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 the spatial coordinates of a plurality of sampling points on target bulkheads; determining a first fitting plane corresponding to each target bulkhead, and respectively determining a first target sampling point and a second target sampling point located on the two sides of the first fitting plane and farthest from the first fitting plane; determining a first candidate plane passing through the first target sampling point and a second candidate plane passing through the second target sampling point; determining a target plane orientation which makes the plane distance minimum, adjusting the plane orientations of the first candidate plane and the second candidate plane to the target plane orientation, and obtaining a first target plane and a second target plane; setting a sticking material on the target bulkhead to form an installation plane coinciding with the second target plane; and laying a film enclosure system 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 liquid cargo tank includes multiple tank walls. The method includes: determining multiple sampling points on a target tank wall among the multiple tank walls and obtaining the spatial coordinates of the sampling points; determining a first fitting plane corresponding to each target tank wall based on the spatial coordinates of the sampling points, and determining a first target sampling point and a second target sampling point located on both sides of the first fitting plane and farthest from the first fitting plane; determining a first candidate plane passing through the first target sampling point and a second candidate plane passing through the second target sampling point, wherein the second candidate plane is located inside the first candidate plane and parallel to the first candidate plane, and each sampling point is located between or above the first candidate plane and the second candidate plane; determining the plane spacing between the first candidate plane and the second candidate plane, and determining the target plane orientation that minimizes the plane spacing; adjusting the plane orientation of the first candidate plane and the second candidate plane to the target plane orientation to obtain the first target plane and the second target plane; setting an adhesive material on the target tank wall according to the second target plane to form an installation plane that coincides with the second target plane on the surface of the adhesive material facing the inside of the target tank wall; and laying a 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 on the bulkhead of the liquid cargo tank, and the installation process of the membrane enclosure system can be realized.

[0008] In one implementation of the first aspect, target spheres are set at the locations of multiple sampling points on the target bulkhead, and the distance between each target sphere and the laser rangefinder is obtained by using a laser rangefinder; a spatial rectangular coordinate system is established with the spatial position of the laser rangefinder as the origin, and the spatial coordinates of each sampling point are determined according to the distance between the target sphere and the laser rangefinder.

[0009] In one implementation of the first aspect, based on the least squares method, the spatial plane corresponding to the target bulkhead is fitted according to the spatial coordinates of the sampling points to obtain a first fitting plane; a first set of points and a second set of points located on both sides of the first fitting plane are determined, wherein the first set of points is located outside the first fitting plane and the second set of points is located inside the first fitting plane; in the first set of points and the second set of points, the first target sampling point and the second target sampling point that are farthest from the first fitting plane are determined respectively.

[0010] In one implementation of the first aspect, a first normal vector of the first fitting plane is determined; the first fitting plane is translated along the first normal vector to the inside and outside of the first fitting plane, respectively, to obtain a first candidate plane passing through the first target sampling point and a second candidate plane passing through the second target sampling point.

[0011] In one implementation of the first aspect, a common normal vector of the first candidate plane and the second candidate plane is determined based on their plane orientations; the correlation between the common normal vector and the plane spacing is determined; a target normal vector that minimizes the plane spacing is determined based on the correlation, and the direction of the target normal vector is determined as the target plane orientation; the plane orientations of the first candidate plane and the second candidate plane are synchronously adjusted to the target plane orientation using the first target sampling point and the second target sampling point as fulcrums.

[0012] In one implementation of the first aspect, the direction of the common normal vector is iteratively adjusted based on the correlation to reduce the interplanar spacing; the common normal vector corresponding to the minimum interplanar spacing is determined as the target normal vector.

[0013] In one implementation of the first aspect, the gradient of the plane spacing with respect to the common normal vector is determined based on the correlation; and the direction of the normal vector is adjusted in the direction of the fastest gradient descent based on the steepest descent method.

[0014] In one implementation of the first aspect, the angle between the second target plane and the first fitting plane is less than 5 degrees.

[0015] In one implementation of the first aspect, the adhesive material includes resin putty.

[0016] In one implementation of the first aspect, the thickness of the resin mortar is determined based on the distance between the second target plane and the corresponding bulkhead; the resin mortar is then laid on the surface of the bulkhead according to the thickness; the resin mortar is leveled so that the surface of the resin mortar facing the inside of the bulkhead coincides with the second target plane, forming an installation plane. Attached Figure Description

[0017] Figure 1 An exemplary flowchart illustrating the installation method of the liquid cargo tank membrane enclosure system provided in this application embodiment;

[0018] Figure 2 This is a structural schematic diagram of a liquid cargo tank provided in an embodiment of this application;

[0019] Figure 3 A schematic diagram of a candidate plane provided for an embodiment of this application;

[0020] Figure 4 A schematic diagram of the target plane provided in the embodiments of this application. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] 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:

[0024] S110: Determine multiple sampling points on the target bulkhead among multiple bulkheads, and obtain the spatial coordinates of the sampling points.

[0025] 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.

[0026] like Figure 2 As shown, a liquid cargo tank can be represented by a decahedral structure 100, wherein the decahedral structure 100 can be formed by splicing together multiple bulkheads (e.g., bulkhead 110, bulkhead 120 or bulkhead 130).

[0027] It is understood that the liquid cargo tank membrane enclosure system installation method provided in this application can be used to install the membrane enclosure system on any one of the above-mentioned multiple tank walls. Therefore, in the following description, this application will use one of the tank walls as an example of the target tank wall to introduce the liquid cargo tank membrane enclosure system installation method provided in the embodiments of this application.

[0028] It is understandable that, since the target bulkhead is a solid structure, in order for the electronic equipment to determine the installation plane of the membrane enclosure system on the target bulkhead through subsequent methods, it is first necessary to determine the geometric data of the target bulkhead in space.

[0029] It is understood that, in some embodiments, the aforementioned geometric data can be determined using the spatial coordinates of sampling points on the target bulkhead. These sampling points are pre-defined markers on the target bulkhead used to obtain the spatial coordinates of their locations.

[0030] It is understood that the number of sampling points can be M, where M is a positive integer greater than or equal to 3, such as 3, 5, 10, 20 or 30, and this application does not limit it.

[0031] It is understood that the more sampling points there are, the more accurate the fitting of the target bulkhead will be. In some embodiments, the above M sampling points can be randomly set on the target bulkhead, while in other embodiments, the above M sampling points can be evenly distributed on the target bulkhead. This application does not limit this.

[0032] In some embodiments, the spatial location of the target bulkhead can be determined using a target sphere and a laser rangefinder.

[0033] As can be understood, a target sphere 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.). It is capable of reflecting the incident laser back to its original position along the original path.

[0034] 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 this embodiment, the laser rangefinder can be set at the aforementioned fixed point, emitting a laser beam and receiving the echo signal reflected by the target ball, and obtaining the distance between the laser rangefinder and the target ball based on the laser flight time or phase difference.

[0035] It is understandable that after obtaining the distance between the laser rangefinder and the target ball, a spatial rectangular coordinate system can be established with the spatial position of the laser rangefinder as the origin, and the spatial coordinates of each sampling point can be determined based on the distance between the laser rangefinder and the target ball.

[0036] It is understandable that when measuring the distance between the laser rangefinder and the target ball 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 distance between the laser rangefinder and the target ball onto the three coordinate axes, i.e., the spatial coordinates of the sampling point, can be determined using the angles between the laser beam and the three coordinate axes.

[0037] S120: Based on the spatial coordinates of the sampling points, determine the first fitting plane corresponding to the target bulkhead, and determine the first target sampling point and the second target sampling point located on both sides of the first fitting plane and farthest from the first fitting plane.

[0038] It is understandable that, due to the unavoidable manufacturing or assembly errors during the construction of the target bulkhead, the multiple sampling points on the target bulkhead obtained in S110 are not coplanar in space. Therefore, a virtual plane with the smallest average distance from these sampling points can be fitted using the spatial coordinates of the sampling points, which is the first fitted plane in S120.

[0039] It is understood that the method of fitting the first fitting plane corresponding to the target bulkhead by the spatial coordinates of the sampling points may include the least squares method or the principal component analysis method, and this application does not limit it here.

[0040] In this embodiment, the spatial plane corresponding to the target bulkhead can be fitted based on the least squares method according to the spatial coordinates of the sampling points to obtain a first fitted plane. The first fitted plane can be represented by formula (1). Specifically, formula (1) includes:

[0041] Ax (1);

[0042] Where A, B, and C are the components of the normal vector of the first fitting plane on the X-axis, Y-axis, and Z-axis, respectively, and D is the directed distance from the first fitting plane to the origin.

[0043] It can be understood that the above sampling points can be on or outside the first fitting plane. Since the first fitting plane divides the three-dimensional space into two parts, the sampling points located outside the first fitting plane can be determined as the first point set and the second point set located on both sides of the first fitting plane.

[0044] For ease of understanding, in this application, the first point set is located outside the first fitting plane, and the second point set is located inside the first fitting plane. The outside of the first fitting plane is the side facing the exterior of the liquid cargo tank, and the inside of the first fitting plane is the side facing the interior of the liquid cargo tank.

[0045] It is understandable that all the above sampling points can form an envelope range. Since the first fitting plane divides the sampling points into two different point sets, the first fitting plane is located within the above envelope range.

[0046] It is understandable that, since the first fitting plane is located within the envelope of the sampling points, the first fitting plane cannot be directly used as the installation plane for the membrane enclosure system. It is also necessary to determine a plane outside the envelope of the sampling points that corresponds to the first fitting plane as the installation plane.

[0047] It is understandable that, in order to determine the envelope range of the sampling points, the first target sampling point and the second target sampling point that are farthest from the first fitting plane can be determined in the first point set and the second point set, respectively.

[0048] In some embodiments, the distance between the sampling point and the first fitting plane can be calculated using formula (2), specifically, formula (2) includes:

[0049] (2);

[0050] in, Let x be the x-coordinate of the i-th sampling point. Let y be the y-coordinate of the i-th sampling point. Let z be the z-coordinate of the i-th sampling point. Let be the distance between the i-th sampling point and the first fitting plane.

[0051] Thus, according to formula (2), the distances of the sampling points in the first point set and the second point set from the first fitting plane can be determined, and the sampling point in the first point set that is farthest from the first fitting plane is determined as the first target sampling point, and the sampling point in the second point set that is farthest from the second fitting plane is determined as the second target sampling point.

[0052] S130: Determine the first candidate plane passing through the first target sampling point and the second candidate plane passing through the second target sampling point.

[0053] It is understood that, according to S120, a first target sampling point and a second target sampling point can be obtained. The first target sampling point defines the boundary position of the sampling point envelope outside the first fitting plane, and the second target sampling point defines the boundary position of the sampling point envelope inside the first fitting plane. Therefore, to ensure that the installation plane does not cut into the interior of the target bulkhead, the installation plane can be determined from multiple sets of planes passing through either the first or second target sampling point.

[0054] The plane passing through the first target sampling point is the first candidate plane, the plane passing through the second target sampling point is the second candidate plane, and the second candidate plane is located inside the first candidate plane and parallel to the first candidate plane. Each sampling point is located between or above the first candidate plane and the second candidate plane.

[0055] Specifically, the method for determining the first candidate plane and the second candidate plane can be shown in S131 to S132 below.

[0056] S131: Determine the first normal vector of the first fitting plane.

[0057] The first normal vector of the first fitting plane can be obtained according to formula (1), wherein the first normal vector of the first fitting plane can be represented by formula (3). Specifically, formula (3) can include:

[0058] (A,B,C) (3);

[0059] in, Let A be the first normal vector, and let A, B, and C be the components of the first normal vector on the x-axis, y-axis, and z-axis, respectively.

[0060] S132: The first fitting plane is translated along the first normal vector to the inside and outside of the first fitting plane, respectively, to obtain the first candidate plane passing through the first target sampling point and the second candidate plane passing through the second target sampling point.

[0061] For example, such as Figure 3 As shown, the target bulkhead corresponding to the first fitting plane 210 is the bottom bulkhead of the liquid cargo tank. The first fitting plane 210 includes a first sampling point 211, a second sampling point 212, a third sampling point 213, and a fourth sampling point 214. The normal vector of the first fitting plane 210 is the first normal vector 220.

[0062] It can be understood that among the aforementioned sampling points, the first sampling point 211 and the second sampling point 212 are located outside the first fitting plane 210, while the third sampling point 213 and the fourth sampling point 214 are located inside the first fitting plane. Furthermore, the first sampling point 211 is the point farthest from the first fitting plane 210 among the sampling points outside the first fitting plane 210, and the third sampling point 213 is the point farthest from the first fitting plane 210 among the sampling points inside the first fitting plane 210. Therefore, the first sampling point 211 is the first target sampling point, and the third sampling point 213 is the second target sampling point.

[0063] Therefore, the first fitting plane 210 can be moved along the first normal vector 220 to the first sampling point 211 and the third sampling point 213 respectively to obtain the first candidate plane 230 and the second candidate plane 240.

[0064] S140: Determine the interplanar spacing between the first candidate plane and the second candidate plane, and determine the target plane orientation that minimizes the interplanar spacing. Adjust the interplanar orientations of the first candidate plane and the second candidate plane to the target plane orientation to obtain the first target plane and the second target plane.

[0065] It is understandable that the direction of the normal vector of a plane can be represented by the orientation of the plane. Since the first candidate plane and the second candidate plane are parallel to each other, the common normal vector of the first candidate plane and the second candidate plane can be determined based on their orientation.

[0066] It is understandable that when adjusting the orientation of the first and second candidate planes, the direction of the common normal vector representing the plane orientation will also change. Therefore, the relationship between the common normal vector and the plane spacing can be determined.

[0067] In some embodiments, the planar spacing can be represented by the following formula (4), specifically, formula (4) includes:

[0068] (4);

[0069] in, The distance between the first target sampling point and the second target sampling point. The common normal vector after the plane orientation is adjusted. Let be the direction vector of the line connecting the first target sampling point and the second target sampling point. To adjust the plane spacing after the plane is oriented.

[0070] Thus, the planar spacing can be determined according to the correlation shown in formula (4). The goal is to minimize the target normal vector, and the direction of the target normal vector is determined as the orientation of the target plane.

[0071] It is understandable that, in order to increase the plane spacing To minimize the interplanar spacing, the direction of the common normal vector can be adjusted based on the correlation. Decrease.

[0072] In some embodiments, the minimum planar spacing can be determined using the steepest descent method.

[0073] For example, to determine the minimum planar distance using the steepest descent method, the gradient of the planar distance with respect to the common normal vector can first be determined based on the correlation. Then, based on the steepest descent method, the direction of the common normal vector is adjusted towards the direction of the fastest gradient descent, and the common normal vector corresponding to the minimum planar distance is determined as the target normal vector.

[0074] In other embodiments, the minimum planar spacing can also be solved using heuristic algorithms such as genetic algorithms, particle swarm optimization, or annealing algorithms, which are not limited herein.

[0075] After obtaining the target normal vector corresponding to the minimum plane spacing, the first target sampling point and the second target sampling point can be used as fulcrums to synchronously adjust the plane orientation of the first candidate plane and the second candidate plane to the target plane orientation, thus obtaining the first target plane and the second target plane.

[0076] For example, such as Figure 4 As shown, the first candidate plane 230 and the second candidate plane 240 pass through the first sampling point 211 and the third sampling point 213, respectively, where the first sampling point 211 and the third sampling point 213 are target sampling points, and the distance between the first sampling point 211 and the third sampling point 213 is the first distance 320. Using the first sampling point 211 and the third sampling point 213 as fulcrums, the first candidate plane 230 and the second candidate plane 240 are rotated to obtain the first target plane 340 passing through the first sampling point 211 and the second sampling point 212, and the second target plane 330 passing through the third sampling point 213 and the fourth sampling point 214.

[0077] It is understood that the angle between the second target plane and the first fitting plane 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 target plane.

[0078] S150: Apply adhesive material to the target bulkhead according to the second target plane, so as to form an installation plane that coincides with the second target plane on the surface of the adhesive material facing the inside of the target bulkhead.

[0079] 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.

[0080] Specifically, the methods for determining the mounting surface include:

[0081] S151: Determine the thickness of the resin putty based on the distance between the second target plane and the corresponding bulkhead.

[0082] It is understandable that, due to the unevenness or localized bumps on the surface of the bulkhead, the second target 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 coincides with the second target plane after curing.

[0083] S152: Depending on the thickness of the mortar, apply resin putty to the surface of the bulkhead.

[0084] 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.

[0085] S153: Level the resin putty so that the surface of the resin putty facing the inside of the bulkhead coincides with the second target plane to form an installation plane.

[0086] 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 target plane.

[0087] 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 target plane.

[0088] It is understandable that the leveling operation can be carried out in multiple stages with the resin putty. 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 target plane meets the preset tolerance requirements.

[0089] 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.

[0090] In this way, by laying resin putty on the surface of the bulkhead and leveling it, the virtual plane of the second target 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.

[0091] S160: Lay a film enclosure system along the mounting plane on the adhesive material.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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 liquid cargo tank includes multiple bulkheads, and the method includes: Determine multiple sampling points on the target bulkhead among the multiple bulkheads, and obtain the spatial coordinates of the sampling points; Based on the spatial coordinates of the sampling points, a first fitting plane corresponding to each target bulkhead is determined, and a first target sampling point and a second target sampling point located on both sides of the first fitting plane and farthest from the first fitting plane are determined respectively. A first candidate plane passing through the first target sampling point and a second candidate plane passing through the second target sampling point are determined, wherein the second candidate plane is located inside the first candidate plane and parallel to the first candidate plane, and each sampling point is located between or above the first candidate plane and the second candidate plane; Determine the planar spacing between the first candidate plane and the second candidate plane, and determine the target plane orientation that minimizes the planar spacing. Adjust the planar orientations of the first candidate plane and the second candidate plane to the target plane orientation to obtain the first target plane and the second target plane. According to the second target plane, adhesive material is applied to the target bulkhead to form an installation plane that coincides with the second target plane on the surface of the adhesive material facing the inside of the target bulkhead; The film enclosure system is laid on the adhesive material along the mounting plane; The step of determining multiple sampling points on the target bulkhead among the multiple bulkheads and obtaining the spatial coordinates of the sampling points includes: Target spheres are set at the locations of multiple sampling points on the target bulkhead, and the 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 spatial coordinates of each sampling point are determined according to the distance between the target ball and the laser rangefinder. The step of determining the first fitting plane corresponding to each target bulkhead based on the spatial coordinates of the sampling points, and determining the first target sampling point and the second target sampling point located on both sides of the first fitting plane and farthest from the first fitting plane, includes: Based on the least squares method, the spatial plane corresponding to the target bulkhead is fitted according to the spatial coordinates of the sampling points to obtain the first fitted plane; Determine a first set of points and a second set of points located on both sides of the first fitting plane, wherein the first set of points is located outside the first fitting plane and the second set of points is located inside the first fitting plane. In the first point set and the second point set, the first target sampling point and the second target sampling point that are farthest from the first fitting plane are determined respectively.

2. The method of claim 1, wherein, Determining the first candidate plane passing through the first target sampling point and the second candidate plane passing through the second target sampling point includes: Determine the first normal vector of the first fitted plane; The first fitting plane is translated along the first normal vector to the inside and outside of the first fitting plane, respectively, to obtain the first candidate plane passing through the first target sampling point and the second candidate plane passing through the second target sampling point.

3. The method according to claim 1, characterized in that, The step of determining the planar distance between the first candidate plane and the second candidate plane, determining the target plane orientation that minimizes the planar distance, and adjusting the planar orientations of the first candidate plane and the second candidate plane to the target plane orientation to obtain the first target plane and the second target plane includes: Based on the plane orientation of the first candidate plane and the second candidate plane, determine the common normal vector of the first candidate plane and the second candidate plane; Determine the relationship between the common normal vector and the plane spacing; Based on the aforementioned correlation, a target normal vector is determined that minimizes the interplanar spacing, and the direction of the target normal vector is determined as the orientation of the target plane. Using the first target sampling point and the second target sampling point as fulcrums, the plane orientation of the first candidate plane and the second candidate plane is synchronously adjusted to the target plane orientation.

4. The method according to claim 3, characterized in that, The step of determining the target normal vector that minimizes the plane spacing based on the correlation, and determining the direction of the target normal vector as the orientation of the target plane, includes: The direction of the common normal vector is iteratively adjusted based on the correlation to reduce the plane spacing. The common normal vector corresponding to the minimum plane spacing is determined as the target normal vector.

5. The method according to claim 4, characterized in that, The step of iteratively adjusting the direction of the common normal vector based on the correlation to reduce the plane spacing includes: Based on the aforementioned correlation, determine the gradient of the planar spacing with respect to the common normal vector; Based on the steepest descent method, the direction of the normal vector is adjusted in the direction of the fastest gradient descent.

6. The method according to claim 1, characterized in that, The angle between the second target plane and the first fitting plane is less than 5 degrees.

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

8. The method according to claim 7, characterized in that, The step of applying adhesive material to the bulkhead corresponding to the second target plane, so as to form an installation surface coinciding with the second target plane on the inner side of the adhesive material facing the bulkhead, includes: The thickness of the resin putty is determined based on the distance between the second target 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 target plane, forming the installation plane.

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