CN118456333B - Vertical thin cabin docking device and posture adjustment docking method based on three-phase machine measurement - Google Patents

Abstract

The present invention relates to the technical field of rapid docking, and provides a vertical thin cabin docking device and an attitude adjustment docking method based on three-camera measurement. The device includes a mechanical attitude adjustment module and a visual measurement module; the mechanical attitude adjustment module includes: an attitude adjustment tooling ring; a horizontal adjustment mechanism; a vertical alignment mechanism; the visual measurement block includes: an electric telescopic suspension; two first axis alignment targets; two second axis alignment targets; the first hole pin alignment target; the second hole pin alignment target. The method includes: S1, obtaining the axis space equation; S2, obtaining the angle deviation equation; S3, planning the attitude adjustment path of the movable cabin; S4, the movable cabin and the fixed cabin are in line; S5, the pin hole on the movable cabin is aligned with the pin shaft on the fixed cabin; S6, the movable cabin is docked to the fixed cabin. The present invention obtains the axis space equation on the one hand; and obtains the angle deviation equation on the other hand. Then the attitude adjustment path of the movable cabin is planned to achieve high-precision and high-efficiency rapid docking.

Description

A vertical thin cabin docking device and attitude adjustment docking method based on three-camera measurement

Technical Field

The present invention relates to the technical field of rapid docking, and in particular to a vertical thin cabin docking device and a posture adjustment docking method based on three-camera measurement.

Background Art

With the rapid development of the aerospace industry, high-precision and high-efficiency assembly and docking of large thin-walled cabins such as spacecraft and ships is a difficult problem that needs to be solved urgently. In order to solve this problem, a large number of cabin component attitude adjustment mechanisms and attitude detection methods based on docking features have emerged to meet the needs of some cabin docking and assembly.

However, considering the complex component structure inside the cabin and the assembly requirements in special scenarios, vertical cabin docking is becoming increasingly important in the field of large cabin docking and assembly. Compared with traditional horizontal cabin docking, vertical cabin docking is difficult and inefficient. It not only needs to consider the deformation of thin-walled cabins caused by the cabin's own weight, but also needs to further consider the occlusion in the measurement of docking characteristic posture. Therefore, traditional mechanical posture adjustment modules and posture detection modules are difficult to apply. Secondly, common docking strategies are also difficult to work on existing docking equipment.

Therefore, it is necessary to design a docking device and an online posture detection method for vertical thin cabins to achieve high-precision, high-efficiency and rapid docking of vertical thin cabins.

Summary of the invention

In view of the defects in the prior art, the purpose of the present invention is to provide a vertical thin cabin docking device and an attitude adjustment docking method based on three-camera measurement, so as to achieve high-precision, high-efficiency and rapid docking of vertical thin cabins.

According to a first aspect of the present invention, there is provided a vertical thin cabin docking device based on three-camera measurement, which is used to achieve docking of a movable cabin section with a fixed cabin section, comprising a control system and a fixing frame, and also comprising a mechanical attitude adjustment module and a visual measurement module;

The mechanical posture adjustment module comprises:

An attitude adjustment tooling ring, which is laterally arranged inside the fixing frame, adapted to the movable compartment, and electrically connected to the control system for controlling the rotation of the movable compartment;

A horizontal adjustment mechanism, which is electrically connected to the control system and is used to control the posture adjustment tooling ring to move on a horizontal plane;

A vertical alignment mechanism, the vertical alignment mechanism is electrically connected to the control system and is used to control the horizontal adjustment mechanism to move in a vertical direction;

The visual measurement module includes:

An electric telescopic suspension, the electric telescopic suspension is arranged in the longitudinal direction and is electrically connected to the control system, a first end of the electric telescopic suspension is fixedly connected to the fixing frame, and a second end of the electric telescopic suspension is equipped with two axis alignment target measurement cameras and one hole pin alignment target measurement camera;

Two first axis alignment targets, both of which are mounted on the fixed compartment, and the first axis alignment targets have three non-collinear first marking points;

Two second axis alignment targets, both of which are mounted on the movable compartment, and the second axis alignment targets have three non-collinear second marking points;

a first hole pin alignment target, wherein the first hole pin alignment target is mounted on the fixed compartment section, and the first hole pin alignment target has a third marking point;

A second hole pin alignment target is installed on the movable compartment section, and a fourth marking point is provided on the second hole pin alignment target.

Furthermore, a load-bearing pad ring is fixedly installed on the inner side surface of the posture adjustment tooling ring.

Furthermore, there are two posture adjustment tooling rings, and the two posture adjustment tooling rings are respectively located at the upper part and the lower part of the movable compartment section.

Furthermore, there are four horizontal adjustment mechanisms, which are respectively located on both sides of the two posture adjustment tooling rings.

According to a second aspect of the present invention, a posture adjustment docking method is provided, comprising the following steps:

S1. Analytically calculating and obtaining the axis space equation of the fixed compartment and the axis space equation of the movable compartment respectively;

S2. Analytically calculate and obtain an angle deviation equation between the pin hole on the movable compartment and the pin shaft on the fixed compartment;

S3, the control system plans a posture adjustment path of the movable cabin from an initial posture to a target posture, wherein the target posture is that the axis of the movable cabin is collinear with the axis of the fixed cabin, and the pin hole on the movable cabin is aligned with the pin shaft on the fixed cabin;

S4, the control system controls the horizontal adjustment mechanism to start, so that the axis of the movable compartment is in line with the axis of the fixed compartment;

S5, the control system controls the posture adjustment tooling ring to start, so that the pin hole on the movable compartment is aligned with the pin shaft on the fixed compartment;

S6. The control system controls the vertical docking mechanism to start and dock the movable compartment to the fixed compartment.

Furthermore, the step S1 comprises:

S7, respectively extracting coordinate data of the three first marking points on the two first axis alignment targets;

S8, converting the six coordinate data in S7 to the same reference space coordinate system;

S9, selecting three coordinate data in step S8 to form a first reference plane, where the first reference plane and the axis of the fixed compartment have an intersection line, and calculating the plane equation of the first reference plane;

S10, selecting the three coordinate data in step S8 to form a second reference plane, where the second reference plane has an intersection line with the axis of the fixed compartment, and calculating the plane equation of the second reference plane;

S11. Combining the plane equation of the first reference plane and the plane equation of the second reference plane, the axial space equation of the fixed compartment is obtained.

Furthermore, the step S1 comprises:

S12, respectively extracting coordinate data of three second marking points on two targets aligned with the second axes;

S13, converting the six coordinate data in S12 to the same reference space coordinate system;

S14, selecting three coordinate data in step S13 to form a third reference plane, wherein the third reference plane has an intersection line with the axis of the movable compartment, and calculating a plane equation of the third reference plane;

S15, selecting three coordinate data in step S13 to form a fourth reference plane, wherein the fourth reference plane has an intersection line with the axis of the movable compartment, and calculating a plane equation of the fourth reference plane;

S16. Combining the plane equation of the third reference plane and the plane equation of the fourth reference plane, the axial space equation of the movable compartment is obtained.

Furthermore, the step S2 comprises:

S17, respectively extracting the coordinate data of the third marking point on the first hole pin alignment target and the coordinate data of the fourth marking point on the second hole pin alignment target;

S18, converting the two coordinate data in S17 to the same reference horizontal coordinate system;

S19. Analyze and obtain the angle deviation equation.

Beneficial effect: The present invention provides a vertical thin cabin docking device based on three-camera measurement and its design method. Under the action of the visual measurement module, the control system analyzes and calculates the axis space equation of the fixed cabin section and the axis space equation of the movable cabin section respectively on the one hand; on the other hand, the angle deviation equation between the pin hole on the movable cabin section and the pin shaft on the fixed cabin section is analyzed and calculated. Then the control system plans the attitude adjustment path of the movable cabin section from the initial posture to the target posture, and docks the movable cabin section to the fixed cabin section through the mechanical attitude adjustment module to achieve high-precision, high-efficiency and rapid docking of the vertical thin cabin.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the three-dimensional structure of the device;

FIG2 is a schematic diagram of the side structure of the device;

FIG3 is a schematic diagram of the front structure of the device;

FIG4 is a schematic diagram of the structure of an axis-aligned target measurement camera and a hole-pin-aligned target measurement camera;

FIG5 is a schematic diagram of analytical calculation of the axis space equation;

FIG6 is a schematic diagram of analytical calculation of the angle deviation equation;

FIG. 7 is a flow chart showing the structure of the present invention when it is working.

Figure numerals: 10-movable cabin section, 20-fixed cabin section, 30-fixed frame, 40-mechanical attitude adjustment module, 41-attitude adjustment tooling ring, 411-load-bearing pad ring, 42-horizontal adjustment mechanism, 43-vertical alignment mechanism, 50-visual measurement module, 51-electric telescopic suspension, 52-first axis alignment target, 53-second axis alignment target, 54-first hole pin alignment target, 55-second hole pin alignment target, 56-axis alignment target measurement camera, 57-hole pin alignment target measurement camera.

DETAILED DESCRIPTION

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

In the present invention, unless otherwise clearly specified and limited, the terms "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "horizontal", "top", "bottom", "up", "down", "inside" and "outside" etc. indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

As shown in Figures 1 to 4, the present invention provides a vertical thin cabin docking device based on three-camera measurement, which is used to achieve docking of a movable cabin section 10 with a fixed cabin section 20, including a control system and a fixed frame 30, and also includes a mechanical attitude adjustment module 40 and a visual measurement module 50.

The mechanical posture adjustment module 40 includes a posture adjustment tooling ring 41 , a horizontal adjustment mechanism 42 and a vertical alignment mechanism 43 .

The posture adjustment tooling ring 41 is arranged laterally inside the fixed frame 30, and the posture adjustment tooling ring 41 is adapted to the movable cabin section 10. The posture adjustment tooling ring 41 is electrically connected to the control system and is used to control the rotation of the movable cabin section 10. Preferably, the structure of the posture adjustment tooling ring 41 may include a fixed ring and a movable ring, which are coaxially arranged. The movable cabin section 10 is placed on the movable ring, and the fixed ring is fixedly connected to the fixed frame 30. A motor is fixedly installed on the fixed ring, and the motor can drive the rotating ring to rotate through a pulley or a gear ring structure, thereby controlling the rotation of the movable cabin section 10. The specific structure of the posture adjustment tooling ring 41 is not limited, as long as it can control the rotation of the movable cabin section 10. Preferably, the size of the posture adjustment tooling ring 41 can be adjusted to different degrees according to the model of the movable cabin section 10, and a 20mm thick polyurethane material plate is designed on the inner side, which is reliably clamped with the movable cabin section 10 to ensure the posture adjustment accuracy.

The horizontal adjustment mechanism 42 is electrically connected to the control system and is used to control the posture adjustment tooling ring 41 to move in the horizontal plane. The horizontal adjustment mechanism 42 can control the posture adjustment tooling ring 41 to move in the X-axis and Y-axis directions. Preferably, the horizontal adjustment mechanism 42 may include a side sliding component and an electric telescopic rod, the side sliding component is a screw ball structure, the electric telescopic rod is arranged in the horizontal direction, and the two ends of the electric telescopic rod are respectively fixedly connected to the ball and the posture adjustment tooling ring 41. When the side sliding component is started, the posture adjustment tooling ring 41 will move in the Y-axis direction; when the electric telescopic rod is started, the posture adjustment tooling ring 41 will move in the X-axis direction. The specific structure of the horizontal adjustment mechanism 42 is not limited, as long as it can control the posture adjustment tooling ring 41 to move in the horizontal plane.

The vertical alignment mechanism 43 is electrically connected to the control system and is used to control the horizontal adjustment mechanism 42 to move in the vertical direction. The vertical alignment mechanism 43 is a prior art, and the specific structure is not described in detail here.

The vision measurement module 50 includes an electric telescopic suspension 51 , two first axis alignment targets 52 , two second axis alignment targets 53 , a first hole pin alignment target 54 and a second hole pin alignment target 55 .

The electric telescopic suspension 51 is arranged longitudinally and electrically connected to the control system. The first end of the electric telescopic suspension 51 is fixedly connected to the fixed frame 30. The second end of the electric telescopic suspension 51 is installed with two axis alignment target measurement cameras 56 and one hole pin alignment target measurement camera 57. Preferably, the electric telescopic suspension 51 has transverse and longitudinal telescopic functions, and is suitable for posture measurement of various types of movable cabins 10 and fixed cabins 20. When installed, its center is on a vertical line with the center of the end face of the fixed cabin 20.

The two first axis alignment targets 52 are both mounted on the fixed compartment 20 in a mirror-symmetrical manner, and the first axis alignment target 52 has three non-collinear first marking points.

The two second axis alignment targets 53 are both mounted on the movable compartment 10 in a mirror-symmetrical manner, and the second axis alignment target 53 has three non-collinear second marking points.

The first hole pin alignment target 54 is installed on the fixed compartment section 20 , and the first hole pin alignment target 54 has a third marking point.

The second hole pin alignment target 55 is installed on the movable compartment 10 , and the second hole pin alignment target 55 has a fourth marking point.

In the initial state, the fixed cabin section 20 is placed at the bottom of the fixed frame 30 , the movable cabin section 10 is placed on the posture adjustment tooling ring 41 , and the movable cabin section 10 is located above the fixed cabin section 20 .

In one embodiment, a load-bearing pad ring 411 is fixedly mounted on the inner side of the posture adjustment tool ring 41. The load-bearing pad ring 411 is made of a special pressure-resistant material, which not only ensures the smoothness of the posture adjustment, but also plays a transition role between the movable cabin 10 and the posture adjustment tool ring 41, thereby preventing the movable cabin 10 from being deformed due to its own weight.

In one embodiment, there are two posture adjustment tooling rings 41, and the two posture adjustment tooling rings 41 are respectively located at the upper part and the lower part of the movable compartment 10. The two posture adjustment tooling rings 41 respectively support the movable compartment 10 at the upper part and the lower part to make it more stable.

In one embodiment, there are four horizontal adjustment mechanisms 42, and the four horizontal adjustment mechanisms 42 are respectively located on both sides of the two posture adjustment tooling rings 41. The four horizontal adjustment mechanisms 42 are started and closed synchronously, so that the movement of the movable compartment 10 is more stable.

According to a second aspect of the present invention, as shown in FIGS. 5 to 7 , a posture adjustment docking method is provided, comprising the following steps:

S1. The control system analytically calculates the axis space equation of the fixed compartment 20 and the axis space equation of the movable compartment 10 respectively.

S2. The control system obtains an angular deviation equation between the pin hole on the movable compartment 10 and the pin shaft on the fixed compartment 20 through analytical calculation.

S3. The control system plans the attitude adjustment path of the movable cabin 10 from the initial position to the target position according to the axis space equation of the fixed cabin 20, the axis space equation of the movable cabin 10 and the angle deviation equation between the pin hole on the movable cabin 10 and the pin shaft on the fixed cabin 20.

Specifically, the target posture is that the axis of the movable section 10 is collinear with the axis of the fixed section 20 , and the pin hole on the movable section 10 is aligned with the pin axis on the fixed section 20 .

The control system transmits the attitude adjustment path signal to the horizontal adjustment mechanism 42 and the attitude adjustment tooling ring 41 .

S4. The horizontal adjustment mechanism 42 is started after receiving the attitude adjustment path signal of the control system, and controls the attitude adjustment tooling ring 41 and the movable cabin section 10 to move on the X-axis and Y-axis until the axis of the movable cabin section 10 is collinear with the axis of the fixed cabin section 20.

S5. The attitude adjustment tooling ring 41 starts after receiving the attitude adjustment path signal from the control system, and controls the movable cabin section 10 to rotate until the pin hole on the movable cabin section 10 is aligned with the pin shaft on the fixed cabin section 20.

S6. Remove all the first axis alignment targets 52, second axis alignment targets 53, first hole pin alignment targets 54 and second hole pin alignment targets 55. The control system controls the vertical alignment mechanism 43 to start. Since the axis of the movable compartment 10 and the axis of the fixed compartment 20 are already in line, the pin hole on the movable compartment 10 and the pin shaft on the fixed compartment 20 are already aligned, the vertical alignment mechanism 43 controls the movable compartment 10 to move downward, and the movable compartment 10 will be accurately docked with the fixed compartment 20.

In one embodiment, step S1 includes:

S7, the control system controls the electric telescopic suspension 51 to extend, and the two axis alignment target measurement cameras 56 respectively extract the coordinate data of the three first marking points on the two first axis alignment targets 52. The measurement coordinate system of the first axis alignment target measurement camera 56 is , let it be the reference space coordinate system, and the measured point is , , The measurement coordinate system of the second axis-aligned target measurement camera 56 is , the measurement point is , , .

S8. Let the conversion matrix between the measurement coordinate systems of the two axis-aligned target measurement cameras 56 be (R, t), and convert the coordinate data of points D, E, and F into the reference space coordinate system.

S9. In step S8, three points A, B and F are selected to form a first reference plane. The first reference plane intersects the axis of the fixed compartment 20, and the plane equation of the first reference plane is calculated.

Specifically, let the general equation of the plane equation passing through points A, B, and F be ,Will Substitute the point value into the equation , that is , simplified to:

According to , , The values of M, N, and Q are obtained by the coordinates of the three points, as follows:

Also because , so we can get The value of M, N, Q, Substituting the values into the general equation yields , , Plane equation of the first datum plane of three points: (General form).

S10. In step S8, three points C, D and E are selected to form a second reference plane. The second reference plane intersects the axis of the fixed compartment 20, and the plane equation of the second reference plane is calculated.

Specifically, the same logic can be obtained from , , Plane equation of the second reference plane of the three-point travel: (General formula).

S11. The axis space equation of the fixed compartment 20 can be obtained by combining the plane equation of the first reference plane and the plane equation of the second reference plane.

By combining the two equations, the axial space equation of the fixed compartment 20 can be obtained as follows:

In one embodiment, step S1 includes:

S12, respectively extracting coordinate data of three second marking points on the two second axis alignment targets 53;

S13, converting the six coordinate data in S12 to the same reference space coordinate system;

S14, in step S13, three coordinate data are selected to form a third reference plane, the third reference plane has an intersection line with the axis of the movable compartment 10, and the plane equation of the third reference plane is calculated;

S15, in step S13, three coordinate data are selected to form a fourth reference plane, the fourth reference plane has an intersection line with the axis of the movable compartment 10, and the plane equation of the fourth reference plane is calculated;

S16, combining the plane equation of the third reference plane and the plane equation of the fourth reference plane to obtain the axis space equation of the movable compartment 10;

In one embodiment, step S2 includes:

S17, a hole pin alignment target measurement camera 57 successively extracts the coordinate data of the third mark point on the first hole pin alignment target 54 and the coordinate data of the fourth mark point on the second hole pin alignment target 55.

S18, converting the two coordinate data in S17 to the same reference horizontal coordinate system.

S19, the angle deviation between the two measured postures, that is, the deviation angle The vertical deviation of the target can be aligned by one pair of pins The angle deviation equation is obtained by approximating the pitch circle radius R:

The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention.

In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims (8)

1. A vertical thin cabin docking device based on three-camera measurement, used to achieve docking between a movable cabin section and a fixed cabin section, including a control system and a fixing frame, characterized in that: it also includes a mechanical attitude adjustment module and a visual measurement module; The mechanical posture adjustment module comprises: An attitude adjustment tooling ring, which is laterally arranged inside the fixing frame, adapted to the movable compartment, and includes a fixed ring and a movable ring, wherein the fixed ring and the movable ring are coaxially arranged, and the attitude adjustment tooling ring is electrically connected to the control system and is used to control the rotation of the movable compartment; A horizontal adjustment mechanism, the horizontal adjustment mechanism comprising a side sliding assembly and an electric telescopic rod, the side sliding assembly is a lead screw ball structure, the electric telescopic rod is arranged in the transverse direction, the two ends of the electric telescopic rod are respectively fixedly connected to the ball and the posture adjustment tooling ring, the horizontal adjustment mechanism is electrically connected to the control system, and is used to control the posture adjustment tooling ring to move on the horizontal plane; A vertical alignment mechanism, the vertical alignment mechanism is electrically connected to the control system and is used to control the horizontal adjustment mechanism to move in a vertical direction; The visual measurement module includes: An electric telescopic suspension, the electric telescopic suspension is arranged in the longitudinal direction and is electrically connected to the control system, a first end of the telescopic suspension is fixedly connected to the fixing frame, and a second end of the telescopic suspension is equipped with two axis alignment target measurement cameras and one hole pin alignment target measurement camera; Two first axis alignment targets, both of which are mounted on the fixed compartment, and the first axis alignment targets have three non-collinear first marking points; Two second axis alignment targets, both of which are mounted on the movable compartment, and the second axis alignment targets have three non-collinear second marking points; a first hole pin alignment target, wherein the first hole pin alignment target is mounted on the fixed compartment section, and the first hole pin alignment target has a third marking point; A second hole pin alignment target is installed on the movable compartment section, and a fourth marking point is provided on the second hole pin alignment target. 2. A vertical thin cabin docking device based on three-camera measurement according to claim 1, characterized in that a load-bearing pad ring is fixedly installed on the inner side of the posture adjustment tooling ring. 3. According to a vertical thin cabin docking device based on three-camera measurement as described in claim 2, it is characterized in that the number of the posture adjustment tooling rings is two, and the two posture adjustment tooling rings are respectively located at the upper and lower parts of the movable cabin section. 4. A vertical thin cabin docking device based on three-camera measurement according to claim 3, characterized in that: there are four horizontal adjustment mechanisms, and the four horizontal adjustment mechanisms are respectively located on both sides of the two posture adjustment tooling rings. 5. A posture adjustment docking method, applied to the vertical thin cabin docking device based on three-camera measurement according to claim 4, characterized in that it comprises the following steps: S1. Analytically calculating and obtaining the axis space equation of the fixed compartment and the axis space equation of the movable compartment respectively; S2. Analytically calculate and obtain an angle deviation equation between the pin hole on the movable compartment and the pin shaft on the fixed compartment; S3, the control system plans a posture adjustment path of the movable cabin from an initial posture to a target posture, wherein the target posture is that the axis of the movable cabin is collinear with the axis of the fixed cabin, and the pin hole on the movable cabin is aligned with the pin shaft on the fixed cabin; S4, the control system controls the horizontal adjustment mechanism to start, so that the axis of the movable compartment is in line with the axis of the fixed compartment; S5, the control system controls the posture adjustment tooling ring to start, so that the pin hole on the movable compartment is aligned with the pin shaft on the fixed compartment; S6. The control system controls the vertical docking mechanism to start and dock the movable compartment to the fixed compartment. 6. A posture adjustment docking method according to claim 5, characterized in that: The step S1 comprises: S7, respectively extracting coordinate data of the three first marking points on the two first axis alignment targets; S8, converting the six coordinate data in S7 to the same reference space coordinate system; S9, selecting three coordinate data in step S8 to form a first reference plane, where the first reference plane and the axis of the fixed compartment have an intersection line, and calculating the plane equation of the first reference plane; S10, selecting the three coordinate data in step S8 to form a second reference plane, where the second reference plane has an intersection line with the axis of the fixed compartment, and calculating the plane equation of the second reference plane; S11. Combining the plane equation of the first reference plane and the plane equation of the second reference plane, the axial space equation of the fixed compartment is obtained. 7. A posture adjustment docking method according to claim 5, characterized in that: The step S1 comprises: S12, respectively extracting coordinate data of three second marking points on two targets aligned with the second axes; S13, converting the six coordinate data in S12 to the same reference space coordinate system; S14, selecting three coordinate data in step S13 to form a third reference plane, wherein the third reference plane has an intersection line with the axis of the movable compartment, and calculating a plane equation of the third reference plane; S15, selecting three coordinate data in step S13 to form a fourth reference plane, wherein the fourth reference plane has an intersection line with the axis of the movable compartment, and calculating a plane equation of the fourth reference plane; S16. Combining the plane equation of the third reference plane and the plane equation of the fourth reference plane, the axial space equation of the movable compartment is obtained. 8. A posture adjustment docking method according to claim 5, characterized in that: The step S2 comprises: S17, respectively extracting the coordinate data of the third marking point on the first hole pin alignment target and the coordinate data of the fourth marking point on the second hole pin alignment target; S18, converting the two coordinate data in S17 to the same reference horizontal coordinate system; S19. Analyze and obtain the angle deviation equation.