Equipment offset calibration method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses an equipment offset calibration method and device, equipment and a storage medium. When the offset of auxiliary equipment pulled in operation equipment is adjusted, an acquisition step needs to be executed for multiple times within a preset duration; the method comprises the following steps: acquiring course information of operation equipment, a first coordinate of main equipment in a longitude and latitude coordinate system and a second coordinate of auxiliary equipment in the longitude and latitude coordinate system, and converting the first coordinate and the second coordinate into a third coordinate in a station center coordinate system and a fourth coordinate in the station center coordinate system; and finally, determining the offset of the auxiliary equipment according to the operation breadth of the auxiliary equipment and the course information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and calibrating the position of the auxiliary equipment according to the offset. According to the embodiment of the invention, the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the equipment in the prior art are solved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of device calibration, and in particular, to a device offset calibration method, apparatus, device, and storage medium. Background Art

[0002] The intersection row is also called the connecting row or the combined ridge, which refers to the distance between two adjacent ridges in the farmland. The accuracy of the intersection row is an important indicator in the automatic driving technology of agricultural machinery. The adjustment of the intersection row is essentially to adjust the offset of the agricultural implement, that is, to adjust the lateral offset of the trailer agricultural implement relative to the navigation host. In the prior art, when adjusting the offset of the trailer agricultural implement, it is necessary to drive the agricultural machinery in an S-shaped straight line for at least 3 rows to operate, and measure the left intersection row and the right intersection row during the operation. After calculating the difference between the left intersection row and the right intersection row, the difference is divided by four to get the offset of the agricultural implement.

[0003] However, the method of calibrating the offset of agricultural implements in the prior art has a cumbersome calibration process, high learning cost, time-consuming and fuel-consuming, and low accuracy. In the actual agricultural implement offset calibration process, the cumbersome process makes it easy for users to miss steps, resulting in errors in the offset calibration of agricultural implements. Summary of the invention

[0004] The embodiments of the present invention provide a device offset calibration method, apparatus, device and storage medium, which can simplify the process of calibrating the offset of the device, improve the efficiency and accuracy of calibrating the offset of the device, and solve the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the device in the prior art.

[0005] In a first aspect, an embodiment of the present invention provides a device offset calibration method, which is applied to an operating device, wherein the operating device includes a main device and a secondary device, the main device is connected to the secondary device, and the main device is used to drive the secondary device to operate, including:

[0006] Determine the operating width of the operating equipment;

[0007] Performing the collection step multiple times within a preset time period, the collection step including collecting heading information of the operating device, a first coordinate of the main device in the longitude and latitude coordinate system, and a second coordinate of the auxiliary device in the longitude and latitude coordinate system;

[0008] The first coordinate and the second coordinate corresponding to each acquisition step are respectively converted into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system;

[0009] The offset of the auxiliary device is determined according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and the position of the auxiliary device is calibrated according to the offset.

[0010] In a second aspect, an embodiment of the present invention provides a device offset calibration device, which is applied to an operating device, wherein the operating device includes a main device and a secondary device, the main device is connected to the secondary device, and the main device is used to drive the secondary device to operate, including:

[0011] A width determination module, used to determine the working width of the working equipment;

[0012] A data acquisition module, used to perform acquisition steps multiple times within a preset time period, the acquisition steps including acquiring heading information of the operating equipment, a first coordinate of the main equipment in a latitude and longitude coordinate system, and a second coordinate of the auxiliary equipment in a latitude and longitude coordinate system;

[0013] A coordinate conversion module, used to convert the first coordinate and the second coordinate corresponding to each acquisition step into a third coordinate in the station center coordinate system and a fourth coordinate in the station center coordinate system respectively;

[0014] The offset calibration module is used to determine the offset of the auxiliary device according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and calibrate the position of the auxiliary device according to the offset.

[0015] In a third aspect, an embodiment of the present invention provides a device offset calibration device, the device offset calibration device includes a processor and a memory;

[0016] The memory is used to store the computer program and transmit the computer program to the processor;

[0017] The processor is configured to execute a device offset calibration method according to the first aspect according to instructions in a computer program.

[0018] In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to perform a device offset calibration method as described in the first aspect.

[0019] As described above, the embodiments of the present invention provide a method, device, equipment and storage medium for calibrating the offset of the auxiliary equipment towed in the working equipment. When the embodiments of the present invention adjust the offset of the auxiliary equipment towed in the working equipment, it is necessary to perform the collection step multiple times within a preset time to collect the heading information of the working equipment, the first coordinate of the main equipment in the longitude and latitude coordinate system and the second coordinate of the auxiliary equipment in the longitude and latitude coordinate system, and convert the first coordinate and the second coordinate into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system; finally, according to the working width of the auxiliary equipment and the heading information, the third coordinate and the fourth coordinate corresponding to each collection step, the offset of the auxiliary equipment is determined, and the position of the auxiliary equipment is calibrated according to the offset. In the process of calibrating the offset of the auxiliary equipment in the embodiments of the present invention, the user does not need to operate the working equipment to move, the working equipment only needs to remain in a stationary state, and the offset of the auxiliary equipment can be calibrated without excessive operation, which simplifies the steps of calibrating the offset of the equipment, and at the same time, the calibration accuracy is high and the learning cost is low. The embodiments of the present invention solve the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the equipment in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of a flow chart of calibrating device offset in the prior art provided in an embodiment of the present invention.

[0021] Figure 2 A schematic flow chart of a device offset calibration method provided in an embodiment of the present invention.

[0022] Figure 3 A schematic diagram of an operating width provided in an embodiment of the present invention.

[0023] Figure 4 A schematic diagram of arranging a navigation host and a secondary GPS antenna on an agricultural machine provided in an embodiment of the present invention.

[0024] Figure 5 A schematic flow chart of another device offset calibration method provided in an embodiment of the present invention.

[0025] Figure 6 A schematic diagram of calculating the position deviation of a secondary device relative to a primary device provided by an embodiment of the present invention.

[0026] Figure 7 A schematic diagram of the structure of a device offset calibration apparatus provided in an embodiment of the present invention.

[0027] Figure 8 A schematic diagram of the structure of a device offset calibration device provided in an embodiment of the present invention.

[0028] Reference numerals:

[0029] The agricultural machine 10 , the machine head 20 , the agricultural implement 30 , the navigation host 40 , and the auxiliary GPS antenna 50 . DETAILED DESCRIPTION

[0030] The following description and accompanying drawings fully illustrate the specific embodiments of the present application so that those skilled in the art can practice them. The examples represent possible variations only. Unless explicitly required, separate components and functions are optional, and the order of operation can vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. The scope of the embodiments of the present application includes the entire scope of the claims, and all available equivalents of the claims. In this article, each embodiment may be represented individually or generally by the term "invention", which is only for convenience, and if more than one invention is disclosed in fact, it is not intended to automatically limit the scope of the application to any single invention or inventive concept. In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. The various embodiments are described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. As for the structures, products, etc. disclosed in the embodiments, since they correspond to the parts disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0031] In the prior art, when the trailer agricultural implement is offset, causing the forward direction of the trailer agricultural implement to be unable to coincide with the actually planned path, the offset of the trailer agricultural implement needs to be adjusted. The adjustment method is as follows: Figure 1 As shown, the agricultural implement 10 needs to be driven in an S-shaped manner to move in a straight line of at least 3 rows to perform the operation, and the left intersection row and the right intersection row are measured during the operation. After calculating the difference between the left intersection row and the right intersection row, the difference is divided by four to obtain the offset of the agricultural implement. However, this calibration method has a cumbersome process, high learning cost, time-consuming and fuel-consuming, and low accuracy.

[0032] Based on this, in order to solve the above problems, an embodiment of the present invention provides a device offset calibration method, such as Figure 2 As shown, Figure 2A flow chart of a device offset calibration method provided in an embodiment of the present invention. The device offset calibration method provided in an embodiment of the present invention can be executed by a device offset calibration device, which can be implemented by software and / or hardware. The device offset calibration device can be composed of two or more physical entities, or can be composed of one physical entity. For example, the device offset calibration device can be a computer, a host computer, a tablet and other devices. In addition, the device offset calibration method in this embodiment is applied to operating equipment, and the operating equipment includes a main device and a sub-device. The main device is connected to the sub-device, and the main device is used to drive the sub-device to perform operations. Among them, the operating equipment refers to equipment used for performing operations, such as equipment for agricultural operations, industrial operations or construction operations. In this embodiment, the operating equipment is an agricultural machinery used for agricultural operations. The main equipment on the agricultural machinery is the head for providing power, and the sub-equipment is the agricultural implement towed on the head. After the head is started, the agricultural implement can be driven to move, so that the agricultural implement can carry out ploughing operations, sowing operations or harvesting operations. The device offset calibration method provided in an embodiment of the present invention includes:

[0033] Step 101: Determine the operating width of the operating equipment.

[0034] In this embodiment, when adjusting the offset of the working equipment, the equipment offset calibration device first needs to determine the working width of the working equipment. The working width refers to the actual working width of the agricultural implement when the agricultural implement is working. For example, when the agricultural implement is a seed drill, the working width of the agricultural implement refers to the distance between the center point of the rightmost seeding hole of the seed drill and the center point of the leftmost seeding control, such as Figure 3 When determining the working width of the agricultural machinery, the agricultural machinery can be controlled to travel a certain distance in advance, and then the actual working width of the agricultural implement can be measured to obtain the working width of the agricultural implement, and then the working width can be entered into the equipment offset calibration device.

[0035] Step 102, executing the collection step multiple times within a preset time, the collection step including collecting the heading information of the operating equipment, the first coordinates of the main equipment in the longitude and latitude coordinate system, and the second coordinates of the auxiliary equipment in the longitude and latitude coordinate system.

[0036] After determining the working width of the operating equipment, the equipment offset calibration equipment needs to perform the collection step multiple times within a preset time, where the preset time and the cycle of executing the collection step can be set according to actual needs. For example, the preset time can be set to 10 seconds and the cycle can be set to 1S, that is, 10 collection steps are performed within 10 seconds. In addition, it should be noted that when executing the collection step, the operating equipment needs to remain stationary, that is, the operating equipment does not move.

[0037] Specifically, when executing the collection step, the collection step includes collecting the heading information of the operating equipment, the first coordinate of the main equipment in the longitude and latitude coordinate system, and the second coordinate of the auxiliary equipment in the longitude and latitude coordinate system. The heading information includes the heading of the operating equipment, and the heading of the operating equipment is the angle measured clockwise from the north end of the longitude of the location of the operating equipment to the heading line. The longitude and latitude coordinate system is a geographic coordinate system. The longitude and latitude coordinate system uses a combination of longitude and latitude to determine a specific location on the surface of the earth. The longitude and latitude coordinates of a point are expressed as a combination of two numerical values. For example: 40°N, 120°E represents a position of 40 degrees north latitude and 120 degrees east longitude. In one embodiment, the user can set a positioning device on the agricultural machinery in advance, and the equipment offset calibration device can obtain the heading information, the first coordinate, and the second coordinate on the positioning device when executing the collection step. For example, if Figure 4 As shown, the user can install the navigation host 40 on the head 20 of the agricultural machine 10, install the secondary GPS antenna 50 (or dotting device) on the left edge or right edge of the agricultural implement 30 of the agricultural machine, and establish a communication connection between the secondary GPS antenna 50 (or dotting device) and the navigation host 40. In the subsequent process of executing the acquisition step, after the navigation host 40 and the secondary GPS antenna 50 (or dotting device) both enter the RTK positioning state and successfully obtain high-precision positioning and heading information, the device offset calibration device can obtain the heading information, the first coordinate of the head 20 and the second coordinate of the agricultural implement 30 in the navigation host 40 and the secondary GPS antenna 50.

[0038] Step 103: Convert the first coordinate and the second coordinate corresponding to each acquisition step into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system respectively.

[0039] After executing the acquisition step and acquiring the heading coordinates, the first coordinates and the second coordinates, it is necessary to convert the first coordinates and the second coordinates in the longitude and latitude coordinate system acquired in each acquisition step into the third coordinates in the station center coordinate system and the fourth coordinates in the station center coordinate system. The station center coordinate system is also called the northeast celestial coordinate system. The station center coordinate system is a rectangular coordinate system composed of the station center as the origin O of the coordinate system, the Z axis coincides with the ellipsoid normal, the upward direction is positive (celestial direction), the y axis coincides with the minor semi-axis of the ellipsoid (north), and the x axis coincides with the major semi-axis of the earth ellipsoid (east). Specifically, when converting the coordinates, the first conversion matrix between the longitude and latitude coordinate system and the earth-centered earth-fixed coordinate system can be determined first, and then the second conversion matrix between the earth-centered earth-fixed coordinate system and the station center coordinate system can be determined. Subsequently, according to the first conversion matrix and the second conversion matrix, the first coordinates and the second coordinates in the longitude and latitude coordinate system can be converted into the third coordinate and the fourth coordinate in the station center coordinate system, respectively. The specific process can refer to the prior art and will not be repeated in this embodiment. Since the heading information is in the station center coordinate system, there is no need to convert the heading information.

[0040] In addition, it can be understood that the conversion process of the first coordinate and the second coordinate can be executed immediately after the first coordinate and the second coordinate are collected, without waiting until all the collection steps are completed before executing them uniformly.

[0041] Step 104: determine the offset of the auxiliary device according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and calibrate the position of the auxiliary device according to the offset.

[0042] After the acquisition step is executed, the device offset calibration device can determine the offset of the auxiliary device according to the working width, the heading information collected in each acquisition step, and the third coordinate and the fourth coordinate corresponding to each acquisition step. Exemplarily, the device offset calibration device can calculate the relative position deviation between the head and the agricultural implement each time the acquisition step is executed according to the third coordinate and the fourth coordinate corresponding to each acquisition step, and then perform mean filtering on the relative position deviations corresponding to all acquisition steps to obtain the movement deviation value of the agricultural implement. Finally, according to the movement deviation value of the agricultural implement and the working width of the agricultural implement, the offset of the agricultural implement is determined, and the position of the agricultural implement is calibrated according to the offset.

[0043] As mentioned above, the embodiment of the present invention provides a method for calibrating the offset of the auxiliary equipment towed in the working equipment. When the embodiment of the present invention adjusts the offset of the auxiliary equipment towed in the working equipment, it is necessary to perform the collection step multiple times within a preset time to collect the heading information of the working equipment, the first coordinate of the main equipment in the longitude and latitude coordinate system, and the second coordinate of the auxiliary equipment in the longitude and latitude coordinate system, and convert the first coordinate and the second coordinate into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system; finally, according to the working width of the auxiliary equipment and the heading information, the third coordinate and the fourth coordinate corresponding to each collection step, the offset of the auxiliary equipment is determined, and the position of the auxiliary equipment is calibrated according to the offset. In the process of calibrating the offset of the auxiliary equipment in the embodiment of the present invention, the user does not need to operate the working equipment to move, the working equipment only needs to remain in a stationary state, and the offset of the auxiliary equipment can be calibrated without excessive operation, which simplifies the steps of calibrating the offset of the equipment, and at the same time, the calibration accuracy is high and the learning cost is low. The embodiment of the present invention solves the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the equipment in the prior art.

[0044] like Figure 5 As shown, Figure 5 A schematic diagram of a flow chart of another device offset calibration method provided by an embodiment of the present invention, Figure 5 The device offset calibration method shown is a specialization of the device offset calibration method described above.

[0045] like Figure 5 As shown, the device offset calibration method includes:

[0046] Step 201: Determine the operating width of the operating equipment.

[0047] Step 202, executing the collection step multiple times within a preset time, the collection step includes collecting the heading information of the operating equipment, the first coordinates of the main equipment in the longitude and latitude coordinate system, and the second coordinates of the auxiliary equipment in the longitude and latitude coordinate system.

[0048] Step 203: Convert the first coordinate and the second coordinate corresponding to each acquisition step into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system respectively.

[0049] Step 204: Determine the position deviation of the slave device relative to the master device each time the collection step is performed according to the heading information, the third coordinate, and the fourth coordinate corresponding to each collection step.

[0050] In this embodiment, when calibrating the offset of the secondary device, it is first necessary to determine the position deviation of the secondary device relative to the main device when each acquisition step is performed based on the heading information, the third coordinate, and the fourth coordinate corresponding to each acquisition step. The position deviation refers to the deviation of the position of the secondary device relative to the position of the main device in a direction perpendicular to the heading. Exemplarily, when calculating the position deviation, the direction of travel of the main device can be determined based on the heading information and the third coordinate of the main device, and then the vertical distance between the secondary device and the direction of travel can be calculated based on the fourth coordinate of the secondary device to obtain the position deviation of the secondary device relative to the main device.

[0051] Based on the above embodiment, in step 204, according to the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, the position deviation of the secondary device relative to the primary device when each acquisition step is performed includes:

[0052] Step 2041: Determine the target straight line in the station center coordinate system according to the heading information corresponding to each acquisition step and the third coordinate.

[0053] When calculating the position deviation, it is first necessary to determine the target straight line in the station center coordinate system based on the heading information and the third coordinate collected in each collection step. In this embodiment, the heading information includes the angle between the orientation of the operating equipment and the true north direction. When determining the target straight line, a straight line with the angle as the extension direction and passing through the third coordinate can be set in the station center coordinate system. This straight line is the target straight line.

[0054] Step 2042: determine the vertical distance between the fourth coordinate corresponding to each acquisition step and the corresponding target straight line, and obtain the position deviation of the secondary device relative to the primary device when each acquisition step is performed.

[0055] After determining the target straight line corresponding to each acquisition step, the fourth coordinate of the slave device corresponding to each acquisition step can be further obtained, and the vertical distance of the fourth coordinate corresponding to each acquisition step in the direction perpendicular to the target straight line corresponding to each step can be calculated, so as to obtain the position deviation of the slave device relative to the main device when each acquisition step is executed, such as Figure 6 As shown, assuming Figure 6 The target straight line is S, and L is the position deviation.

[0056] Step 205: Determine the offset of the auxiliary device according to the working width and the position deviation corresponding to each acquisition step.

[0057] After determining the position deviation of the auxiliary device relative to the main device each time a collection step is performed, the device offset calibration device can determine the offset of the auxiliary device based on the working width and the position deviation corresponding to each collection step, so as to subsequently adjust the position of the auxiliary device based on the offset of the auxiliary device.

[0058] Based on the above embodiment, in step 205, the offset of the auxiliary device is determined according to the working width and the position deviation corresponding to each acquisition step, including:

[0059] Step 2051: Calculate the movement deviation value of the secondary device according to the position deviation corresponding to each acquisition step.

[0060] After obtaining the position deviation corresponding to each acquisition step, the mobile deviation value of the auxiliary device can be calculated. Specifically, when calculating the mobile deviation value, the position deviations corresponding to all acquisition steps can be mean filtered to obtain the mobile deviation value of the auxiliary device. In the embodiment of the present invention, by executing the acquisition step multiple times and performing mean filtering on the position deviation values ​​corresponding to all acquisition steps, it is possible to avoid the problem of inaccurate position deviation results calculated in the end due to acquisition errors or large acquisition deviations when only one acquisition step is executed, thereby improving the accuracy of the calculated mobile deviation value to a certain extent.

[0061] Step 2052: Determine the offset of the auxiliary equipment according to the working width and the movement deviation value of the auxiliary equipment.

[0062] Finally, the offset of the auxiliary device is determined according to the working width of the working device and the movement deviation value of the auxiliary device. In one embodiment, when determining the offset of the auxiliary device, the movement deviation value can be first subtracted from half of the working width to obtain the difference. The specific formula is as follows:

[0063] Difference = movement deviation value - working width / 2.

[0064] Afterwards, the offset of the secondary device is determined based on the difference and the position of the positioning device for collecting the second coordinate on the secondary device. In this embodiment, the secondary GPS antenna (or dotting device) for collecting the second coordinate can be installed on the left or right side of the agricultural implement. The calculated difference is essentially the offset of the left or right side of the agricultural implement relative to the head. Therefore, in this embodiment, when determining the offset of the secondary device, it is necessary to further consider the influence of the position of the secondary GPS antenna (or dotting device) on the difference. The position of the secondary GPS antenna (or dotting device) determines the adjustment direction of the secondary device when adjusting the offset.

[0065] On the basis of the above embodiment, determining the offset of the secondary device according to the difference and the position of the positioning device for collecting the second coordinate on the secondary device includes:

[0066] When the positioning device is located on the right side of the secondary device, the difference is determined as the offset of the secondary device. When the positioning device is located on the left side of the secondary device, a negative sign is given to the difference to obtain the offset of the secondary device.

[0067] Specifically, in this embodiment, when the secondary GPS antenna (or dotting device) is installed on the right side of the farm implement, the difference calculated according to the above formula is the final offset of the secondary device. When the secondary GPS antenna (or dotting device) is installed on the left side of the farm implement, a negative sign needs to be given to the difference to obtain the final offset of the secondary device.

[0068] Step 206: Calibrate the position of the secondary device according to the offset.

[0069] Finally, the position of the auxiliary device can be calibrated according to the offset. In one embodiment, the user can obtain the target width of the junction row in advance, and after calibrating the position of the auxiliary device, control the operation device to measure the measured width of the junction row, and compare the target width with the measured width, and verify whether the junction row after the auxiliary device is calibrated is accurate according to the comparison result.

[0070] As described above, an embodiment of the present invention provides a method for calibrating the offset of an equipment. When adjusting the offset of an auxiliary equipment towed in an operating equipment, the embodiment of the present invention needs to perform the acquisition step multiple times within a preset time period to collect the heading information of the operating equipment, the first coordinate of the main equipment in the longitude and latitude coordinate system, and the second coordinate of the auxiliary equipment in the longitude and latitude coordinate system, and convert the first coordinate and the second coordinate into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system. Afterwards, according to the heading information, the third coordinate, and the fourth coordinate, the position deviation of the auxiliary equipment relative to the main equipment is determined each time the acquisition step is executed, and the position deviations corresponding to all acquisition steps are averaged and filtered to obtain the movement deviation value of the auxiliary equipment. Finally, according to the movement deviation value of the auxiliary equipment and the working width, the offset of the auxiliary equipment is determined and the position of the auxiliary equipment is calibrated.

[0071] In the process of calibrating the offset of the auxiliary device in the embodiment of the present invention, the user does not need to operate the operating device to move, and the operating device only needs to remain in a stationary state. The offset of the auxiliary device can be calibrated without excessive operations, which simplifies the steps of calibrating the offset of the device. At the same time, the calibration accuracy is high and the learning cost is low. The embodiment of the present invention solves the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the device in the prior art.

[0072] The embodiment of the present invention also provides a device offset calibration device, such as Figure 7 As shown, Figure 7 A schematic diagram of the structure of a device offset calibration device provided in an embodiment of the present invention is applied to an operating device, wherein the operating device includes a main device and a secondary device, the main device is connected to the secondary device, and the main device is used to drive the secondary device to operate, including:

[0073] The width determination module 301 is used to determine the working width of the working equipment.

[0074] The data acquisition module 302 is used to perform the acquisition steps multiple times within a preset time period, and the acquisition steps include acquiring the heading information of the operating equipment, the first coordinates of the main equipment in the longitude and latitude coordinate system, and the second coordinates of the auxiliary equipment in the longitude and latitude coordinate system.

[0075] The coordinate conversion module 303 is used to convert the first coordinate and the second coordinate corresponding to each acquisition step into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system respectively.

[0076] The offset calibration module 304 is used to determine the offset of the auxiliary device according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and calibrate the position of the auxiliary device according to the offset.

[0077] Based on the above embodiment, the offset calibration module 304 includes:

[0078] A position deviation determination submodule, used to determine the position deviation of the slave device relative to the master device when each acquisition step is performed according to the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step;

[0079] The offset determination submodule is used to determine the offset of the auxiliary device according to the working width and the position deviation corresponding to each acquisition step.

[0080] Based on the above embodiment, the position deviation determination submodule includes:

[0081] A target straight line determination unit, for determining the target straight line in the station center coordinate system according to the heading information corresponding to each acquisition step and the third coordinate;

[0082] The position deviation determining unit is used to determine the vertical distance between the fourth coordinate corresponding to each acquisition step and the corresponding target straight line, and obtain the position deviation of the secondary device relative to the primary device when each acquisition step is performed.

[0083] Based on the above embodiment, the offset determination submodule includes:

[0084] A movement deviation calculation unit, used to calculate a movement deviation value of the secondary device according to a position deviation corresponding to each acquisition step;

[0085] The offset calculation unit is used to determine the offset of the auxiliary equipment according to the working width and the movement deviation value of the auxiliary equipment.

[0086] On the basis of the above embodiment, the movement deviation calculation unit is specifically used to perform mean filtering on the position deviations corresponding to all the acquisition steps to obtain the movement deviation value of the secondary device.

[0087] Based on the above embodiment, the offset calculation unit includes:

[0088] The difference calculation subunit subtracts the value of half the working width from the moving deviation value to obtain the difference value;

[0089] The offset determination subunit is used to determine the offset of the secondary device according to the difference and the position of the positioning device that collects the second coordinate on the secondary device.

[0090] Based on the above embodiment, the offset determination subunit is specifically used to determine the difference as the offset of the secondary device when the positioning device is located on the right side of the secondary device; when the positioning device is located on the left side of the secondary device, give a negative sign to the difference to obtain the offset of the secondary device.

[0091] The device offset calibration apparatus provided in the embodiment of the present invention is included in the device offset calibration device, and can be used to execute the device offset calibration method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0092] It is worth noting that in the embodiment of the above-mentioned device offset calibration apparatus, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0093] This embodiment also provides a device offset calibration device, such as Figure 8 As shown, the device offset calibration device 40 includes a processor 400 and a memory 401;

[0094] The memory 401 is used to store the computer program 402 and transmit the computer program 402 to the processor 400;

[0095] The processor 400 is configured to execute the steps in the above-mentioned device offset calibration method embodiment according to the instructions in the computer program 402 .

[0096] Exemplarily, the computer program 402 may be divided into one or more modules / units, one or more modules / units are stored in the memory 401, and are executed by the processor 400 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 402 in the device offset calibration device 40.

[0097] The device offset calibration device 40 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The device offset calibration device 40 may include, but is not limited to, a processor 400 and a memory 401. Those skilled in the art will appreciate that Figure 8 It is only an example of the device offset calibration device 40 and does not constitute a limitation of the device offset calibration device 40. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the device offset calibration device 40 may also include input and output devices, network access devices, buses, etc.

[0098] The processor 400 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0099] The memory 401 may be an internal storage unit of the device offset calibration device 40, such as a hard disk or memory of the device offset calibration device 40. The memory 401 may also be an external storage device of the device offset calibration device 40, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the device offset calibration device 40. Further, the memory 401 may also include both an internal storage unit and an external storage device of the device offset calibration device 40. The memory 401 is used to store computer programs and other programs and data required by the device offset calibration device 40. The memory 401 may also be used to temporarily store data that has been output or is to be output.

[0100] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0101] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0102] 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 distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store computer programs.

[0105] An embodiment of the present invention further provides a storage medium containing computer executable instructions, which are used to perform a device offset calibration method when executed by a computer processor. The method includes the following steps:

[0106] Determine the operating width of the operating equipment;

[0107] Performing the collection step multiple times within a preset time period, the collection step including collecting heading information of the operating device, a first coordinate of the main device in the longitude and latitude coordinate system, and a second coordinate of the auxiliary device in the longitude and latitude coordinate system;

[0108] The first coordinate and the second coordinate corresponding to each acquisition step are respectively converted into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system;

[0109] The offset of the auxiliary device is determined according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and the position of the auxiliary device is calibrated according to the offset.

[0110] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the embodiments of the present invention are not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the embodiments of the present invention. Therefore, although the embodiments of the present invention are described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the embodiments of the present invention, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.

Claims

1. A device offset calibration method, applied to an operating device, wherein the operating device comprises a main device and a secondary device, wherein the main device is connected to the secondary device, and the main device is used to drive the secondary device to operate, wherein: include: Determining the operating width of the operating equipment; Performing a collection step multiple times within a preset time period, the collection step comprising collecting heading information of the operating device, a first coordinate of the main device in a longitude and latitude coordinate system, and a second coordinate of the auxiliary device in the longitude and latitude coordinate system; Respectively converting the first coordinate and the second coordinate corresponding to each of the acquisition steps into a third coordinate in a station center coordinate system and a fourth coordinate in the station center coordinate system; The offset of the auxiliary device is determined according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each of the acquisition steps, and the position of the auxiliary device is calibrated according to the offset.

2. A device offset calibration method according to claim 1, characterized in that: Determining the offset of the auxiliary device according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each of the acquisition steps includes: Determine, according to the heading information, the third coordinate and the fourth coordinate corresponding to each of the acquisition steps, the position deviation of the slave device relative to the master device when the acquisition step is performed each time; The offset of the auxiliary device is determined according to the working width and the position deviation corresponding to each collection step.

3. A device offset calibration method according to claim 2, characterized in that: The determining, according to the heading information, the third coordinate and the fourth coordinate corresponding to each of the collecting steps, the position deviation of the secondary device relative to the primary device when the collecting step is performed each time, comprises: Determine a target straight line in the station center coordinate system according to the heading information corresponding to each of the acquisition steps and the third coordinate; The vertical distance between the fourth coordinate corresponding to each acquisition step and the corresponding target straight line is determined to obtain the position deviation of the secondary device relative to the primary device when the acquisition step is performed each time.

4. A device offset calibration method according to claim 2, characterized in that: The step of determining the offset of the auxiliary device according to the working width and the position deviation corresponding to each acquisition step includes: Calculating the movement deviation value of the secondary device according to the position deviation corresponding to each acquisition step; The offset of the auxiliary equipment is determined according to the working width and the movement deviation value of the auxiliary equipment.

5. A device offset calibration method according to claim 4, characterized in that: The step of calculating the movement deviation value of the secondary device according to the position deviation corresponding to each acquisition step includes: The position deviations corresponding to all the acquisition steps are subjected to mean filtering to obtain the movement deviation value of the secondary device.

6. A device offset calibration method according to claim 4, characterized in that: The step of determining the offset of the auxiliary device according to the working width and the movement deviation value of the auxiliary device comprises: Subtract half of the working width from the movement deviation value to obtain a difference; The offset of the secondary device is determined according to the difference and the position of the positioning device that collects the second coordinate on the secondary device.

7. A device offset calibration method according to claim 6, characterized in that: Determining the offset of the secondary device according to the difference and the position of the positioning device that collects the second coordinate on the secondary device includes: When the positioning device is located on the right side of the secondary device, determining the difference as an offset of the secondary device; When the positioning device is located on the left side of the secondary device, a negative sign is given to the difference to obtain the offset of the secondary device.

8. A device offset calibration device, applied to an operating device, the operating device comprising a main device and a secondary device, the main device is connected to the secondary device, the main device is used to drive the secondary device to operate, characterized in that: include: A width determination module, used to determine the operating width of the operating equipment; A data acquisition module, configured to perform a collection step multiple times within a preset time period, wherein the collection step includes collecting heading information of the operating device, a first coordinate of the main device in a latitude and longitude coordinate system, and a second coordinate of the auxiliary device in the latitude and longitude coordinate system; A coordinate conversion module, used for converting the first coordinate and the second coordinate corresponding to each of the acquisition steps into a third coordinate in a station center coordinate system and a fourth coordinate in the station center coordinate system respectively; The offset calibration module is used to determine the offset of the auxiliary device according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each of the acquisition steps, and calibrate the position of the auxiliary device according to the offset.

9. A device offset calibration device, characterized in that: The device offset calibration device comprises a processor and a memory; The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute a device offset calibration method as described in any one of claims 1-7 according to instructions in the computer program.

10. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to perform a device offset calibration method as described in any one of claims 1-7 when executed by a computer processor.

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