the server updates the interface reversibility fingerprint feature vector, hole group deviation pattern, and port misalignment distribution respectively after each pre-tightening increment is completed and enters the steady-state maintenance phase. It then performs a joint consistency determination with the statistical features of the previous steady-state maintenance phase. Only when the interface remains reversible, the hole group deviation does not reverse, and the misalignment distribution does not reverse, is the next pre-tightening increment allowed. Consistency verification refers to joint constraints on multiple state variables to avoid misjudgment by a single indicator. Maintaining consistency between the dominant deviation direction and dominant deviation type means that the directions of the overall translational component and the overall torsional component of the hole group do not reverse and the dominant terms do not interchange. The port misalignment distribution not reversing means that the sign of the misalignment polarity consistency index does not reverse and the peak position of the misalignment does not undergo a leapfrog migration. To ensure robustness of consistency verification under strong noise, the server can use a joint criterion of fingerprint statistical distance threshold + hole group vector angle threshold + misalignment polarity threshold, expressed as:

[0097]

[0098]

[0099]

[0100] Based on the following criteria:

[0101] in, Indicates the first The interface reversibility fingerprint feature vector obtained during the substeady-state maintenance stage and Let represent the mean and covariance matrix of the baseline interface reversibility fingerprint feature vector, respectively. Indicates the first The overall translational component of the hole group during the substeady-state maintenance stage Indicates the first The overall torsional component of the pore group during the substeady-state maintenance stage. Indicates a stable term. Indicates the first Substeady-state maintenance stage misalignment polarity consistency index Indicates the first The centroid coordinates of the peak position of the substeady-state stage are maintained. This indicates the upper limit of the allowed peak position drift. This represents the upper limit of the fingerprint statistical distance allowed under the first constraint state. and These represent the angle thresholds for consistency in translation and consistency in torsion, respectively. The above judgment principle is to use Mahalanobis distance to evaluate whether the interface has migrated from the first constraint state to the second constraint state, to use the vector angle to evaluate whether the hole group deviation mode has a dominant direction reversal, and to use the misalignment polarity and peak position to jointly evaluate whether the port misalignment distribution has a reversal, thereby strictly binding the conditions for continued pre-tightening to the still reversible physical state.

[0102] When the verification result indicates that the consistency verification has failed and triggers the gating rollback process, the server first attributes the failure type and decomposes the attribution into three categories: interface constraint anomaly, hole group deviation anomaly, and misalignment distribution anomaly. This makes the rollback action targeted rather than a general rollback. The gating rollback process includes rolling back the current pre-tightening increment, maintaining the flexible guide body from retracting, adjusting the damping level of the controllable lifting state, and performing zero-mean limited perturbation or lateral detour correction. Among these, rolling back the current pre-tightening increment means unloading the newly applied pre-tightening increment symmetrically in the reverse direction to eliminate the new interface constraints introduced by the increment. Maintaining the flexible guide body from retracting means maintaining the hole group positioning constraint to avoid loss of alignment reference. Adjusting the damping level means increasing the damping in the normal direction to suppress compaction and increasing the damping in the lateral direction to suppress swaying, while maintaining the reversible sliding channel in the tangential direction. To ensure that the rollback process has the characteristic of quantitative rollback without repeated oscillation, the server can adaptively allocate the rollback amount, damping adjustment amount, and perturbation / detour adjustment amount according to the failure type, which is expressed as follows:

[0103]

[0104]

[0105]

[0106] in, Indicates the first The amount of pre-tightening backoff triggered by the second failure. Indicates the first The next applied preload increment Indicates the type of failure The corresponding rollback ratio, Indicates the first Damping matrix of the seam edge coordinate system during the substeady-state maintenance stage This represents the damping matrix after the rollback process. Indicates the type of failure The corresponding damping enhancement coefficient, , , These represent the damping adjustment amounts in the tangential, normal, and lateral directions, respectively. This represents the comprehensive correction control quantity used to bring the system state back to consistency through the region. Indicates the type of failure The corresponding corrected strength coefficient, This represents the parameter correction amount for zero-mean constrained perturbations. This indicates the parameter correction amount for lateral deflection correction. and The distribution gain matrix represents the perturbation correction and detour correction. The above adaptive backoff principle binds the amount of backoff, the amount of damping enhancement, the use of perturbation or detour, and the failure type. This allows interface constraint anomalies to be restored to the first constraint state by increasing damping and changing the contact path through detour. Hole group deviation anomalies are restored to the hole group deviation mode by perturbation. Misalignment distribution anomalies are restored to the misalignment overturning by detour and symmetrical unloading. Thus, the system is pulled back to the reversible region where pre-tightening can continue without relying on the overall backoff.

[0107] After the consistency verification reaches the target pre-tightening state, the server gradually reduces the amplitude of the zero-mean limited perturbation while maintaining the impedance-controlled hoisting state in the target damping maintenance mode. The server defines the target pre-tightening state as the cumulative pre-tightening force of the symmetrical pre-tightening pair reaching a preset target and passing consistency verification for several consecutive steady-state maintenance stages. After reaching the target pre-tightening state, the server gradually converges the zero-mean limited perturbation from a low amplitude reciprocating through the micro-slip channel to near zero, smoothly transitioning the seam edge from a reversible slip state to a stable fit state. Simultaneously, the damping matrix of the impedance-controlled hoisting state is... The convergence to the target damping maintenance mode is used to suppress rebound and secondary oscillation during the bonding process. A stable bonding state refers to the seam edges forming stable contact in the normal direction and no longer relying on tangential micro-slippage to maintain the alignment window. The target damping maintenance mode refers to the set of high-damping maintenance parameters set to prevent external disturbances from triggering the second constraint state again during bonding. To achieve a smooth transition without inducing new impacts, the server can use a continuous decay law to anneal the perturbation amplitude and slowly renormalize the normal damping maintenance term and the tangential compliance term, expressed as:

[0108]

[0109] in, Indicates time as The amplitude of the tangential perturbation at that time, This represents the holding amplitude at the instant the target preload state is reached. This represents the minimum amplitude that is eventually approached. Indicates the amplitude annealing factor. This indicates the moment when the target pre-tension state is reached. This indicates the scheduling result of the normal direction damping parameter over time. This indicates the normal direction damping at the instant the target preload is reached. This indicates the normal direction damping corresponding to the target damping maintenance mode. The damping convergence coefficient is represented by the above transition principle, which uses exponential annealing to avoid the sudden drop in the amplitude of the micro-perturbation, causing the interface to suddenly enter adhesion from micro-slippage. At the same time, the gradual convergence of the damping parameter suppresses the normal impact caused by the pre-tightening springback during the bonding process. Thus, the hoisting and alignment of the large-span arched corrugated steel plate to be spliced ​​can be completed without relying on the overall backlash, and the risk of premature triggering of the irreversible section of the assembly path can be reduced to a controllable range.

[0110] This application also provides a hoisting and alignment device for large-span arched corrugated steel plates, referring to... Figure 2 , Figure 2This is a schematic diagram of a module for a hoisting and alignment device for a large-span arched corrugated steel plate, as provided in an embodiment of this application. The device is a server, comprising an acquisition module 21 and a processing module 22. The acquisition module 21 acquires, before the hoisting and alignment begins, the coordinate system of the corrugated steel plate components, the coordinate system of the joint edges, and the coordinate system of the hole groups, which characterize the relative assembly relationship of the large-span arched corrugated steel plates to be assembled. It then rigidly binds these coordinate systems to obtain a binding result. Micro-vibration patches and micro-displacement targets are pre-arranged on the joint edges of the large-span arched corrugated steel plates to be assembled. The processing module 22 is used during the hoisting process... The hoisting system is configured to an impedance-controllable hoisting state, and a reversible corridor constraint is constructed under this state. Through the binding results and the reversible corridor constraint, the large-span arched corrugated steel plate to be spliced ​​maintains reversible sliding capability in the tangential direction of the splice edge coordinate system, and maintains a safe clearance range in the normal direction of the splice edge coordinate system. The processing module 22 is also used to output swept-frequency micro-vibration through a micro-vibration patch and obtain the interface reversibility fingerprint. The interface reversibility fingerprint is composed of the amplitude-frequency response and phase response of the splice edge under swept-frequency micro-vibration excitation. The interface reversibility fingerprint is compared with the baseline interface reversibility fingerprint. When the interface reversibility fingerprint is determined to be in the first constraint state... When migrating to the second constraint state, the controllable driving impedance hoisting state performs lateral bypass correction to bring the seam edge back to the first constraint state, where the constraint force is less than that of the second constraint state. The processing module 22 is further configured to introduce a zero-mean constrained perturbation to perform multiple traversal samplings of the relative attitude of the seam edge while maintaining the reversible corridor constraint. In each traversal sampling, the hole group deviation pattern and port misalignment distribution are obtained based on a micro-displacement target. When it is determined that the hole group deviation pattern remains consistent during the traversal sampling, the port misalignment distribution does not flip, and the interface reversibility fingerprint maintains the first constraint state, the corresponding relative attitude is determined as the center of the insertable window. The processing module 22 is also used to control the insertion system to synchronously insert the flexible guide body to form a flexible lock based on the center posture of the insertable window, and to monitor the interface reversibility fingerprint during the insertion of the flexible guide body. When the interface reversibility fingerprint shows a migration to the second constraint state, the insertion system is controlled to trigger the flexible guide body to automatically retract and execute the zero-mean-limited perturbation to capture the new center posture of the insertable window. The flexible guide body is configured to have axial force limiting and radial clearance and has automatic retraction capability, and can be inserted into the feature holes in the hole group with a mutual distance greater than a preset distance.Processing module 22 is also used to perform interface fingerprint gating fastening after completing flexible locking. This involves alternately applying pre-tightening increments and performing consistency verification based on interface reversibility fingerprints, hole group deviation patterns, and port misalignment distribution after each pre-tightening increment. The verification results are then obtained. Based on these results, the impedance-controllable hoisting state, and zero-mean-constrained perturbations, the hoisting and alignment of the large-span arched corrugated steel plate to be spliced ​​can be completed without relying on overall retraction.

[0111] This application also provides an electronic device, with reference to... Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: at least one processor 31, at least one network interface 34, a user interface 33, a memory 35, and at least one communication bus 32.

[0112] The communication bus 32 is used to enable communication between these components.

[0113] The user interface 33 may include a display screen and a camera. Optionally, the user interface 33 may also include a standard wired interface and a wireless interface.

[0114] The network interface 34 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0115] The processor 31 may include one or more processing cores. The processor 31 connects to various parts of the server via various interfaces and lines, executing instructions, programs, code sets, or instruction sets stored in the memory 35, and calling data stored in the memory 35 to perform various server functions and process data. Optionally, the processor 31 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 31 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 31 and may be implemented as a separate chip.

[0116] The memory 35 may include random access memory (RAM) or read-only memory. Optionally, the memory 35 may include a non-transitory computer-readable storage medium. The memory 35 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 35 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 35 may also be at least one storage device located remotely from the aforementioned processor 31. Figure 3 As shown, the memory 35, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a method of hoisting and aligning a large-span arched corrugated steel plate.

[0117] exist Figure 3 In the electronic device shown, the user interface 33 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 31 can be used to call the application program stored in the memory 35 for a method of hoisting and aligning a large-span arched corrugated steel plate. When executed by one or more processors, the electronic device executes one or more methods as described in the above embodiments.

[0118] This application also provides a non-transitory computer-readable storage medium storing instructions. When executed by one or more processors, these instructions cause an electronic device to perform one or more of the methods described in the above embodiments.

Claims

1. A method for hoisting and aligning a large-span arched corrugated steel plate, characterized in that, The method includes: Before the hoisting and alignment begins, the coordinate system of the corrugated steel plate components, the coordinate system of the joint edge, and the coordinate system of the hole group are obtained to characterize the relative assembly relationship of the large-span arched corrugated steel plates to be spliced. The coordinate system of the corrugated steel plate components, the coordinate system of the joint edge, and the coordinate system of the hole group are rigidly bound to obtain the binding result. The joint edge of the large-span arched corrugated steel plate to be spliced ​​is pre-arranged with micro-vibration patches and micro-displacement targets. During the lifting process, the lifting system is configured to an impedance-controllable lifting state, and a reversible corridor constraint is constructed in the impedance-controllable lifting state. Through the binding result and the reversible corridor constraint, the large-span arched corrugated steel plate to be spliced ​​maintains reversible sliding capability in the tangential direction of the splice edge coordinate system, so as to maintain a safe gap range in the normal direction of the splice edge coordinate system. The interface reversibility fingerprint is obtained by outputting a sweep frequency micro-vibration through the micro-vibration patch. The interface reversibility fingerprint is composed of the amplitude-frequency response and phase response of the seam edge under the excitation of the sweep frequency micro-vibration. The interface reversibility fingerprint is compared with the baseline interface reversibility fingerprint. When it is determined that the interface reversibility fingerprint has migrated from the first constraint state to the second constraint state, the impedance controllable hoisting state is driven to perform lateral bypass correction so that the seam edge returns to the first constraint state. The constraint force of the first constraint state is less than the constraint force of the second constraint state. While maintaining the reversible corridor constraint, a zero-mean constrained perturbation is introduced to perform multiple traversal samplings on the relative posture of the seam edge. In each traversal sampling, the hole group deviation pattern and port misalignment distribution are obtained based on the micro-displacement target. When it is determined that the hole group deviation pattern remains consistent and the port misalignment distribution does not flip during the traversal sampling, and the interface reversibility fingerprint maintains the first constraint state, the corresponding relative posture is determined as the center posture of the insertable window, and the center of the zero-mean constrained perturbation is locked within a preset range of the center posture of the insertable window. Based on the center posture of the insertable window, the insertion system is controlled to synchronously insert a flexible guide to form a flexible lock. During the insertion of the flexible guide, the interface reversibility fingerprint is monitored. When the interface reversibility fingerprint shows a migration towards the second constraint state, the insertion system is controlled to trigger the flexible guide to automatically retract and execute the zero-mean restricted perturbation to capture the new center posture of the insertable window. The flexible guide is configured to have axial force limiting and radial clearance and has automatic retraction capability, and can be inserted into feature holes in the hole group with a mutual spacing greater than a preset distance. After completing the flexible locking, the interface fingerprint gating fastening is performed. By alternately applying pre-tightening increments and performing consistency verification based on the interface reversibility fingerprint, the hole group deviation pattern, and the port misalignment distribution after each pre-tightening increment, the verification result is obtained. Based on the verification result, the impedance controllable hoisting state, and the zero-mean restricted perturbation, the hoisting and alignment of the large-span arched corrugated steel plate to be spliced ​​is completed without relying on the overall retraction.

2. The method for hoisting and aligning a large-span arched corrugated steel plate according to claim 1, characterized in that, Before the hoisting and alignment begins, the coordinate system of the corrugated steel plate components, the coordinate system of the joint edges, and the coordinate system of the hole group are acquired to characterize the relative assembly relationship of the large-span arched corrugated steel plates to be assembled. The coordinate system of the corrugated steel plate components, the coordinate system of the joint edges, and the coordinate system of the hole group are then rigidly bound together to obtain the binding result. Specifically, this includes: The steel corrugated plate component coordinate system is established based on the design model and the actual processed object. The steel corrugated plate component coordinate system is used as the upper reference benchmark. The boundary curve is extracted along the splicing edge of the large-span arched steel corrugated plate to be spliced ​​to establish the splicing edge coordinate system. At the same time, the hole group coordinate system is established based on the geometric center distribution of the connecting holes in the splicing area. The joint edge coordinate system and the hole group coordinate system are uniformly mapped to the steel corrugated plate component coordinate system through a geometric mapping relationship to form the binding result. The binding result is used to ensure that the spatial position and orientation of the joint edge coordinate system and the hole group coordinate system remain consistent with the steel corrugated plate component coordinate system. By synchronously zero-point calibrating the micro-vibration patch and the micro-displacement target, the coordinate system of the corrugated steel plate component, the coordinate system of the joint edge, and the coordinate system of the hole group are made into a unified alignment reference state in the initial state.

3. The method for hoisting and aligning a large-span arched corrugated steel plate according to claim 1, characterized in that, During the lifting process, the lifting system is configured to an impedance-controllable lifting state, and a reversible corridor constraint is constructed under this state. Through the binding result and the reversible corridor constraint, the large-span arched corrugated steel plate to be spliced ​​maintains reversible sliding capability in the tangential direction of the joint edge coordinate system, thereby maintaining a safe clearance range in the normal direction of the joint edge coordinate system. Specifically, this includes: During the lifting process, the motion control coordinates of the lifting system are uniformly mapped to the joint edge coordinate system, and the lifting system is configured to the impedance-controllable lifting state based on the binding result. By setting different equivalent compliance and equivalent damping in the tangential direction, normal direction and lateral direction of the joint edge coordinate system respectively, the tangential direction has reversible sliding capability, the normal direction is limited to the safety clearance range, and the lateral direction is limited to the damping constraint that suppresses swaying. The reversible corridor constraint is constructed under the impedance-controllable hoisting state. The reversible corridor constraint is jointly composed of the safety gap interval constraint in the normal direction and the reversible sliding interval constraint in the tangential direction. Based on the micro-displacement target, the gap change in the normal direction and the relative displacement in the tangential direction are monitored in real time. When the monitoring result deviates from the safe gap range or the reversible sliding range, the equivalent compliance and equivalent damping of the impedance-controllable hoisting state are dynamically adjusted so that the large-span arched corrugated steel plate to be spliced ​​maintains the tangential reversible sliding capability during the hoisting and approaching the splicing joint and avoids entering the compacted and bonded state in the normal direction.

4. The method for hoisting and aligning a large-span arched corrugated steel plate according to claim 1, characterized in that, The process involves outputting sweep-frequency micro-vibration through the micro-vibration patch and acquiring an interface reversible fingerprint. This reversible fingerprint is composed of the amplitude-frequency response and phase response of the seam edge under sweep-frequency micro-vibration excitation. The reversible fingerprint is compared with a baseline interface reversible fingerprint. When it is determined that the reversible fingerprint has migrated from a first constraint state to a second constraint state, the impedance-controlled hoisting state is driven to perform lateral bypass correction to return the seam edge to the first constraint state. Specifically, this includes: By controlling the micro-vibration patch to output sweep frequency micro-vibration along the tangential direction of the seam edge coordinate system, and obtaining the dynamic response data of the seam edge under the excitation of sweep frequency micro-vibration based on the micro-displacement target, the baseline interface reversible fingerprint is formed. Under the impedance-controllable hoisting state, the same sweep frequency range and excitation direction are output for sweep frequency micro-vibration, and the interface reversibility fingerprint is acquired in real time; The interface reversible fingerprint is compared with the baseline interface reversible fingerprint. When it is determined that the interface reversible fingerprint exhibits migration characteristics from the first constraint state to the second constraint state in terms of response amplitude distribution or response phase continuity, the impedance controllable hoisting state is driven to perform lateral bypass correction based on the binding result to change the contact path of the seam edge. During the lateral deflection correction, the interface reversibility fingerprint is updated. When the interface reversibility fingerprint returns to the first constraint state, the lateral deflection correction is terminated and the seam edge is returned to the interface state where the reversible sliding capability has not been reduced, so as to suppress the formation of the irreversible constraint state.

5. The method for hoisting and aligning a large-span arched corrugated steel plate according to claim 1, characterized in that, While maintaining the reversible corridor constraint, a zero-mean constrained perturbation is introduced to perform multiple traversal samplings of the relative posture of the seam edge. In each traversal sampling, the hole group deviation pattern and port misalignment distribution are obtained based on the micro-displacement target. When it is determined that the hole group deviation pattern remains consistent and the port misalignment distribution does not flip during the traversal sampling, and the interface reversibility fingerprint maintains the first constraint state, the corresponding relative posture is determined as the center posture of the insertable window, and the center of the zero-mean constrained perturbation is locked within a preset range of the center posture of the insertable window. Specifically, this includes: While maintaining the reversible corridor constraint, the zero-mean restricted perturbation is mapped to the seam edge coordinate system and limited to a tangential reciprocating translation component and a reciprocating yaw component around the normal axis, so that the cumulative displacement and cumulative angle of the zero-mean restricted perturbation in each perturbation cycle are both zero, while the amplitude and velocity of the zero-mean restricted perturbation are restricted not to exceed the safety gap range and the first constraint state. Multiple cross-sampling operations are performed under the zero-mean constrained perturbation, and the hole group deviation pattern and the port misalignment distribution are obtained based on the micro-displacement target in each cross-sampling operation. The hole group deviation pattern is used to characterize the combined characteristics of the overall translational component and the overall torsional component of the hole group, and the port misalignment distribution is used to characterize the misalignment polarity and peak position of the joint edge along the arch direction. During multiple sampling passes, when it is determined that the dominant deviation direction of the hole group deviation mode is consistent with the dominant deviation type, the port misalignment distribution has not been flipped, and the interface reversibility fingerprint maintains the first constraint state, the relative posture of the corresponding seam edge is determined as the center posture of the insertable window, and the center of the zero-mean restricted perturbation is locked within the preset range of the center posture of the insertable window, so that subsequent hoisting and alignment operations can be performed around the center posture of the insertable window while maintaining reversible sliding capability.

6. The method for hoisting and aligning a large-span arched corrugated steel plate according to claim 1, characterized in that, Based on the center pose of the insertable window, the insertion system is controlled to synchronously insert a flexible guide to form a flexible lock. During the insertion of the flexible guide, the interface reversibility fingerprint is monitored. When the interface reversibility fingerprint shows a migration towards the second constraint state, the insertion system is controlled to trigger the flexible guide to automatically retract and execute the zero-mean constrained perturbation to capture the new center pose of the insertable window. Specifically, this includes: Based on the center posture of the insertable window, the motion control reference of the insertion system is mapped to the coordinate system of the hole group, and the insertion system is controlled to insert the flexible guide into the feature holes in the hole group with a spacing greater than the preset distance in a synchronous insertion mode. The flexible guide is in a flexible working state and has axial force limiting characteristics and radial clearance characteristics, so as to form flexible constraints on the overall translation and overall torsion of the hole group during the insertion process. During the insertion of the flexible guide, the micro-vibration patch outputs a sweep frequency micro-vibration and monitors the interface reversible fingerprint in real time. When the interface reversible fingerprint maintains the first constraint state, the flexible guide is allowed to continue insertion to form a flexible lock. When the interface reversible fingerprint migrates to the second constraint state, the insertion system is controlled to trigger the flexible guide to enter an automatic retraction state to cancel the formed local lock. After the flexible guide completes automatic retraction, a zero-mean constrained perturbation is performed to capture the new center attitude of the insertable window, so that the flexible locking process is dynamically coupled with the interface constraint state and the irreversible constraint state is avoided during the insertion phase.

7. The method for hoisting and aligning a large-span arched corrugated steel plate according to claim 1, characterized in that, After completing the flexible locking, interface fingerprint gating fastening is performed. This involves alternately applying pre-tightening increments and, after each increment, performing consistency verification based on the interface reversibility fingerprint, the hole group deviation pattern, and the port misalignment distribution. The verification results are then obtained. Based on these results, the impedance-controllable hoisting state, and the zero-mean-constrained perturbation, the hoisting and alignment of the large-span arched corrugated steel plate to be assembled is completed without relying on overall retraction. Specifically, this includes: After completing the flexible locking, the fastening object is limited to a set of fastening holes bound to the hole group coordinate system, and based on the binding result, the set of fastening holes is mapped to a symmetrical pre-tightening pair symmetrically distributed around the geometric center of the hole group, while keeping the flexible guide in a flexible working state and providing positioning constraints without providing forced pulling constraints. In the impedance-controllable hoisting state, interface fingerprint gating fastening is performed by alternately applying pre-tightening increments according to the symmetrical pre-tightening, and entering a steady-state holding stage after each pre-tightening increment is applied. In the steady-state holding stage, the amplitude of the zero-mean limited perturbation is maintained in a reciprocating state and the interface reversibility fingerprint, hole group deviation mode and port misalignment distribution are continuously acquired. Consistency verification is performed based on the interface reversibility fingerprint, the hole group deviation pattern, and the port misalignment distribution. When the interface reversibility fingerprint maintains the first constraint state, the dominant deviation direction of the hole group deviation pattern is consistent with the dominant deviation type, and the port misalignment distribution does not flip, the verification result is determined to be passed and the next pre-tightening increment is applied. When the verification result indicates that the consistency verification has failed, the corresponding gating rollback process is triggered according to the type of failure. The gating rollback process includes rolling back the current pre-tightening increment, maintaining the flexible guide body from exiting, adjusting the damping level of the impedance-controllable hoisting state, and performing zero-mean limited perturbation or lateral detour correction so that the interface reversible fingerprint, hole group deviation mode and port misalignment distribution return to the state that meets the consistency verification. After the consistency verification reaches the target pre-tightening state, the amplitude of the zero-mean restricted perturbation is gradually reduced and the impedance controllable hoisting state is kept in the target damping maintenance mode, so that the splice edge smoothly transitions from the reversible sliding state to the stable fitting state, so as to complete the hoisting and alignment of the large-span arched steel corrugated plate to be spliced ​​without relying on the overall retraction.

8. A hoisting and alignment device for a large-span arched corrugated steel plate, characterized in that, The device is used to perform the hoisting and alignment method for large-span arched corrugated steel plates as described in any one of claims 1 to 7. The device includes an acquisition module and a processing module, wherein... The acquisition module is used to acquire the steel corrugated plate component coordinate system, splice edge coordinate system, and hole group coordinate system to characterize the relative assembly relationship of the large-span arched steel corrugated plates to be spliced ​​before the hoisting and alignment begins, and to rigidly bind the steel corrugated plate component coordinate system, splice edge coordinate system, and hole group coordinate system to obtain the binding result. The splice edge of the large-span arched steel corrugated plate to be spliced ​​is pre-arranged with micro-vibration patches and micro-displacement targets. The processing module is used to configure the hoisting system to an impedance-controllable hoisting state during the hoisting process, and to construct a reversible corridor constraint in the impedance-controllable hoisting state. Through the binding result and the reversible corridor constraint, the large-span arched corrugated steel plate to be spliced ​​maintains reversible sliding capability in the tangential direction of the splice edge coordinate system, so as to maintain a safe gap range in the normal direction of the splice edge coordinate system. The processing module is further configured to output swept-frequency micro-vibration through the micro-vibration patch and obtain interface reversibility fingerprint. The interface reversibility fingerprint is composed of the amplitude-frequency response and phase response of the seam edge under swept-frequency micro-vibration excitation. The interface reversibility fingerprint is compared with the baseline interface reversibility fingerprint. When it is determined that the interface reversibility fingerprint has migrated from the first constraint state to the second constraint state, the impedance-controllable hoisting state is driven to perform lateral bypass correction so that the seam edge returns to the first constraint state. The constraint force of the first constraint state is less than the constraint force of the second constraint state. The processing module is further configured to, while maintaining the reversible corridor constraint, introduce a zero-mean constrained perturbation to perform multiple cross-sampling of the relative posture of the seam edge, and obtain the hole group deviation pattern and port misalignment distribution based on the micro-displacement target in each cross-sampling. When it is determined that the hole group deviation pattern remains consistent and the port misalignment distribution does not flip during the cross-sampling, and the interface reversibility fingerprint maintains the first constraint state, the corresponding relative posture is determined as the center posture of the insertable window, and the center of the zero-mean constrained perturbation is locked within a preset range of the center posture of the insertable window. The processing module is further configured to control the insertion system to synchronously insert a flexible guide to form a flexible lock based on the center posture of the insertable window, and to monitor the interface reversibility fingerprint during the insertion of the flexible guide. When the interface reversibility fingerprint shows a migration toward the second constraint state, the module controls the insertion system to trigger the flexible guide to automatically retract and execute the zero-mean constrained perturbation to capture a new center posture of the insertable window. The flexible guide is configured to have axial force limiting and radial clearance and automatic retraction capability, and can be inserted into feature holes in a group of holes with a spacing greater than a preset distance. The processing module is further configured to perform interface fingerprint gating fastening after completing flexible locking, and to perform consistency verification based on the interface reversibility fingerprint, the hole group deviation pattern and the port misalignment distribution after each pre-tightening increment by alternately applying pre-tightening increments, thereby obtaining verification results. Based on the verification results, the impedance controllable hoisting state and the zero-mean restricted perturbation, the hoisting and alignment of the large-span arched corrugated steel plate to be spliced ​​can be completed without relying on overall retraction.

9. An electronic device, characterized in that, The electronic device includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions. The user interface and the network interface are both used to communicate with other devices. The processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores instructions that, when executed, perform the method as described in any one of claims 1 to 7.

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