Method of installing a membrane containment system for a liquid cargo tank

Abstract

The application relates to the field of liquid natural gas storage and transportation, in particular to a liquid cargo tank film enclosure system installation method, which comprises the following steps: determining sampling points of each bulkhead corner area of a liquid cargo tank, and obtaining first spatial coordinates of the sampling points; determining first fitting planes corresponding to the sampling points of each bulkhead according to the first spatial coordinates; in the case that at least one sampling point is not coplanar with the first fitting plane and is located on the inner side of the first fitting plane which faces the bulkhead, the first fitting plane is translated to the inner side of the bulkhead to obtain a second fitting plane. According to the second fitting plane, a sticking material is arranged on the bulkhead corresponding to the second fitting plane to form an installation plane which is coincident with the second fitting plane on the inner side of the bulkhead which faces the sticking material; and the film enclosure system is laid on the sticking material along the installation plane. The installation method provided by the application can improve the installation quality of the film enclosure system.

Description

Technical Field

[0001] This application relates to the field of liquefied natural gas storage and transportation technology, and in particular to a method for installing a membrane enclosure system for liquefied cargo tanks. Background Technology

[0002] Currently, before constructing a marine liquefied natural gas (LNG) cargo tank, it is usually necessary to pre-design a rigid body model corresponding to the cargo tank, and then carry out construction based on the specific construction parameters given by the rigid body model.

[0003] However, during construction, deviations inevitably occur between the constructed cargo tank and the pre-designed rigid model. For example, during welding, the cargo tank may deform due to thermal deformation or material shrinkage, resulting in uneven tank walls and other problems.

[0004] Therefore, when laying adhesive materials and installing membrane containment systems on cargo tank bulkheads, it is necessary to level the adhesive materials to obtain a flat installation surface. Determining the ideal installation surface based on the actual construction of the liquid cargo tank has become a critical technical problem that urgently needs to be solved in current liquid cargo tank construction processes. Summary of the Invention

[0005] This application provides a method for installing a liquid cargo tank membrane enclosure system. The following describes this application from multiple aspects, and the embodiments and beneficial effects of the following aspects can be referenced each other.

[0006] In a first aspect, this application provides a method for installing a membrane enclosure system for a liquid cargo tank. The method includes: determining sampling points in the corner areas of each tank wall of the liquid cargo tank and obtaining first spatial coordinates of the sampling points; determining a first fitting plane corresponding to the sampling points of each tank wall based on the first spatial coordinates; corresponding to each tank wall, if at least one sampling point is not coplanar with the first fitting plane and is located on the side of the first fitting plane facing the inside of the tank wall, translating the first fitting plane inward to the inside of the tank wall to obtain a second fitting plane, wherein at least one sampling point is located on the second fitting plane corresponding to the tank wall, and / or on the side of the second fitting plane facing the outside of the tank wall; according to the second fitting plane, setting an adhesive material on the tank wall corresponding to the second fitting plane to form an installation plane that coincides with the second fitting plane on the side of the adhesive material facing the inside of the tank wall; and laying the membrane enclosure system on the adhesive material along the installation plane.

[0007] According to this implementation method, the installation plane of the adhesive material can be determined based on the spatial coordinates of the sampling points in the corner area of ​​the liquid cargo tank wall, and the installation process of the membrane enclosure system can be realized.

[0008] In one implementation of the first aspect, the sampling point is separated from the corner point of the corresponding corner region by a first distance, which is a positive number greater than or equal to 50 mm.

[0009] In one implementation of the first aspect, target spheres are set at sampling points in the corner areas of each cargo tank wall, and a second distance between each target sphere and the laser rangefinder is obtained using a laser rangefinder. A spatial rectangular coordinate system is established with the spatial position of the laser rangefinder as the origin, and the first spatial coordinates of each sampling point are determined based on the second distance. In another implementation of the first aspect, a first fitting plane passes through the centroid corresponding to the sampling point; the second spatial coordinates of the bulkhead centroid are obtained based on the first spatial coordinates; the normal vector of the first fitting plane is determined based on the first and second spatial coordinates; and the first fitting plane is determined based on the normal vector and the centroid.

[0010] In one implementation of the first aspect, the first spatial coordinates include multiple coordinate components of the sampling point in space: the average value of the coordinate components of each sampling point is taken, and the average value is used as the second spatial coordinates corresponding to the centroid.

[0011] In one implementation of the first aspect, the first spatial coordinates are centered based on the second spatial coordinates to obtain the third spatial coordinates; the coordinate matrix corresponding to the third spatial coordinates is determined, and the covariance matrix corresponding to the coordinate matrix is ​​determined; the covariance matrix is ​​eigenvalued to obtain multiple eigenvalues ​​corresponding to the covariance matrix, and the eigenvector corresponding to the smallest eigenvalue is determined as the normal vector of the first fitting plane.

[0012] In one implementation of the first aspect, the positive direction of the normal vector points towards the inside of the bulkhead; the maximum distance between at least one sampling point located on the first fitting plane facing the inside of the bulkhead and the first fitting plane is determined as the target distance; the first fitting plane is translated along the positive direction of the normal vector by the target distance to obtain the second fitting plane.

[0013] In one implementation of the first aspect, the included angle between the second fitting planes corresponding to any two opposing bulkheads is less than 5 degrees.

[0014] In one implementation of the first aspect, the adhesive material includes resin putty.

[0015] In one implementation of the first aspect, the thickness of the resin mortar is determined based on the distance between the second fitting plane and the corresponding bulkhead; the resin mortar is then laid on the surface of the bulkhead according to the thickness; and the resin mortar is leveled so that the surface of the resin mortar facing the inside of the bulkhead coincides with the second fitting plane, forming an installation plane. Attached Figure Description

[0016] Figure 1 An exemplary flowchart illustrating the installation method of the liquid cargo tank membrane enclosure system provided in this application embodiment;

[0017] Figure 2This is a structural schematic diagram of a liquid cargo tank provided in an embodiment of this application;

[0018] Figure 3 A schematic diagram of the corner sampling points of the bulkhead provided in the embodiments of this application;

[0019] Figure 4 This is a schematic diagram of the first fitting plane translation process provided in the embodiments of this application. Detailed Implementation

[0020] The embodiments of this application include, but are not limited to, a method for installing a membrane enclosure system for a liquid cargo tank. The method provided by the embodiments of this application can provide a flat installation surface for the membrane enclosure system even when the flatness of the liquid cargo tank wall is poor, thereby ensuring the installation quality and sealing reliability of the membrane enclosure system.

[0021] The installation method of the liquid cargo tank membrane enclosure system provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0022] Figure 1 This is an exemplary flowchart illustrating the installation method of the liquid cargo tank membrane containment system provided in this application embodiment. (Refer to...) Figure 1 The method for installing the liquid cargo tank membrane enclosure system proposed in this application includes:

[0023] S100: Determine the sampling points in the corner areas of each compartment wall of the liquid cargo tank, and obtain the first spatial coordinates of the sampling points.

[0024] It is understood that a liquid cargo tank is a container used to transport liquid loads, including liquid hydrogen, liquid ammonia, or liquefied natural gas, etc., which are not limited in this application.

[0025] like Figure 2 As shown, a liquid cargo tank can be represented by a decahedral structure 100, which can be formed by splicing together multiple bulkheads (e.g., a first bulkhead 110, a second bulkhead 120, or a third bulkhead 130). Therefore, at the splicing point of two or three adjacent bulkheads, a first corner region 101 of the bulkhead is formed.

[0026] It is understandable that, since the liquid cargo tank can be represented by a polyhedral structure, the first spatial coordinates of the sampling points in the corner region of the tank can be used to represent the spatial coordinates of the corresponding polyhedral corner region of the liquid cargo tank.

[0027] Specifically, the sampling points in the corner area of ​​the bulkhead are as follows: Figure 3 As shown, the first bulkhead 110 has eight corner regions. Taking the first corner region 101 as an example, the sampling point corresponding to the first corner region 101 is the first sampling point 102, and the corner point corresponding to the first corner region 101 is the corner point 103. The distance between the first sampling point 102 and the corner point 103 is the first distance 121.

[0028] It is understandable that, since the spatial coordinates of the sampling points in the corner area need to be collected, devices such as target balls and laser tracking reflectors that occupy a certain amount of space need to be installed in the corner area, the sampling points are usually not set directly at the corner points, but rather some space is reserved for the installation of the sampling equipment. Therefore, the first distance 121 between the first sampling point 102 and the corner point 103 of the corresponding corner area is a positive number greater than or equal to 50 mm, such as 50 mm, 55 mm, 60 mm or 80 mm, which is not limited in this application.

[0029] In some embodiments, in order to obtain the first spatial coordinates of the sampling points, target spheres can be set at the sampling points in the corner areas of each compartment wall of the liquid cargo tank, and the second distance between each target sphere and the laser rangefinder can be obtained according to the laser rangefinder.

[0030] As can be understood, a target ball is a reflectance measurement marker with a standard geometric shape (usually a high-precision sphere) and its surface is coated with a high-reflectivity coating (such as aluminum dioxide, magnesium fluoride, etc.), which can reflect the incident laser back to its original position along the original path.

[0031] As can be understood, a laser rangefinder is an optoelectronic measuring device that uses the principle of laser pulse or phase measurement to measure distance. It can accurately measure the distance between the rangefinder and the object being measured. In the embodiments of this application, the laser rangefinder emits a laser beam and receives the echo signal reflected by the target ball, and obtains a second distance between the laser rangefinder and the target ball based on the laser flight time or phase difference.

[0032] It is understandable that after obtaining the second distance, a spatial rectangular coordinate system can be established with the spatial position of the laser rangefinder as the origin, and the first spatial coordinates of each sampling point can be determined based on the second distance.

[0033] It is understandable that when measuring the second distance using a laser rangefinder as described above, the angles between the laser beam and the three coordinate axes in a Cartesian coordinate system can be recorded simultaneously. Thus, the projection of the second distance onto the three coordinate axes, i.e., the first spatial coordinates of the sampling point, can be determined using the angles between the laser beam and the three coordinate axes.

[0034] S110: Determine the first fitting plane corresponding to each bulkhead based on the first spatial coordinates.

[0035] It is understandable that due to processing errors, welding deformations, and assembly deviations during the manufacturing and assembly of liquid cargo tanks, the actual constructed bulkheads are not ideal absolute planes. Based on this, a first fitted plane corresponding to each bulkhead can be fitted using the first spatial coordinates of the sampling points obtained in S100.

[0036] It is understood that the first fitting plane can be determined in various ways. In the embodiments of this application, the first fitting plane is a plane that passes through the centroids of multiple sampling points, and whose normal vector is determined by the spatial distribution characteristics of the multiple sampling points.

[0037] Therefore, in order to obtain the first fitting plane, the second spatial coordinates of the bulkhead's center of mass must first be obtained.

[0038] In some embodiments, the second spatial coordinates of the bulkhead's centroid can be represented by formula (1), specifically, formula (1) includes:

[0039] (1);

[0040] in, It is the centroid of multiple sampling points on bulkhead C. The x-coordinate of the centroid. The y-coordinate of the centroid. The z-coordinate of the centroid. It is the average of the x-axis coordinates of multiple sampling points. It is the average of the y-axis coordinates of multiple sampling points. It is the average value of the z-axis coordinates of multiple sampling points. , and The calculation method can be expressed by the following formulas (2) to (4), specifically, formulas (2) to (4) include:

[0041] (2);

[0042] (3);

[0043] (4);

[0044] in, , , Center of mass The x, y, and z coordinates of the i-th sampling point, where n is the number of corner points on the bulkhead.

[0045] It is understandable that after obtaining the first spatial coordinates and the second spatial coordinates, the normal vector of the first fitting plane can be determined by principal component analysis based on the first spatial coordinates and the second spatial coordinates.

[0046] It is understandable that the coordinate values ​​used in principal component analysis are decentralized coordinate values. Therefore, the first spatial coordinates can be decentralized based on the second spatial coordinates to obtain the third spatial coordinates.

[0047] For example, in the case of n=4, in order to obtain the normal vector, the covariance matrix corresponding to the sampling point must first be obtained. The covariance matrix can be determined by the vector formed by the decentralized coordinates of the sampling point on the x-axis, y-axis and z-axis.

[0048] For example, These represent the decentralized x-coordinates of the first to fourth sampling points on bulkhead C, where... For example, decentralized computation can be represented by formula (5), specifically, formula (5) includes:

[0049] = - (5);

[0050] in, It is the value obtained by decentering the x-coordinate of the first sampling point 102 on bulkhead C. It is the x-coordinate of the first sampling point 102 on bulkhead C. This is the x-coordinate of the center of mass on bulkhead C. The x-coordinate of a sample point can be decentered by subtracting the x-coordinate of the center of mass from its x-coordinate. Similarly, the y-coordinate of a sample point can be decentered by subtracting the y-coordinate of the center of mass from its y-coordinate, and the y-coordinate of a sample point can be decentered by subtracting the y-coordinate of the center of mass from its y-coordinate.

[0051] It is understandable that the above centering operation can avoid the influence of coordinate translation on the calculation result of the covariance matrix, ensuring that the covariance matrix only reflects the relative dispersion between sampling points rather than absolute position information.

[0052] It is understandable that after decentralizing the first spatial coordinates to obtain the third spatial coordinates, the coordinate matrix corresponding to the third spatial coordinates can be determined, as well as the covariance matrix corresponding to the coordinate matrix.

[0053] In some embodiments, the vector formed by the coordinates of the sampling points on the x-axis, y-axis, and z-axis can be represented by formulas (6) to (8). Specifically, formulas (6) to (8) include:

[0054] (6);

[0055] (7);

[0056] (8);

[0057] in, The vector formed by the x-axis coordinates of multiple sampling points on the bulkhead C; The vector formed by the y-axis coordinates of multiple sampling points on the bulkhead C; The vector formed by the z-axis coordinates of multiple sampling points on the bulkhead C.

[0058] After obtaining , and After that, it can be based on , and Determine the matrix M as shown in formula (9), where M is the centered coordinate matrix. Specifically, formula (9) includes:

[0059] (9);

[0060] After obtaining the decentralized coordinate matrix, the covariance matrix N corresponding to the bulkhead C can be determined based on the coordinate matrix. The covariance matrix can be represented by formula (10), specifically, formula (10) includes:

[0061] (10);

[0062] in, Let covariance matrix be the variance matrix. for The transpose of the matrix, , and These are the x-axis, y-axis, and z-axis coordinates of the sampling point, respectively.

[0063] After obtaining the covariance matrix as shown in formula (10), the covariance matrix can be eigenvalued to obtain multiple eigenvalues ​​corresponding to the covariance matrix, and the eigenvector corresponding to the smallest eigenvalue can be determined as the normal vector of the first fitting plane.

[0064] For example, formula (11) is the normal vector of the first fitting plane corresponding to the minimum eigenvalue mentioned above. Specifically, formula (11) includes:

[0065] ( (11);

[0066] Thus, the first fitting plane corresponding to the bulkhead C can be obtained based on the normal vector. Equation (12), specifically, equation (12) includes:

[0067] (12);

[0068] in, , , These are the projection lengths of the normal vector corresponding to the smallest eigenvalue onto the x-axis, y-axis, and z-axis, respectively. , and Let be the coordinates of the center of mass of the bulkhead C.

[0069] S120: For each bulkhead, if at least one sampling point is not coplanar with the first fitting plane and is located on the side of the first fitting plane facing the inside of the bulkhead, the first fitting plane is translated towards the inside of the bulkhead to obtain the second fitting plane.

[0070] like Figure 4 As shown, the first plane 210 represents the first fitting plane. The fourth bulkhead 220 represents bulkhead C. Due to unavoidable errors during the construction of the bulkhead, the fourth bulkhead 220 experienced a bending problem at the second corner region 230 during construction. Therefore, the first sampling point 102, the third sampling point 212, the fourth sampling point 213, and the fifth sampling point 214 on bulkhead C can be located on the first plane 210, and / or located on... outside.

[0071] Among them, the third sampling point 212, the fourth sampling point 213 and the fifth sampling point 214 are located in the first fitting plane. The sampling point on the side facing outwards from the bulkhead, the second sampling point 211 is located on the first fitting plane. Sampling points facing the inside of the bulkhead.

[0072] It is understandable that there exist sampling points located on the first fitting plane. When facing the side inside the bulkhead (e.g., the second sampling point 211), since the second corner region 230 intersects with the first plane 210, the first plane 210 cannot be directly used as the installation plane for the membrane enclosure system. Therefore, the first plane 210 must be translated inwards towards the bulkhead to obtain the second fitting plane, namely the second plane 240. Corresponding to the second plane 240, the sampling points of each bulkhead are located on the second plane 240 corresponding to the bulkhead, and / or on the side of the second fitting plane facing outwards from the bulkhead.

[0073] In some embodiments, the moving distance of the first plane 210 is the target distance, and the moving direction of the first plane 210 is the normal vector direction.

[0074] In some embodiments, the method for obtaining the target distance includes: determining the maximum distance between at least one sampling point located on the first fitting plane facing the inner side of the bulkhead and the first fitting plane as the target distance. The normal vector can be represented by formula (11) obtained in S110, which will not be elaborated here.

[0075] For example, Figure 4 At least one sampling point located on the first plane 210 facing the inner side of the bulkhead, and the sampling point with the maximum distance from the first fitting plane is the second sampling point 211. Thus, the distance between the second sampling point 211 and the first plane 210 can be determined as the target distance. The first plane 210 is translated by the target distance along the positive direction of the normal vector to obtain the second plane 240, so that all sampling points are located on the second plane 240, and / or in the space on the outer side of the bulkhead of the second plane 240.

[0076] It is understandable that for two opposing bulkheads, their respective second fitting planes should also meet parallelism requirements. Specifically, the angle between the two second fitting planes should be less than 5 degrees. If the angle is greater than or equal to 5 degrees, it indicates that the structural deviation of the cargo tank itself has exceeded the allowable range that can be remedied by the installation plane corresponding to the second fitting plane.

[0077] S130: According to the second fitting plane, adhesive material is applied to the bulkhead corresponding to the second fitting plane to form an installation plane that coincides with the second fitting plane on the inner side of the bulkhead facing the adhesive material.

[0078] It is understandable that, since the membrane enclosure system cannot be directly installed on the bulkhead of the cargo tank, it is necessary to apply an adhesive material to the surface of the bulkhead and then install the membrane enclosure system onto the adhesive material to complete the installation of the membrane system on the cargo tank. The adhesive material can be resin putty, and this application does not limit its application to this.

[0079] Specifically, the methods for determining the mounting surface include:

[0080] S131: Determine the thickness of the resin putty based on the distance between the second fitting plane and the corresponding bulkhead.

[0081] It is understandable that, due to the unevenness or localized bumps on the surface of the bulkhead, the second fitting plane is not equidistant from the bulkhead surface at every point. Therefore, before laying the resin mortar, it is necessary to determine the thickness of the resin mortar at each location to ensure that the surface of the resin mortar facing the inside of the bulkhead can coincide with the second fitting plane after curing.

[0082] S132: Depending on the thickness of the mortar, apply resin putty to the surface of the bulkhead.

[0083] In some embodiments, resin putty can be coated or sprayed onto the bulkhead surface according to the thickness of the putty at each measurement location. For areas with a large putty thickness, multiple layers can be applied, with the thickness of each layer controlled within a preset range (e.g., not exceeding 10 mm) to avoid problems such as sagging, bubbles, or uneven curing caused by excessive thickness in a single application. For areas with a small putty thickness, a single application or local scraping can be used.

[0084] S133: Level the resin putty so that the surface of the resin putty facing the inside of the bulkhead coincides with the second fitting plane to form an installation plane.

[0085] It is understandable that the resin putty is in an uncured or semi-cured state after application. At this time, its surface shape can be adjusted by leveling so that the surface facing the inside of the bulkhead coincides with the second fitting plane.

[0086] In some embodiments, a scraper, trowel, or special leveling tool may be used to smooth and trim the surface of the resin putty along the direction of the second fitting plane.

[0087] It is understandable that the leveling operation can be performed on the resin putty in multiple stages. After each leveling, the flatness of the resin putty surface can be checked, for example, by using tools such as a ruler, level, or laser flatness tester, to determine whether the deviation between the resin putty surface and the second fitted plane meets the preset tolerance requirements.

[0088] In some embodiments, the preset tolerance requirement is ±2mm. If a local deviation is found to exceed the preset tolerance, local replenishment or scraping can be performed before the resin putty has cured until the requirement is met.

[0089] In this way, by laying resin putty on the surface of the bulkhead and leveling it, the virtual plane of the second fitting plane can be materialized into a physical installation plane that can be directly laid on the membrane enclosure system, thereby ensuring the installation quality and sealing performance of the membrane enclosure system.

[0090] S140: Lay a film enclosure system along the mounting plane on the adhesive material.

[0091] The membrane enclosure system may include a primary shielding layer, a secondary shielding layer, and a corresponding insulation layer. Each layer is laid sequentially on the installation surface and fixed by welding or bonding.

[0092] It should be noted that the terminology used in the embodiment section of this application is only for explaining specific embodiments of this application and is not intended to limit this application. In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the positional relationship between the sampling point and the fitting plane, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. In addition, in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, "at least one" or "one or more" means one, two or more.

[0093] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0094] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0095] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. A method for installing a membrane enclosure system for a liquid cargo tank, characterized in that, The method includes: Determine the sampling points in the corner areas of each compartment wall of the liquid cargo tank, and obtain the first spatial coordinates of the sampling points; Based on the first spatial coordinates, determine the first fitting plane corresponding to the sampling point of each of the bulkheads; For each of the aforementioned bulkheads, if at least one sampling point is not coplanar with the first fitting plane and is located on the side of the first fitting plane facing the inside of the bulkhead, the first fitting plane is translated towards the inside of the bulkhead to obtain a second fitting plane, wherein the at least one sampling point is located on the second fitting plane corresponding to the bulkhead, or is located on the side of the second fitting plane facing the outside of the bulkhead. According to the second fitting plane, adhesive material is applied to the bulkhead corresponding to the second fitting plane to form an installation plane that coincides with the second fitting plane on the inner side of the adhesive material facing the bulkhead; The film enclosure system is laid on the adhesive material along the mounting plane; The first fitting plane passes through the centroid corresponding to the sampling point; determining the first fitting plane corresponding to the sampling point of each of the bulkheads based on the first spatial coordinates includes: Based on the first spatial coordinates, obtain the second spatial coordinates of the bulkhead's center of mass; Based on the first spatial coordinates and the second spatial coordinates, determine the normal vector of the first fitting plane; The first fitting plane is determined based on the normal vector and the centroid.

2. The method according to claim 1, characterized in that, The sampling point is separated from the corner point of the corresponding corner area by a first distance, which is a positive number greater than or equal to 50 mm.

3. The method according to claim 2, characterized in that, The step of determining sampling points in the corner areas of each compartment wall of the liquid cargo tank and obtaining the first spatial coordinates of the sampling points includes: Target spheres are set at sampling points in the corner areas of each compartment wall of the liquid cargo tank, and the second distance between each target sphere and the laser rangefinder is obtained according to the laser rangefinder. A spatial rectangular coordinate system is established with the spatial position of the laser rangefinder as the origin, and the first spatial coordinates of each sampling point are determined according to the second distance.

4. The method according to claim 1, characterized in that, The first spatial coordinates include multiple coordinate components of the sampling point in space. Obtaining the second spatial coordinates of the bulkhead's centroid based on the first spatial coordinates includes: The average value of the coordinate components of each sampling point is taken, and the average value is used as the second spatial coordinates corresponding to the centroid.

5. The method according to claim 1, characterized in that, Determining the normal vector of the first fitting plane based on the first spatial coordinates and the second spatial coordinates includes: Based on the second spatial coordinates, the first spatial coordinates are decentered to obtain the third spatial coordinates; Determine the coordinate matrix corresponding to the third spatial coordinates, and determine the covariance matrix corresponding to the coordinate matrix; Eigenvalues ​​of the covariance matrix are obtained by performing eigenvalue decomposition on the covariance matrix. The eigenvector corresponding to the smallest eigenvalue is then determined as the normal vector of the first fitting plane.

6. The method according to claim 1, characterized in that, The positive direction of the normal vector points towards the inside of the bulkhead; corresponding to each of the bulkheads, when at least one sampling point is not coplanar with the first fitting plane and is located where the first fitting plane faces the inside of the bulkhead, the first fitting plane is translated towards the inside of the bulkhead to obtain a second fitting plane, including: The maximum distance between at least one sampling point located on the first fitting plane facing the inside of the bulkhead and the first fitting plane is determined as the target distance; The first fitting plane is translated by the target distance along the positive direction of the normal vector to obtain the second fitting plane.

7. The method according to claim 6, characterized in that, The angle between the second fitting planes corresponding to any two opposing bulkheads is less than 5 degrees.

8. The method according to claim 1, characterized in that, The adhesive material includes resin putty.

9. The method according to claim 8, characterized in that, The step of applying adhesive material to the bulkhead corresponding to the second fitting plane, so as to form an installation plane coinciding with the second fitting plane on the inner side of the bulkhead, includes: The thickness of the resin putty is determined based on the distance between the second fitted plane and the corresponding bulkhead. According to the specified thickness, resin putty is laid on the surface of the bulkhead; The resin putty is leveled so that the surface of the resin putty facing the inner side of the bulkhead coincides with the second fitting plane, forming the installation plane.

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