Rammer positioning parameter calibration method, system and dynamic compactor

Abstract

The present invention provides a method and system for calibrating ram positioning parameters and a dynamic compactor. The method for calibrating ram positioning parameters includes: obtaining a first distance in the X-axis direction and a second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, as well as a third distance in the horizontal direction between the rotation center and the ram, and the heading angle of the target dynamic compactor, and obtaining the first coordinate value of the first positioning antenna through the first positioning antenna; obtaining the second coordinate value of the ram through the second positioning antenna; based on the first coordinate value and the second coordinate value, correcting the first distance, the second distance, the third distance, and the heading angle to obtain a corrected first distance, a corrected second distance, a corrected third distance, and a corrected heading angle. The method, system, and dynamic compactor for calibrating ram positioning parameters provided by the present invention can reduce the error introduced when converting from the coordinates of the positioning antenna on the body of the target dynamic compactor to the coordinates of the ram, and improve the positioning accuracy of the ram.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly relates to a method and system for calibrating tamping hammer positioning parameters and a dynamic compactor. Background Art

[0002] During the construction process of a dynamic compactor, it is often necessary to accurately determine the position of the tamping hammer. Many previous solutions chose to install positioning devices at the top of the boom, but such solutions have encountered many problems in actual projects.

[0003] There are mainly three disadvantages in the way of installing a positioning antenna at the top of the boom. Firstly, the number of positioning devices is increased, that is, at least two positioning devices are installed on the vehicle body; secondly, the distance from the top of the boom to the cab is too long (if the receiver is installed in the cab), and the long antenna will cause some signal loss or weakening of the antenna, thus affecting the positioning accuracy; thirdly, the top of the boom shakes and swings violently, and it cannot accurately represent the actual position of the tamping hammer.

[0004] If the method of converting from vehicle body positioning to the tamping hammer is adopted, the equipment installation is more convenient, but the size structure of the vehicle body needs to be used. There are mainly two ways to obtain the size structure of the vehicle body. One is to directly measure it with a ruler, which is prone to introduce measurement errors of the measurement personnel and errors of the ruler itself; the other is to read the corresponding dimensions according to the three-dimensional structure of the vehicle body. The values read by this method are generally more accurate, but the actual vehicle body will introduce assembly errors, and the distance from the tamping hammer to the rotation center cannot be obtained on the three-dimensional structure and needs to be collected and calculated by sensors, which will also introduce sensor errors and calculation errors.

[0005] Therefore, there is an urgent need for a high-precision method for calibrating positioning parameters for an unmanned dynamic compactor. Summary of the Invention

[0006] The present invention provides a method and system for calibrating tamping hammer positioning parameters and a dynamic compactor to solve the defect of large errors in the positioning parameters of the dynamic compactor in the prior art and achieve error correction of the positioning parameters.

[0007] The present invention provides a method for calibrating tamping hammer positioning parameters, including:

[0008] Obtaining a first distance in the X-axis direction and a second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, a third distance between the rotation center and the tamping hammer in the horizontal direction, and the heading angle of the target dynamic compactor, wherein the first positioning antenna is installed on the vehicle body of the target dynamic compactor, the X-axis is perpendicular to the longitudinal direction of the vehicle body, and the Y-axis is parallel to the longitudinal direction of the vehicle body;

[0009] Obtaining a first coordinate value of the first positioning antenna through the first positioning antenna;

[0010] Obtain the second coordinate value of the rammer through a second positioning antenna, and the second positioning antenna is arranged at the projection of the rammer on the horizontal road surface;

[0011] Based on the first coordinate value and the second coordinate value, correct the first distance, the second distance, the third distance, and the heading angle to obtain a corrected first distance, a corrected second distance, a corrected third distance, and a corrected heading angle.

[0012] According to a rammer positioning parameter calibration method provided by the present invention, the step of correcting the first distance, the second distance, the third distance, and the heading angle based on the first coordinate value and the second coordinate value to obtain a corrected first distance, a corrected second distance, a corrected third distance, and a corrected heading angle further includes:

[0013] Obtain the measured length between the center of the first positioning antenna and the rammer according to the first distance, the second distance, and the third distance;

[0014] Obtain the theoretical length between the center of the first positioning antenna and the rammer according to the first coordinate value and the second coordinate value;

[0015] Based on the measured length between the center of the first positioning antenna and the rammer and the theoretical length between the center of the first positioning antenna and the rammer, correct the first distance, the second distance, and the third distance to obtain a corrected first distance, a corrected second distance, and a corrected third distance.

[0016] According to a rammer positioning parameter calibration method provided by the present invention, the step of correcting the first distance, the second distance, and the third distance based on the measured length between the center of the first positioning antenna and the rammer and the theoretical length between the center of the first positioning antenna and the rammer to obtain a corrected first distance, a corrected second distance, and a corrected third distance includes:

[0017] Taking the deviation between the theoretical length and the measured length falling within a first target deviation range as an iteration target, correct the first distance, the second distance, and the third distance to obtain a corrected first distance, a corrected second distance, and a corrected third distance.

[0018] According to a rammer positioning parameter calibration method provided by the present invention, the rammer positioning parameter calibration method further includes:

[0019] Based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, the first coordinate value of the first positioning antenna, and the second coordinate value of the rammer, determine the adjusted heading angle;

[0020] According to the adjusted heading angle and the heading angle, obtain the heading deviation.

[0021] According to a rammer positioning parameter calibration method provided by the present invention, when determining the adjusted heading angle based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the first coordinate value of the first positioning antenna, it further includes:

[0022] Based on the horizontal inclination angle in the X-axis direction and the horizontal inclination angle in the Y-axis direction collected by the horizontal sensor, perform horizontal error calibration on the corrected first distance and the corrected second distance.

[0023] According to a rammer positioning parameter calibration method provided by the present invention, the determining the adjusted heading angle based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the first coordinate value of the first positioning antenna includes:

[0024] According to the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the east coordinate of the first positioning antenna measured by the first positioning antenna, obtain the calculated east coordinate value of the rammer;

[0025] Taking the deviation between the calculated east coordinate value of the rammer and the measured east coordinate value falling within the second target deviation range as the iteration target, adjust the heading angle to obtain the adjusted heading angle.

[0026] According to a rammer positioning parameter calibration method provided by the present invention, the rammer positioning parameter calibration method further includes:

[0027] Based on the corrected first distance, the corrected second distance, the corrected third distance, the corrected heading angle, and the reference coordinate value of the first positioning antenna measured by the first positioning antenna, obtain the calculated position value of the rammer;

[0028] Obtain the measured position value of the rammer through the second positioning antenna;

[0029] Based on the calculated position value and the measured position value, perform parameter verification to obtain the conversion deviation.

[0030] The present invention also provides a rammer positioning parameter calibration system, and the rammer positioning parameter calibration system includes:

[0031] A measurement module, configured to obtain a first distance in the X-axis direction and a second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, as well as a third distance between the rotation center and the rammer in the horizontal direction, and the heading angle of the target dynamic compactor, wherein the first positioning antenna is installed on the body of the target dynamic compactor, the X-axis is perpendicular to the longitudinal direction of the body, and the Y-axis is parallel to the longitudinal direction of the body;

[0032] A first acquisition module, configured to acquire a first coordinate value of the first positioning antenna through the first positioning antenna;

[0033] A second acquisition module, configured to acquire a second coordinate value of the rammer through a second positioning antenna, and the second positioning antenna is arranged at the projection of the rammer on the horizontal road surface;

[0034] A calibration module, configured to calibrate the first distance, the second distance, the third distance, and the heading angle based on the first coordinate value and the second coordinate value, so as to obtain a calibrated first distance, a calibrated second distance, a calibrated third distance, and a calibrated heading angle.

[0035] The present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of any one of the above-mentioned rammer positioning parameter calibration methods are implemented.

[0036] The present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the above-mentioned rammer positioning parameter calibration methods are implemented.

[0037] The present invention further provides a dynamic compactor, which includes:

[0038] A body;

[0039] A controller, and the controller is configured to execute any one of the above-mentioned rammer positioning parameter calibration methods.

[0040] The rammer positioning parameter calibration method, system, and dynamic compactor provided by the present invention can position the physical parameters of the dynamic compactor according to the measurement results of the first positioning antenna and the second positioning antenna, thereby reducing the error introduced when positioning from the coordinates of the positioning antenna on the body of the target dynamic compactor to the coordinates of the rammer, and improving the positioning accuracy of the rammer. Description of the Drawings

[0041] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the attached drawings required in the description of the embodiments or the prior art. Obviously, the attached drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other attached drawings can be obtained based on these attached drawings.

[0042] Figure 1 It is a flowchart of a method for calibrating rammer positioning parameters provided by the present invention;

[0043] Figure 2 It is a structural schematic diagram of the installation of a dynamic compactor, a positioning antenna, and a directional antenna in the present invention;

[0044] Figure 3 It is a flowchart for adjusting the heading angle provided by the present invention;

[0045] Figure 4 It is a flowchart of a method for verifying positioning parameters provided by the present invention;

[0046] Figure 5 It is a structural schematic diagram of a rammer positioning parameter calibration system provided by the present invention;

[0047] Figure 6 It is a structural schematic diagram of an electronic device provided by the present invention. Specific embodiments

[0048] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the attached drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0049] An embodiment of the present invention provides a method for calibrating rammer positioning parameters. As Figure 1 shown, the method includes the following steps 110 to step 140.

[0050] Among them, in step 110, obtain the first distance in the X-axis direction and the second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, as well as the third distance between the rotation center and the rammer in the horizontal direction, and the heading angle of the target dynamic compactor. Among them, the first positioning antenna is installed on the body of the target dynamic compactor, the X-axis is perpendicular to the longitudinal direction of the body, and the Y-axis is parallel to the longitudinal direction of the body.

[0051] Step 120: Obtain the first coordinate value of the first positioning antenna through the first positioning antenna.

[0052] Step 130: Obtain the second coordinate value of the rammer through the second positioning antenna, where the second positioning antenna is disposed at the projection of the rammer on the horizontal road surface.

[0053] Step 140: Based on the first coordinate value and the second coordinate value, correct the first distance, the second distance, the third distance, and the course angle to obtain the corrected first distance, the corrected second distance, the corrected third distance, and the corrected course angle.

[0054] As Figure 2 shown in the figure, "front" in the figure indicates the orientation of the body of the target dynamic compactor, "rear" indicates the rear of the body of the target dynamic compactor, and the distance between two horizontal lines represents the body width. In the present invention, the positioning device for positioning the body is installed at a spacious place above the hood of the target dynamic compactor. The device for positioning the body includes a first positioning antenna and a directional antenna. The connection line between the positioning antenna and the directional antenna coincides with the Y-axis as much as possible. The positioning antenna is at the rear and the directional antenna is at the front, so as to reduce the included angle between the course angle and the Y-axis.

[0055] The body of the target dynamic compactor may specifically be a slewing platform, which specifically refers to the part of the body of the dynamic compactor that can be driven to rotate by a slewing mechanism and includes a cab, a counterweight, etc.

[0056] In the embodiment of the present invention, the X-axis is perpendicular to the longitudinal direction of the body, the Y-axis is parallel to the longitudinal direction of the body, the longitudinal direction of the body may be the forward direction of the body, and the XY coordinate system may have the center of the first positioning antenna as the origin.

[0057] In the embodiment of the present invention, the distance from the slewing center of the target dynamic compactor to the first positioning antenna in the X-axis direction is measured, and this distance is called the first distance, which is represented by x1 in the embodiment of the present invention. Generally, a ruler can be used for measurement. Generally, there is a large error in direct measurement. Therefore, the measured first distance needs to be corrected.

[0058] Similarly, the distance from the slewing center of the target dynamic compactor to the first positioning antenna in the Y-axis direction is measured, and this distance is called the second distance, which is represented by y1 in the embodiment of the present invention. Generally, a ruler is used for measurement. Generally, there is a large error in the directly measured distance. Therefore, the measured second distance also needs to be corrected.

[0059] After the first positioning antenna is installed, adjust the boom inclination angle, read the real-time length of the third distance L1 from the controller of the measuring device. When the construction scenario requirements are met, stop adjusting the boom inclination angle and fix it to prevent being modified by misoperation. Similarly, there is also a large error in the value of the third distance measured by the sensor. Therefore, it also needs to be corrected later.

[0060] Here, the first coordinate value of the first positioning antenna is obtained through the first positioning antenna, and the second coordinate value of the rammer is obtained through the second positioning antenna. That is to say, both the first coordinate value and the second coordinate value are measured.

[0061] Here, based on the measured first coordinate value and second coordinate value, the first distance, the second distance, the third distance, and the heading angle are corrected.

[0062] Here, based on the first coordinate value, the theoretical second coordinate value can be calculated in combination with the first distance, the second distance, the third distance, and the heading angle. By comparing the theoretical second coordinate value with the actually measured second coordinate value, a deviation value can be obtained, and based on the deviation value, the first distance, the second distance, the third distance, and the heading angle can be corrected to obtain the corrected first distance, the corrected second distance, the corrected third distance, and the corrected heading angle.

[0063] The rammer positioning parameter calibration method provided by the present invention can position the physical parameters of the dynamic compactor according to the measurement results of the first positioning antenna and the second positioning antenna, thereby reducing the error introduced when positioning from the coordinates of the positioning antenna on the body of the target dynamic compactor to the coordinates of the rammer and improving the positioning accuracy of the rammer.

[0064] In some embodiments, based on the first coordinate value and the second coordinate value, correcting the first distance, the second distance, the third distance, and the heading angle to obtain the corrected first distance, the corrected second distance, the corrected third distance, and the corrected heading angle further includes: obtaining the measured length between the center of the first positioning antenna and the rammer according to the first distance, the second distance, and the third distance; obtaining the theoretical length between the center of the first positioning antenna and the rammer according to the first coordinate value and the second coordinate value; and correcting the first distance, the second distance, and the third distance based on the measured length between the center of the first positioning antenna and the rammer and the theoretical length between the center of the first positioning antenna and the rammer to obtain the corrected first distance, the corrected second distance, and the corrected third distance.

[0065] It can be understood that here, according to the first distance, the second distance, and the third distance, based on the Pythagorean theorem, the measured length between the first positioning antenna and the rammer can be obtained. The specific calculation formula is as follows:

[0066]

[0067] Drive the target dynamic compactor to a horizontal road surface, place the rammer on the ground, place a marker after determining the center position of the rammer, lift the rammer, and place the second positioning antenna at this marker. That is to say, the second positioning antenna is arranged at the projection of the rammer on the horizontal road surface, and obtain the position data at this position for a period of time to calculate the average coordinate p_harmmer in the northeast direction.

[0068] Obtain the position data of the first positioning antenna on the vehicle body for a period of time to calculate the average coordinate p_car in the northeast direction and the average value heading of the heading angle, and calculate the distance between p_harmmer and p_car. This distance is the theoretical length d.

[0069] Move the target dynamic compactor, let the target dynamic compactor drive in a straight line and then stop. The actual value of this straight-line distance is not required. Re-execute the above steps. After obtaining multiple groups (such as more than five groups) of theoretical length d values, calculate the average value d_avg according to all the obtained theoretical length d values, and use the average value d_avg as the theoretical length.

[0070] Here, the first distance, the second distance, and the third distance can be calibrated according to the measured length and the theoretical length. The first distance, the second distance, and the third distance can be compensated by the difference between the measured length and the theoretical length to achieve calibration. It is also possible to repeatedly adjust the values of the first distance, the second distance, and the third distance, and make the deviation between the measured length and the theoretical length smaller and smaller through an iterative method until the deviation between the measured length and the theoretical length is less than the preset threshold, then calibration is achieved.

[0071] The rammer positioning parameter calibration method provided by the present invention can be optimized based on the measured value to obtain more accurate positioning parameters, thereby reducing the error introduced when calculating the coordinates of the rammer from the coordinates of the positioning antenna on the vehicle body of the target dynamic compactor and improving the positioning accuracy of the rammer.

[0072] In some embodiments, correcting the first distance, the second distance, and the third distance based on the measured length between the center of the first positioning antenna and the rammer, and the theoretical length between the center of the first positioning antenna and the rammer, to obtain the corrected first distance, the corrected second distance, and the corrected third distance, includes: taking the deviation between the theoretical length and the measured length falling within the first target deviation range as the iterative target, and correcting the first distance, the second distance, and the third distance to obtain the corrected first distance, the corrected second distance, and the corrected third distance.

[0073] Compare the theoretical length and the measured length to obtain the deviation therebetween. If the deviation is outside the first target deviation range, adjust the values of x1, y1, and L1, and then re-obtain the adjusted measured length until the deviation between the theoretical length d_avg and the adjusted measured length is within the first target deviation range. Take the finally obtained first distance as the calibrated first distance x, the finally obtained second distance as the calibrated second distance y, and the finally obtained third distance as the calibrated third distance L.

[0074] Specifically, the value of the first target deviation range is determined according to the actual situation and can be preset.

[0075] Specifically, in the embodiments of the present invention, when adjusting the first distance, the second distance, and the third distance, a cyclic iteration method is adopted for calculation. First, fix the first and second distances, and the third distance changes within a predetermined range according to a preset step size; then modify the first and second distances according to the iteration method of the third distance. Each time the first and second distances are modified, the third distance repeats the previous iteration; until the deviation between the adjusted measured length and the theoretical length is within the first target deviation range.

[0076] In some embodiments, the rammer positioning parameter calibration method further includes: based on the calibrated first distance, the calibrated second distance, the calibrated third distance, the heading angle, the target direction coordinates of the first positioning antenna measured by the first positioning antenna, and the second coordinate value of the rammer, adjust the heading angle to obtain an adjusted heading angle; according to the adjusted heading angle and the heading angle, obtain the heading deviation angle.

[0077] The target direction may be the east direction, the south direction, the west direction, or the north direction of the first positioning antenna. The specific direction is not limited in this embodiment, as long as the direction coordinates of the first positioning antenna can be accurately located.

[0078] Here, the heading angle can be adjusted according to the calibrated first distance, the calibrated second distance, the calibrated third distance, the heading angle, and the target direction coordinates of the target rammer body measured by the first positioning antenna.

[0079] Here, the heading deviation angle beta value can be corrected. By using an iterative approximation method, the coordinates of the first positioning antenna are rotationally translated by using the calibrated x, y, and L to obtain the calculated value of the rammer coordinates. Compare the magnitude relationship between the calculated value of the rammer coordinates and the measured value. By adjusting the value of the heading deviation angle, the magnitude relationship between the calculated value of the rammer coordinates and the measured value meets the accuracy requirements. The value at this time is the adjusted heading deviation angle beta.

[0080] In some embodiments, before determining the adjusted heading angle based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the first coordinate value of the first positioning antenna, it further includes: performing horizontal error calibration on the corrected first distance and the corrected second distance based on the horizontal inclination angle in the X-axis direction and the horizontal inclination angle in the Y-axis direction collected by the horizontal sensor.

[0081] It can be understood that horizontal correction is performed on x1 and y1 obtained after iteration, and the correction method is as follows, where: x1 is the first distance, y1 is the second distance, alf x is the horizontal inclination angle in the X-axis direction collected by the horizontal sensor, alf y is the horizontal inclination angle in the Y-axis direction:

[0082]

[0083]

[0084] Based on the above embodiments, preferably,

[0085] Adjusting the heading angle based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the target direction coordinates of the first positioning antenna measured by the first positioning antenna to obtain the adjusted heading angle includes:

[0086] Obtaining the calculated value of the east coordinate of the rammer according to the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the east coordinate of the first positioning antenna measured by the first positioning antenna; the east coordinate of the first positioning antenna refers to the coordinate in the east direction.

[0087] The specific calculation formula is as follows:

[0088] east cal = x × cos heading + (L + y) × sin heading + east;

[0089] where, east cal represents the calculated value of the east coordinate of the rammer, obtained through the second positioning antenna at the rammer; x represents the corrected first distance, y represents the corrected second distance, L represents the corrected third distance, heading represents the heading angle, obtained through the directional antenna; east represents the east coordinate of the target dynamic compactor body.

[0090] If the deviation between the calculated east coordinate value and the measured east coordinate value of the rammer is outside the second target deviation range, adjust the heading angle and re-obtain the calculated east coordinate value of the rammer until the deviation between the adjusted calculated east coordinate value and the measured east coordinate value is within the second target deviation range;

[0091] Specifically, as Figure 3 shown, the measured east coordinate value of the rammer is obtained through the second positioning antenna at the rammer. If the deviation between the calculated east coordinate value and the measured east coordinate value of the rammer is outside the second target deviation range, adjust the magnitude of the yaw angle, thereby adjusting the calculated east coordinate value of the rammer. Repeat this iterative process until the deviation between the adjusted calculated east coordinate value and the measured east coordinate value is within the second target deviation range.

[0092] Specifically, in the embodiments of the present invention, the value of the second target deviation range is determined according to the actual situation.

[0093] Obtain the yaw angle deviation according to the adjusted heading angle and the heading angle.

[0094] The specific calculation formula is as follows:

[0095] beta = heading cal - heading;

[0096] where beta represents the yaw angle deviation, heading cal represents the adjusted heading angle, and heading represents the heading angle.

[0097] On the basis of the above embodiments, preferably,

[0098] The adjusting the heading angle based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the target direction coordinates of the target dynamic compaction machine body measured by the first positioning antenna to obtain an adjusted heading angle includes:

[0099] Obtain the calculated north coordinate value of the rammer according to the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the north coordinate of the target dynamic compaction machine body measured by the first positioning antenna; the north coordinate of the first positioning antenna refers to the coordinate in the north direction.

[0100] The specific calculation formula is as follows:

[0101] north cal = -x × sin heading + (L + y) × cos heading + north;

[0102] where north cal$x_0$ represents the calculated value of the north coordinate of the rammer, $x$ represents the corrected first distance, $y$ represents the corrected second distance, $L$ represents the corrected third distance, $\theta$ represents the heading angle, and $north$ represents the north coordinate of the body of the target dynamic compactor.

[0103] If the deviation between the calculated value of the north coordinate of the rammer and the measured value of the north coordinate is outside the third target deviation range, adjust the heading angle and re-obtain the calculated value of the north coordinate of the rammer until the deviation between the adjusted calculated value of the north coordinate and the measured value of the north coordinate is within the third target deviation range.

[0104] Of course, in addition to calculating the deviation of the heading angle deviation separately through the east coordinate and the north coordinate as described above, it is also possible to calculate the deviation of the heading angle using the east coordinate and the north coordinate together.

[0105] Specifically, as Figure 3 shown, obtain the measured value of the north coordinate of the rammer through the second positioning antenna at the rammer. If the deviation between the calculated value of the north coordinate of the rammer and the measured value of the north coordinate is outside the third target deviation range, adjust the magnitude of the yaw angle, thereby adjusting the calculated value of the north coordinate of the rammer. Repeat this iterative process until the deviation between the adjusted calculated value of the north coordinate and the measured value of the north coordinate is within the third target deviation range.

[0106] Obtain the deviation of the heading angle based on the adjusted heading angle and the heading angle.

[0107] The specific calculation formula is as follows:

[0108] $\beta=\theta_{adjusted}-\theta$ cal ;

[0109] where $\beta$ represents the deviation of the heading angle, $\theta_{adjusted}$ cal represents the adjusted heading angle, and $\theta$ represents the heading angle.

[0110] On the basis of the above embodiments, preferably, it further includes: obtaining the coordinates of the rammer according to the corrected first distance, the corrected second distance, the corrected third distance, and the coordinates of the body of the target dynamic compactor.

[0111] Perform rotation and translation according to the corrected first distance, the corrected second distance, and the corrected third distance, and then combine the coordinates of the body of the target dynamic compactor to obtain the coordinates of the rammer.

[0112] In some embodiments, the ram positioning parameter calibration method further includes: obtaining a calculated position value of the ram based on the corrected first distance, the corrected second distance, the corrected third distance, the corrected heading angle, and the reference coordinate value of the first positioning antenna measured by the first positioning antenna; obtaining a measured position value of the ram through the second positioning antenna; and performing parameter verification based on the calculated position value and the measured position value to obtain a conversion deviation.

[0113] It can be understood that after the parameters are corrected in the embodiments of the present invention, parameter verification is also required. After calibrating the four parameters x, y, L, and heading, parameter verification is required.

[0114] Here, the calculated position value of the ram is compared with the measured position value of the ram obtained through the second positioning antenna. Parameter verification can be performed based on the distance value between the calculated position value and the measured position value to obtain a conversion deviation.

[0115] There are various verification methods. The position data of the ram and the vehicle body positioning antenna saved during calibration can be directly used, or the target dynamic compactor can be driven again to collect data in the same way, and a set of verification data is taken, including the east and north coordinates of the ram center in and the east, north coordinates and heading angle of the vehicle body positioning antenna. The verification method is as in shown. Figure 4 shown.

[0116] The specific verification steps can be: 1. Obtain the corrected x, y, L, and heading; 2. Compensate L; 3. Calculate the coordinates of the ram based on the corrected and compensated x, y, L, heading, and the first coordinate value; 4. Calculate the conversion deviation based on the calculated coordinates of the ram and the measured coordinates of the ram; 5. Compare whether the conversion deviation is within the preset range. If so, the verification passes; otherwise, the verification fails.

[0117] Since the actual value of L will change during verification (the reference value is set unchanged during calibration) as it is close to the actual working scenario, in addition to horizontally correcting x and y and compensating heading, L also needs to be compensated. Here, L1 is the reference value during calibration, and L in is the actual measured value of the controller during verification:

[0118] x = x1 × cosalf x ;

[0119] y = y1 × cosalf y ;

[0120] where alfx is the horizontal tilt angle of the X-axis method collected by the horizontal sensor, alf y is the horizontal tilt angle in the Y-axis direction, x1 is the first distance, y1 is the second distance, x is the corrected first distance, and y is the corrected second distance.

[0121] heading = heading1 + beta;

[0122] Among them, heading1 is the heading angle measured by the directional antenna, beta is the corrected heading angle deviation, and heading is the corrected heading angle.

[0123] L’ = L + (L in - L1);

[0124] Similarly, the calculated values of the rammer coordinates east cal and north cal are obtained using the rotation and translation method, and the distance between the calculated value and the measured value of the rammer position is calculated as the conversion deviation bias:

[0125]

[0126] bias is the conversion deviation, and its value is determined according to the actual situation.

[0127] A rammer positioning parameter calibration method provided by the present invention can be optimized based on the measured values to obtain more accurate positioning parameters, thereby reducing the error introduced when converting from the coordinates of the positioning antenna on the target dynamic compactor body to the rammer coordinates and improving the positioning accuracy of the rammer.

[0128] An embodiment of the present invention further provides a rammer positioning parameter calibration system, as Figure 5 shown. The system includes a measurement module 510, a first calculation module 520, a positioning module 530, a second calculation module 540, and a calibration module 550, where:

[0129] The measurement module 510 is used to obtain the first distance in the X-axis direction and the second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, as well as the third distance between the rotation center and the rammer in the horizontal direction, and the heading angle of the target dynamic compactor. Among them, the first positioning antenna is installed on the target dynamic compactor body, the X-axis is perpendicular to the longitudinal direction of the vehicle body, and the Y-axis is parallel to the longitudinal direction of the vehicle body.

[0130] The first acquisition module 520 is used to obtain the first coordinate value of the first positioning antenna through the first positioning antenna.

[0131] A second acquisition module 530, configured to acquire a second coordinate value of the rammer through a second positioning antenna, where the second positioning antenna is disposed at a projection of the rammer on a horizontal road surface.

[0132] A calibration module 540, configured to calibrate the first distance, the second distance, the third distance, and the course angle based on the first coordinate value and the second coordinate value, so as to obtain a calibrated first distance, a calibrated second distance, a calibrated third distance, and a calibrated course angle.

[0133] In some embodiments, the calibration module 540 further includes: a first calibration sub-module, a second calibration sub-module, and a third calibration sub-module.

[0134] Among them, the first calibration sub-module is configured to obtain a measured length between the center of the first positioning antenna and the rammer according to the first distance, the second distance, and the third distance.

[0135] The second calibration sub-module is configured to obtain a theoretical length between the center of the first positioning antenna and the rammer according to the first coordinate value and the second coordinate value.

[0136] The third calibration sub-module is configured to calibrate the first distance, the second distance, and the third distance based on the measured length between the center of the first positioning antenna and the rammer and the theoretical length between the center of the first positioning antenna and the rammer, so as to obtain a calibrated first distance, a calibrated second distance, and a calibrated third distance.

[0137] In some embodiments, the third calibration sub-module is further configured to use the deviation between the theoretical length and the measured length falling within a first target deviation range as an iteration target to calibrate the first distance, the second distance, and the third distance, so as to obtain a calibrated first distance, a calibrated second distance, and a calibrated third distance.

[0138] In some embodiments, the rammer positioning parameter calibration system further includes: a determination module and a third acquisition module.

[0139] The determination module is configured to determine an adjusted course angle based on the calibrated first distance, the calibrated second distance, the calibrated third distance, the course angle, the first coordinate value of the first positioning antenna, and the second coordinate value of the rammer.

[0140] The third acquisition module is configured to obtain a course deviation angle according to the adjusted course angle and the course angle.

[0141] In some embodiments, the rammer positioning parameter calibration system further includes: a horizontal calibration module.

[0142] A horizontal calibration module, configured to perform horizontal error calibration on the corrected first distance and the corrected second distance based on the horizontal inclination angles in the X-axis direction and the Y-axis direction collected by a horizontal sensor.

[0143] In some embodiments, the determination module includes: a first determination sub-module and a second determination sub-module.

[0144] The first determination sub-module is configured to obtain a calculated value of the east coordinate of the rammer based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the east coordinate of the first positioning antenna measured by the first positioning antenna.

[0145] The second determination sub-module is configured to take the deviation between the calculated value of the east coordinate of the rammer and the measured value of the east coordinate falling within a second target deviation range as an iteration target, and adjust the heading angle to obtain an adjusted heading angle.

[0146] In some embodiments, the determination module includes: a third determination sub-module and a fourth determination sub-module.

[0147] The third determination sub-module is configured to obtain a calculated value of the north coordinate of the rammer based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the north coordinate of the first positioning antenna measured by the first positioning antenna.

[0148] The fourth determination sub-module is configured to take the deviation between the calculated value of the north coordinate of the rammer and the measured value of the north coordinate falling within a third target deviation range as an iteration target, and adjust the heading angle to obtain an adjusted heading angle.

[0149] In some embodiments, the rammer positioning parameter calibration system further includes: a first verification module, a second verification module, and a third verification module.

[0150] The first verification module is configured to obtain a calculated position value of the rammer based on the corrected first distance, the corrected second distance, the corrected third distance, the corrected heading angle, and the reference coordinate value of the first positioning antenna measured by the first positioning antenna.

[0151] The second verification module is configured to obtain a measured position value of the rammer through the second positioning antenna.

[0152] The third verification module is configured to perform parameter verification based on the calculated position value and the measured position value to obtain a conversion deviation.

[0153] This embodiment is a system embodiment corresponding to the above method embodiment. The specific implementation method is the same as that of the method embodiment. For details, please refer to the above method embodiment. This system embodiment will not be elaborated here.

[0154] The present invention also provides a dynamic compactor, which includes: a vehicle body; a controller for executing the compaction hammer positioning parameter calibration method described in any one of the above.

[0155] Figure 6 FIG. is a schematic physical structure diagram of an electronic device provided by the present invention. An electronic device provided by an embodiment of the present invention, as Figure 6 shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communication interface 620, and the memory 630 complete mutual communication through the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a compaction hammer positioning parameter calibration method, which includes:

[0156] Obtain a first distance in the X-axis direction and a second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, as well as a third distance in the horizontal direction between the rotation center and the compaction hammer, and the heading angle of the target dynamic compactor. Among them, the first positioning antenna is installed on the vehicle body of the target dynamic compactor, the X-axis is perpendicular to the longitudinal direction of the vehicle body, and the Y-axis is parallel to the longitudinal direction of the vehicle body;

[0157] Obtain a first coordinate value of the first positioning antenna through the first positioning antenna;

[0158] Obtain a second coordinate value of the compaction hammer through a second positioning antenna, and the second positioning antenna is arranged at the projection of the compaction hammer on the horizontal road surface;

[0159] Based on the first coordinate value and the second coordinate value, correct the first distance, the second distance, the third distance, and the heading angle to obtain a corrected first distance, a corrected second distance, a corrected third distance, and a corrected heading angle.

[0160] In addition, when the logical instructions in the above-mentioned memory 630 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0161] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a rammer positioning parameter calibration method provided by the above-mentioned various methods. The method includes:

[0162] Obtain a first distance in the X-axis direction and a second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, as well as a third distance between the rotation center and the rammer in the horizontal direction, and the heading angle of the target dynamic compactor. Among them, the first positioning antenna is installed on the body of the target dynamic compactor, the X-axis is perpendicular to the longitudinal direction of the body, and the Y-axis is parallel to the longitudinal direction of the body;

[0163] Obtain a first coordinate value of the first positioning antenna through the first positioning antenna;

[0164] Obtain a second coordinate value of the rammer through a second positioning antenna. The second positioning antenna is arranged at the projection of the rammer on the horizontal road surface;

[0165] Based on the first coordinate value and the second coordinate value, correct the first distance, the second distance, the third distance, and the heading angle to obtain a corrected first distance, a corrected second distance, a corrected third distance, and a corrected heading angle.

[0166] On yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute a rammer positioning parameter calibration method provided by the above-mentioned various methods. The method includes:

[0167] Obtain the first distance in the X-axis direction and the second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, as well as the third distance between the rotation center and the rammer in the horizontal direction, and the heading angle of the target dynamic compactor. Among them, the first positioning antenna is installed on the body of the target dynamic compactor, the X-axis is perpendicular to the longitudinal direction of the body, and the Y-axis is parallel to the longitudinal direction of the body;

[0168] Obtain the first coordinate value of the first positioning antenna through the first positioning antenna;

[0169] Obtain the second coordinate value of the rammer through the second positioning antenna, and the second positioning antenna is arranged at the projection of the rammer on the horizontal road surface;

[0170] Based on the first coordinate value and the second coordinate value, correct the first distance, the second distance, the third distance, and the heading angle to obtain the corrected first distance, the corrected second distance, the corrected third distance, and the corrected heading angle.

[0171] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0172] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solutions, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A calibration method for rammer positioning parameters, characterized in that Including: Obtain a first distance in the X-axis direction and a second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, a third distance between the rotation center and the rammer in the horizontal direction, and the heading angle of the target dynamic compactor, where the first positioning antenna is installed on the body of the target dynamic compactor, the X-axis is perpendicular to the longitudinal direction of the body, and the Y-axis is parallel to the longitudinal direction of the body; Obtain a first coordinate value of the first positioning antenna through the first positioning antenna; Obtain a second coordinate value of the rammer through a second positioning antenna, and the second positioning antenna is arranged at the projection of the rammer on the horizontal road surface; Based on the first coordinate value and the second coordinate value, correct the first distance, the second distance, the third distance, and the heading angle to obtain a corrected first distance, a corrected second distance, a corrected third distance, and a corrected heading angle; The method further includes: Based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, the first coordinate value of the first positioning antenna, and the second coordinate value of the rammer, determine an adjusted heading angle; Obtain a heading angle deviation according to the adjusted heading angle and the heading angle.

2. The rammer positioning parameter calibration method according to claim 1, characterized in that The step of, based on the first coordinate value and the second coordinate value, correcting the first distance, the second distance, the third distance, and the heading angle to obtain a corrected first distance, a corrected second distance, a corrected third distance, and a corrected heading angle, further includes: Obtain a measured length between the center of the first positioning antenna and the rammer according to the first distance, the second distance, and the third distance; Obtain a theoretical length between the center of the first positioning antenna and the rammer according to the first coordinate value and the second coordinate value; Based on the measured length between the center of the first positioning antenna and the rammer and the theoretical length between the center of the first positioning antenna and the rammer, correct the first distance, the second distance, and the third distance to obtain a corrected first distance, a corrected second distance, and a corrected third distance.

3. The rammer positioning parameter calibration method according to claim 2, characterized in that The step of, based on the measured length between the center of the first positioning antenna and the rammer and the theoretical length between the center of the first positioning antenna and the rammer, correcting the first distance, the second distance, and the third distance to obtain a corrected first distance, a corrected second distance, and a corrected third distance, includes: Taking the deviation between the theoretical length and the measured length falling within a first target deviation range as an iteration target, correct the first distance, the second distance, and the third distance to obtain a corrected first distance, a corrected second distance, and a corrected third distance.

4. The rammer positioning parameter calibration method according to any one of claims 1 to 3, characterized in that, Before determining the adjusted heading angle based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, the first coordinate value of the first positioning antenna, and the second coordinate value of the rammer, further includes: Based on the horizontal inclination angles in the X-axis direction and the Y-axis direction collected by the horizontal sensor, perform horizontal error calibration on the corrected first distance and the corrected second distance.

5. The calibration method for the rammer positioning parameters according to any one of claims 1 to 3, characterized in that, Determining the adjusted heading angle based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, the first coordinate value of the first positioning antenna, and the second coordinate value of the rammer includes: Obtain the calculated east coordinate value of the rammer according to the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the east coordinate of the first positioning antenna measured by the first positioning antenna; Taking the deviation between the calculated east coordinate value of the rammer and the measured east coordinate value falling within the second target deviation range as the iteration target, adjust the heading angle to obtain the adjusted heading angle.

6. The calibration method of the rammer positioning parameters according to any one of claims 1 to 3, characterized in that, Determining the adjusted heading angle based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, the first coordinate value of the first positioning antenna, and the second coordinate value of the rammer includes: Obtain the calculated north coordinate value of the rammer according to the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, and the north coordinate of the first positioning antenna measured by the first positioning antenna; Taking the deviation between the calculated north coordinate value of the rammer and the measured north coordinate value falling within the third target deviation range as the iteration target, adjust the heading angle to obtain the adjusted heading angle.

7. The method for calibrating the rammer positioning parameters according to any one of claims 1 to 3, characterized in that, Further includes: Based on the corrected first distance, the corrected second distance, the corrected third distance, the corrected heading angle, and the reference coordinate value of the first positioning antenna measured by the first positioning antenna, obtain the calculated position value of the rammer; Obtain the measured position value of the rammer through the second positioning antenna; Based on the calculated position value and the measured position value, perform parameter verification to obtain the conversion deviation.

8. A rammer positioning parameter calibration system, characterized in that, Includes: A measurement module for obtaining the first distance in the X-axis direction and the second distance in the Y-axis direction from the rotation center of the target dynamic compactor to the center of the first positioning antenna, the third distance between the rotation center and the rammer in the horizontal direction, and the heading angle of the target dynamic compactor, wherein the first positioning antenna is installed on the body of the target dynamic compactor, the X-axis is perpendicular to the longitudinal direction of the body, and the Y-axis is parallel to the longitudinal direction of the body; A first acquisition module for obtaining the first coordinate value of the first positioning antenna through the first positioning antenna; A second acquisition module for obtaining the second coordinate value of the rammer through the second positioning antenna, and the second positioning antenna is arranged at the projection of the rammer on the horizontal road surface; A correction module for correcting the first distance, the second distance, the third distance, and the heading angle based on the first coordinate value and the second coordinate value to obtain the corrected first distance, the corrected second distance, the corrected third distance, and the corrected heading angle; A determination module, configured to determine an adjusted heading angle based on the corrected first distance, the corrected second distance, the corrected third distance, the heading angle, the first coordinate value of the first positioning antenna, and the second coordinate value of the rammer. A third acquisition module, configured to acquire a heading deviation angle according to the adjusted heading angle and the heading angle.

9. A dynamic compactor, characterized in that, Comprising: A vehicle body; A controller, which is configured to execute the rammer positioning parameter calibration method according to any one of claims 1 to 7.

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