Method and apparatus for measurement of spacecraft loading period alignment conditions

Abstract

This invention provides a measurement method and device for alignment during spacecraft loading cycles, including the following steps: S1: Initial docking of the launch tube and the spacecraft support device; S2: Measuring the Z-axis deviation between the launch tube guide rail and the support device guide rail; S3: Measuring the Y-axis deviation between the launch tube guide rail and the support device guide rail; S4: Adjusting the Y and Z-axis attitudes of the launch tube; S5: The visual measurement module captures an initial image of the launch tube guide rail end face and extracts key feature points; S6: Mounting the spacecraft onto the support device guide rail; S7: Taking a photograph of the launch tube guide rail end face, extracting key feature points, and comparing the positions of the key feature points with those in the initial photograph, adjusting the Z-axis attitude of the launch tube; S8: Comparing the key feature points captured by the visual measurement module with those in the initial photograph. This application has the effect of improving product quality stability and assembly process reliability, and reducing the probability of risk occurrence.

Description

Technical Field

[0001] This invention belongs to the field of spacecraft assembly measurement technology in aerospace technology, specifically, it relates to a measurement method and equipment for spacecraft loading cycle alignment. Background Technology

[0002] Aerospace products consist of a spacecraft and a launch tube. The spacecraft is located inside the launch tube and supported by guide rails within the tube. The launch tube provides a suitable environment for the spacecraft's transportation and storage. Assembly involves connecting the various segments of the spacecraft to form the spacecraft. The spacecraft is then docked with the launch tube, achieving high-precision alignment between the support equipment guide rails and the launch tube guide rails. Finally, it is assembled into the launch tube, where it undergoes mechanical and electrical integration. The alignment of the support equipment guide rails with the launch tube guide rails directly affects the product's warranty performance.

[0003] Patent application CN110823170B discloses a method for attitude adjustment and docking of large sections of a launch vehicle based on binocular vision measurement, including the following steps: Step 1, establishing a global coordinate system; Step 2, establishing local coordinate systems for two docking sections; Step 3, establishing an assembly coordinate system and determining the transformation relationship matrix between the two local coordinate systems and the assembly coordinate system; Step 4, establishing a virtual attitude adjustment coordinate system; Step 5, determining the control quantities of each attitude adjustment control point in the assembly coordinate system. This invention proposes a series of coordinate system calibration and transformation methods based on binocular vision-guided automated assembly, and distributes the control quantities obtained from visual measurement to each motion axis, realizing rapid calibration of the visual measurement system for section docking, thereby achieving the purpose of measurement and motion control.

[0004] However, traditional measuring tools, such as those used in patent application CN110823170B, are simple ruler fixtures. The measurement method involves placing the simple ruler fixture on the cylinder (box) guide rail and the support equipment guide rail, and visually observing the alignment of the left, right, and center working surfaces of the guide rail. All parameter measurements rely on operator experience, resulting in low accuracy, poor docking reliability, and a risk of quality issues related to loading collisions. Furthermore, during the spacecraft loading process into the launch tube, the presence of the spacecraft makes it impossible to measure the docking accuracy between the support equipment guide rail and the launch tube guide rail, creating a blind spot.

[0005] To improve the quality stability and assembly reliability of such products and reduce the probability of risks, more reliable measurement methods and equipment are being developed. Therefore, this invention designs a measurement method and equipment for spacecraft loading cycle alignment, solving the aforementioned problems. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the purpose of this invention is to provide a measurement method and device for spacecraft loading cycle alignment.

[0007] According to the present invention, a measurement method for alignment during spacecraft loading cycles includes the following steps:

[0008] Step S1: First, perform initial docking between the launch tube and the spacecraft support equipment, so that the launch tube guide rail and the support equipment guide rail are docked in the X direction;

[0009] Step S2: Place the laser measurement module above the launch tube guide rail and the support equipment guide rail, scan the feature surfaces of the upper end faces of the launch tube guide rail and the support equipment guide rail, and measure the Z-axis deviation of the launch tube guide rail and the support equipment guide rail.

[0010] Step S3: The lateral movement module drives the laser measurement module to move in the Y direction, while scanning the working surfaces on the launch tube guide rail and the support equipment guide rail to measure the Y-axis deviation of the launch tube guide rail and the support equipment guide rail.

[0011] Step S4: Adjust the Y and Z orientations of the launch tube so that the launch tube guide rail and the support device guide rail are aligned in the Y and Z directions;

[0012] Step S5: The vision measurement module captures the initial image of the launch tube guide rail end face, which is then processed by the photo processing module to extract key feature points and confirm the YZ coordinate values ​​of the key feature points relative to the vision measurement module.

[0013] Step S6: Mount the spacecraft onto the support equipment rails;

[0014] Step S7: Take a picture of the end face of the launch tube guide rail, extract key feature points, compare the position of key feature points with the initial picture, and adjust the Z-axis attitude of the launch tube.

[0015] Step S8: During the process of the spacecraft being loaded into the launch tube, the vision measurement module takes pictures of the end face of the launch tube guide rail, compares them with the key feature points of the initial picture, and adjusts the position changes in the Y and Z directions until the loading is completed.

[0016] According to the present invention, a measuring device for spacecraft loading cycle alignment is provided, and a measuring method for spacecraft loading cycle alignment is adopted, including: a pre-loading measuring unit and a loading process measuring unit; an XYZ three-dimensional spatial coordinate system is established along the horizontal space; a support device guide rail and a launch tube guide rail extend along the X direction and are set on the device;

[0017] The pre-loading measurement unit includes an erection and retraction module, a lateral pre-jacking module, a lateral movement module, a steering module, a laser measurement module, and a PLC. The erection and retraction module is movably mounted on the support equipment guide rail in the direction of approach or distance. The lateral pre-jacking module is mounted on the erection and retraction module and has a movable end extending toward the support equipment guide rail. The lateral movement module is located on the movable end of the support equipment guide rail, and the movement accuracy of the movable end of the lateral movement module, which is in the same direction as the lateral pre-jacking module, is greater than that of the movable end of the lateral pre-jacking module. The steering module is located on the movable end of the lateral movement module and has a rotating end with its axis perpendicular to the extension direction of the support equipment guide rail. The laser measurement module is located on the rotating end of the steering module and faces the support equipment guide rail. The PLC is electrically connected to the laser measurement module.

[0018] The filling process measurement unit includes a vision measurement module and a photo processing module; the vision measurement module is set on the support equipment guide rail and faces the end face of the launch tube guide rail; the photo processing module is electrically connected to the vision measurement module.

[0019] Preferably, the two support equipment guide rails are arranged parallel to each other along the Y direction, the cross-section of the support equipment guide rail is h-shaped, the top of the h-shape is located on the side of the two support equipment guide rails that are far apart, and the top of the h-shape extends towards the direction of mutual approach, and the top surface of the h-shaped extension end of the support equipment guide rail is a feature surface parallel to the XY plane.

[0020] Preferably, the two launch tube guide rails are arranged parallel to each other along the Y direction at one end of the support equipment guide rail, the top of the projection of the launch tube guide rail along the X direction is coplanar with the feature surface, and the projection of the launch tube guide rail along the X direction is wider than the support equipment guide rail where it bends to form a key feature point.

[0021] Preferably, the bottom of the support equipment guide rail is provided with a support frame, and the bottom of the support frame is connected to at least two sets of rollers that roll on the ground, and at least two sets of heavy-duty feet that are spirally connected to the support frame.

[0022] Preferably, the erection and retraction module includes an erection cylinder and a connecting plate; the erection cylinder is installed on the side of the support equipment guide rail, and the front end is externally connected to the connecting plate; the bottom end (fixed end) of the erection cylinder is rotatably connected to the bottom of the support frame along the Y direction; the connecting plate is rotatably connected to the top of the erection cylinder along the X direction.

[0023] Preferably, the transverse pre-top module includes a mounting plate, a sliding cylinder, and a movable base; the support frame is provided with two rotating slots spaced apart along the X direction near the guide rail of the supporting equipment, one end of the mounting plate is rotatably connected between the two rotating slots, and the other end extends radially along the rotating end; the connecting plate is fixed in the middle of the mounting plate, and the erecting cylinder can drive the mounting plate to rotate up and down around the rotating shaft.

[0024] Preferably, the lateral movement module is mounted on the moving base, and the lateral movement module includes a linear servo electric cylinder and a servo motor; one end of the linear servo electric cylinder is fixed to the moving base, and the other end slides along the direction of the mounting plate; the servo motor is fixed to the fixed end of the linear servo electric cylinder, and the output shaft of the servo motor is screwed to the sliding end of the linear servo electric cylinder.

[0025] Preferably, the steering module includes a steering cylinder and a working plate. The fixed end of the steering cylinder is fixed to the movable end of the linear servo electric cylinder, and the rotating end of the steering cylinder rotates around the fixed end of the steering cylinder, with the rotation axis perpendicular to the feature surface. The working plate is fixed to the rotating end of the steering cylinder.

[0026] The laser measurement module is a line laser sensor, which is fixed at the lower end of the working plate. When the laser is irradiated, the laser shines on the guide rail of the transmitting tube and the guide rail of the supporting equipment respectively.

[0027] Preferably, the filling process measuring unit further includes a magnetic base;

[0028] The vision measurement modules are installed on the opposite sides of the guide rails supporting the equipment; the vision measurement modules scan the outer end faces of the guide rails on both sides.

[0029] The magnetic base is fitted onto the outside of the vision measurement module, and the magnetic base is magnetically attracted to the side of the guide rail supporting the equipment.

[0030] The photo processing module is an industrial computer, which is electrically connected to the vision measurement module, and the line laser sensor is electrically connected to the PLC.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] This invention provides a method and equipment for measuring the alignment of a spacecraft throughout its loading cycle. By using a pre-loading measurement unit and a loading process measurement unit, it achieves full-life monitoring of the spacecraft loading cycle, realizing automation and digitalization, improving the quality stability of such products and the reliability of the assembly process, and reducing the probability of risk occurrence. Attached Figure Description

[0033] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0034] Figure 1 This is a schematic diagram of the retracted state of a measuring device used for aligning a spacecraft during the loading cycle, according to an embodiment of the present invention.

[0035] Figure 2 This is a schematic diagram of the measurement state in an embodiment of the present invention.

[0036] Figure 3This is a flowchart of the measurement method for alignment of a spacecraft during the loading cycle, as described in this invention.

[0037] Figure 4 This is a schematic diagram of the waveform of the measurement unit before loading, as shown in the figure.

[0038] Figure 5 This is a schematic diagram of the key feature points of the photograph and the laser measurement feature code surface captured by the measurement unit during the filling process of this invention.

[0039] The diagram shows: S10, Pre-loading measurement unit; S20, Loading process measurement unit; 1, Guide rail side; 2, Erection cylinder; 3, Connecting plate; 4, Mounting plate; 5, Rotary groove; 6, Rotating shaft; 7, Slide table cylinder; 8, Moving base; 9, Servo motor; 10, Linear servo electric cylinder; 11, Laser measurement module; 12, Working plate; 13, Steering cylinder; 14, Magnetic base; 15, Vision measurement module; 16, PLC; 17, Photo processing module; 18, Launch tube guide rail; 19, Supporting equipment guide rail; 20, Key feature points; 21, Feature surface. Detailed Implementation

[0040] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0041] like Figures 1-5 As shown, a method for measuring alignment during a spacecraft loading cycle includes the following steps:

[0042] Step S1: First, perform initial docking between the launch tube and the spacecraft support equipment, so that the launch tube guide rail 18 and the support equipment guide rail 19 are docked in the X direction;

[0043] Step S2: Place the laser measurement module 11 above the launch tube guide rail 18 and the support equipment guide rail 19, scan the feature surface 21 of the upper end face of the launch tube guide rail 18 and the support equipment guide rail 19, and measure the Z-direction deviation of the launch tube guide rail 18 and the support equipment guide rail 19.

[0044] Step S3: The lateral movement module drives the laser measurement module 11 to move in the Y direction, while scanning the working surfaces on the launch tube guide rail 18 and the support equipment guide rail 19 to measure the Y-direction deviation of the launch tube guide rail 18 and the support equipment guide rail 19.

[0045] Step S4: Adjust the Y and Z orientations of the launch tube so that the launch tube guide rail 18 and the support device guide rail 19 are aligned in the Y and Z directions;

[0046] Step S5: The visual measurement module 15 captures the initial image of the end face of the launch tube guide rail 18, which is then processed by the photo processing module 17 to extract key feature points 20 and confirm the YZ coordinate values ​​of the key feature points 20 relative to the visual measurement module.

[0047] Step S6: Mount the spacecraft onto the support equipment rail 19;

[0048] Step S7: Take a picture of the end face of the launch tube guide rail 18, extract key feature points 20, and compare the position of key feature points 20 with the initial picture to adjust the Z-axis attitude of the launch tube.

[0049] Step S8: During the process of the spacecraft being loaded into the launch tube, the visual measurement module 15 takes a picture of the end face of the launch tube guide rail 18 and compares it with the key feature points 20 of the initial picture. The position changes in the Y and Z directions are adjusted until the loading is completed.

[0050] The method specifically refers to directly measuring the Z-axis deviation of the launch tube guide rail 18 and the support equipment guide rail 19 based on laser measurement technology, measuring the Y-axis deviation of the launch tube guide rail 18 and the support equipment guide rail 19 by using a high-precision servo motor 9 in combination with laser measurement waveform changes, and comparing the instantaneous image with the reference image by using a vision measurement module 15 to detect the assembly accuracy during the spacecraft loading process.

[0051] This embodiment also provides a measurement device for alignment during a spacecraft loading cycle, including: a pre-loading measurement unit S10 and a loading process measurement unit S20. A three-dimensional XYZ spatial coordinate system is established along the horizontal space. A support rail 19 and a launch tube rail 18 extend along the X direction and are mounted on the device.

[0052] The pre-loading measurement unit S10 includes an erection and retraction module, a lateral pre-jacking module, a lateral movement module, a steering module, a laser measurement module 11, and a PLC 16. The erection and retraction module is movably mounted on the support equipment guide rail 19 along the direction of approach or distance. The lateral pre-jacking module is mounted on the erection and retraction module and has a movable end extending toward the support equipment guide rail 19. The lateral movement module is located at the movable end of the support equipment guide rail 19, and the movement accuracy of the movable end of the lateral movement module, which is aligned with the lateral pre-jacking module, is greater than that of the lateral pre-jacking module. The steering module is located at the movable end of the lateral movement module and has a rotating end whose axis is perpendicular to the extension direction of the support equipment guide rail 19. The laser measurement module 11 is located on the rotating end of the steering module and faces the support equipment guide rail 19. The PLC 16 is electrically connected to the laser measurement module 11.

[0053] The loading process measurement unit S20 includes a vision measurement module 15 and a photo processing module 17. The vision measurement module 15 is disposed on the support equipment guide rail 19 and faces the end face of the launch tube guide rail 18; the photo processing module 17 is electrically connected to the vision measurement module 15.

[0054] The working principle of this application is as follows: the measurement method is as follows: at the beginning of the scan, the laser measurement module 11 is projected onto the middle of the guide rail, and the measurement result shows a valley alignment state, that is, the laser does not scan the guide rail; the lateral movement module drives the laser measurement module 11 to move in the Y direction, which means moving from the middle to the left / right. When the laser can fall on a single guide rail, that is, the Y-direction protruding guide rail, the Y-direction scanning result shows a valley on one side and a peak on the other side. At this time, the position parameter 1 of the moving device is recorded. Continue to move and scan. When the laser can fall on two guide rails, that is, the Y-direction protruding guide rail and the concave guide rail are scanned at the same time, the Y-direction scanning result shows a peak on both sides. At this time, the position parameter 2 of the moving device is recorded. The distance difference between position parameter 1 and position parameter 2 is the offset in the Y direction; at the same time, the difference between the peaks on both sides of the launch tube guide rail 18 and the support equipment guide rail 19 represents the height difference between the two guide rails.

[0055] Two supporting equipment guide rails 19 are arranged parallel to each other along the Y direction. The cross-section of the supporting equipment guide rails 19 is h-shaped, with the top of the h-shape located on the side of the two supporting equipment guide rails 19 that is far apart, and the top of the h-shape extends towards the direction of mutual approach. The top surface of the extended end of the h-shape of the supporting equipment guide rail 19 is a feature surface 21 parallel to the XY plane. Two launching tube guide rails 18 are arranged parallel to each other along the Y direction at one end of the supporting equipment guide rails 19. The top of the projection of the launching tube guide rail 18 along the X direction groove 5 is coplanar with the feature surface 21. The launching tube guide rail 18 is bent at the point where its projection width along the X direction is greater than that of the supporting equipment guide rail 19, forming a key feature point 20, which is the intersection of two straight lines in the cross-section of the launching tube guide rail 18. The bottom of the supporting equipment guide rail 19 is provided with a support frame, and the bottom of the support frame is connected to at least two sets of rollers that roll on the ground, and at least two sets of heavy-duty feet that are spirally connected to the support frame.

[0056] The erection and retraction module includes an erection cylinder 2 and a connecting plate 3; the erection cylinder 2 is installed on the side of the support equipment guide rail 19, and the front end is externally connected to the connecting plate 3; the bottom fixed end of the erection cylinder 2 is rotatably connected to the bottom of the support frame along the Y direction; the connecting plate 3 is rotatably connected to the top of the erection cylinder 2 along the X direction, i.e., the telescopic end.

[0057] The lateral pre-top module includes a mounting plate 4, a sliding cylinder 7, and a movable base 8. Two rotating slots 5 are spaced apart along the X-direction near the support frame's guide rail 19. One end of the mounting plate 4 is rotatably connected between the two rotating slots 5, and the other end extends radially along the rotating end. A connecting plate 3 is fixed to the middle of the mounting plate 4. The erecting cylinder 2 can drive the mounting plate 4 to rotate upwards and downwards around the rotating shaft 6. In the retracted state, the mounting plate 4 rotates downwards and fits against the support frame, and the lateral pre-top module is in a retracted state, ensuring no contact with the side of the spacecraft. The fixed end of the sliding cylinder 7 is fixed to the extending direction of the mounting plate 4; the movable base 8 is fixed to the movable end of the sliding cylinder 7.

[0058] The lateral movement module is mounted on the moving base 8. The lateral movement module includes a linear servo electric cylinder 10 and a servo motor 9. One end of the linear servo electric cylinder 10 is fixed to the moving base 8, and the other end slides along the direction of the mounting plate 4. The servo motor 9 is fixed to the fixed end of the linear servo electric cylinder 10, and the output shaft of the servo motor 9 is screwed to the sliding end of the linear servo electric cylinder 10.

[0059] The laser measurement module is mounted on the sliding end of the linear servo electric cylinder 10 via a steering module. The steering module includes a steering cylinder 13 and a working plate 12. The fixed end of the steering cylinder 13 is fixed to the movable end of the linear servo electric cylinder 10, and the rotating end of the steering cylinder 13 rotates around the fixed end of the steering cylinder 13, with the rotation axis perpendicular to the feature surface 21. The working plate 12 is fixed to the rotating end of the steering cylinder 13.

[0060] The laser measurement module 11 is a line laser sensor, which is fixed to the lower end of the working plate 12. When the laser is irradiated, the laser irradiates the transmitter tube guide rail 18 and the support equipment guide rail 19 respectively. The direction of the laser line is parallel to the length direction of the guide rail, and the length of the line falling on each guide rail is not less than 30mm.

[0061] The filling process measurement unit S20 also includes a magnetic base 14.

[0062] The vision measurement module 15 is installed on the opposite side of the two supporting equipment guide rails 19. The vision measurement module 15 scans the side surface 1 of the outer end face of the two launching tube guide rails 18.

[0063] The magnetic base 14 is mounted on the outside of the vision measurement module 15, and the magnetic base 14 is magnetically attracted to the side 1 of the guide rail 19 supporting the equipment.

[0064] The photo processing module 17 is an industrial control computer, which is electrically connected to the vision measurement module 15, and the line laser sensor is electrically connected to the PLC 16.

[0065] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0066] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for measuring alignment during spacecraft loading cycles, characterized in that the steps include... include: Step S1: First, perform initial docking between the launch tube and the spacecraft support equipment, so that the launch tube guide rail (18) and the support equipment guide rail (19) are docked in the X direction; Step S2: Place the laser measurement module (11) above the launch tube guide rail (18) and the support equipment guide rail (19), scan the feature surface (21) of the upper end face of the launch tube guide rail (18) and the support equipment guide rail (19), and measure the Z-direction deviation of the launch tube guide rail (18) and the support equipment guide rail (19). Step S3: The lateral movement module drives the laser measurement module (11) to move in the Y direction, and at the same time scans the working surfaces on the launch tube guide rail (18) and the support equipment guide rail (19) to measure the Y-direction deviation of the launch tube guide rail (18) and the support equipment guide rail (19). Step S4: Adjust the Y and Z orientations of the launch tube so that the launch tube guide rail (18) and the support device guide rail (19) are aligned in the Y and Z directions; Step S5: The visual measurement module (15) captures the initial image of the end face of the launch tube guide rail (18), which is then processed by the photo processing module (17) to extract key feature points (20) and confirm the YZ coordinate values ​​of the key feature points (20) relative to the visual measurement module. Step S6: Mount the spacecraft onto the support equipment rail (19); Step S7: Take a picture of the end face of the launch tube guide rail (18), extract key feature points (20), compare the position of key feature points (20) with the initial picture, and adjust the attitude of the launch tube in the Z direction; Step S8: During the process of the spacecraft being loaded into the launch tube, the visual measurement module (15) takes a picture of the end face of the launch tube guide rail (18) and compares it with the key feature points (20) of the initial picture. The position changes in the Y and Z directions are adjusted until the loading is completed.

2. A measuring device for spacecraft loading cycle alignment, employing the measuring method for spacecraft loading cycle alignment as described in claim 1, characterized in that, include: Pre-loading measurement unit (S10) and loading process measurement unit (S20); an XYZ three-dimensional spatial coordinate system is established along the horizontal space; the support equipment guide rail (19) and the launch tube guide rail (18) extend along the X direction and are set on the equipment; The pre-loading measurement unit (S10) includes an erection and retraction module, a lateral pre-topping module, a lateral movement module, a steering module, a laser measurement module (11), and a PLC (16). The erection and retraction module is movably mounted on the support equipment guide rail (19) in the direction of approach or distance. The lateral pre-topping module is mounted on the erection and retraction module and has a movable end extending toward the support equipment guide rail (19). The lateral movement module is mounted on the movable end of the support equipment guide rail (19), and the moving accuracy of the movable end of the lateral movement module, which is mounted in the same direction as the lateral pre-topping module, is greater than the moving accuracy of the movable end of the lateral pre-topping module. The steering module is mounted on the movable end of the lateral movement module and has a rotating end with its axis perpendicular to the extending direction of the support equipment guide rail (19). The laser measurement module (11) is mounted on the rotating end of the steering module and is positioned toward the support equipment guide rail (19). The PLC (16) is electrically connected to the laser measurement module (11). The loading process measurement unit (S20) includes a visual measurement module (15) and a photo processing module (17); the visual measurement module (15) is disposed on the support device guide rail (19) and facing the end face of the launch tube guide rail (18); the photo processing module (17) is electrically connected to the visual measurement module (15).

3. The measuring device for spacecraft loading cycle alignment according to claim 2, characterized in that, The two support equipment guide rails (19) are arranged parallel to each other along the Y direction. The cross-section of the support equipment guide rail (19) is h-shaped. The top of the h-shaped rail is located on the side of the two support equipment guide rails (19) that are far apart. The top of the h-shaped rail extends towards the direction of mutual approach. The top surface of the h-shaped extension end of the support equipment guide rail (19) is a feature surface (21) parallel to the XY plane.

4. The measuring device for spacecraft loading cycle alignment according to claim 3, characterized in that, The two launch tube guide rails (18) are arranged parallel to each other along the Y direction at one end of the support equipment guide rail (19). The top of the projection of the launch tube guide rail (18) along the X direction groove (5) is coplanar with the feature surface (21). The launch tube guide rail (18) along the X direction is bent at a point where its projection is wider than the support equipment guide rail (19) to form a key feature point (20).

5. The measuring device for spacecraft loading cycle alignment according to claim 4, characterized in that, The bottom of the support equipment guide rail (19) is provided with a support frame, and the bottom of the support frame is connected to at least two sets of rollers that roll on the ground, and at least two sets of heavy-duty feet that are spirally connected to the support frame.

6. The measuring device for spacecraft loading cycle alignment according to claim 5, characterized in that, The erection and retraction module includes an erection cylinder (2) and a connecting plate (3); the erection cylinder (2) is installed on the side of the support equipment guide rail, and the front end is connected to the connecting plate (3); the bottom end of the erection cylinder (2) is rotatably connected to the bottom of the support frame along the Y direction; the connecting plate (3) is rotatably connected to the top of the erection cylinder (2) along the X direction.

7. The measuring device for spacecraft loading cycle alignment according to claim 6, characterized in that, The horizontal pre-top module includes a mounting plate (4), a sliding cylinder (7), and a movable base (8); the support frame is provided with two rotating slots (5) spaced apart along the X direction near the support equipment guide rail (19), one end of the mounting plate (4) is rotatably connected between the two rotating slots (5), and the other end extends radially along the rotating end; the connecting plate (3) is fixed in the middle of the mounting plate (4), and the erecting cylinder (2) can drive the mounting plate (4) to rotate upward and downward around the rotating shaft (6).

8. The measuring device for spacecraft loading cycle alignment according to claim 7, characterized in that, The lateral movement module is mounted on the moving base (8). The lateral movement module includes a linear servo electric cylinder (10) and a servo motor (9). One end of the linear servo electric cylinder (10) is fixed to the moving base (8), and the other end slides along the direction of the mounting plate (4). The servo motor (9) is fixed to the fixed end of the linear servo electric cylinder (10), and the output shaft of the servo motor (9) is screwed to the sliding end of the linear servo electric cylinder (10).

9. The measuring device for spacecraft loading cycle alignment according to claim 8, characterized in that, The steering module includes a steering cylinder (13) and a working plate (12). The fixed end of the steering cylinder (13) is fixed to the movable end of the linear servo electric cylinder (10). The rotating end of the steering cylinder (13) rotates around the fixed end of the steering cylinder (13), and the rotation axis is perpendicular to the feature surface (21). The working plate (12) is fixed to the rotating end of the steering cylinder (13). The laser measurement module (11) is a line laser sensor. The line laser sensor is fixed at the lower end of the working plate (12). When the laser is irradiated, the laser irradiates the transmitter tube guide rail (18) and the support equipment guide rail (19) respectively.

10. The measuring device for spacecraft loading cycle alignment according to claim 9, characterized in that, The filling process measurement unit (S20) also includes a magnetic base (14); The visual measurement module (15) is installed on the side of the two supporting equipment guide rails (19) that are far apart from each other; the visual measurement module (15) scans the side surface (1) of the outer end face of the two launching tube guide rails (18); The magnetic base (14) is sleeved on the outside of the vision measurement module (15), and the magnetic base (14) is magnetically attracted to the side (1) of the guide rail (19) supporting the equipment. The photo processing module (17) is an industrial computer, which is electrically connected to the vision measurement module (15), and the line laser sensor is electrically connected to the PLC (16).

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