A device offset calibration method, apparatus, device, and storage medium

Abstract

Embodiments of the present application disclose a device offset calibration method, device, equipment and storage medium. When adjusting the offset of a secondary device towed by a working device, the embodiments need to perform the collection step multiple times within a preset time length to collect the heading information of the working device, the first coordinate of the primary device in the latitude-longitude coordinate system and the second coordinate of the secondary device in the latitude-longitude coordinate system, and convert the first coordinate and the second coordinate into the third coordinate in the station-centered coordinate system and the fourth coordinate in the station-centered coordinate system. Finally, the offset of the secondary device is determined according to the working width of the secondary device and the heading information, the third coordinate and the fourth coordinate corresponding to each collection step, and the position of the secondary device is calibrated according to the offset. The embodiments solve the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the device in the prior art.

Description

Technical Field

[0001] This application relates to the field of equipment calibration, and more particularly to a method, apparatus, device, and storage medium for calibrating equipment offset. Background Technology

[0002] A transition row, also called a connecting row or ridge, refers to the distance between two adjacent ridges in a field. The accuracy of the transition row is a crucial indicator in agricultural machinery autopilot technology. Adjusting the transition row essentially involves adjusting the offset of the implements, specifically the lateral offset of the towed implements relative to the navigation host. Current technology requires the agricultural machinery to be driven in an S-shape for at least three straight lines during operation. The left and right transition rows are measured during the operation, and the difference between the left and right transition rows is calculated. Dividing this difference by four yields the implement offset.

[0003] However, existing methods for calibrating the offset of agricultural implements are cumbersome, have high learning costs, are time-consuming and fuel-intensive, and have low accuracy. In actual agricultural implement offset calibration, 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] This invention provides a device offset calibration method, apparatus, device, and storage medium, which can simplify the process of calibrating device offset, improve the efficiency and accuracy of device offset calibration, and solve the technical problems of low efficiency and poor accuracy in the prior art of calibrating device offset.

[0005] In a first aspect, embodiments of the present invention provide a device offset calibration method, applied to a working device, the working device including a main device and an auxiliary device, the main device being connected to the auxiliary device, the main device being used to drive the auxiliary device to perform operations, including:

[0006] Determine the working width of the equipment;

[0007] The data collection process is executed multiple times within a preset time period. The data collection process includes collecting the heading information of the operating equipment, the first coordinates of the main equipment in the latitude and longitude coordinate system, and the second coordinates of the auxiliary equipment in the latitude and longitude coordinate system.

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

[0009] Based on the working width and the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step, the offset of the auxiliary equipment is determined, and the position of the auxiliary equipment is calibrated based on the offset.

[0010] Secondly, embodiments of the present invention provide a device for calibrating device offset, applied to a working device. The working device includes a main device and a secondary device, which are connected. The main device drives the secondary device to perform operations, including:

[0011] The width determination module is used to determine the working width of the operating equipment;

[0012] The data acquisition module is used to execute acquisition steps multiple times within a preset time period. The acquisition steps include acquiring the heading information of the operating equipment, the first coordinates of the main equipment in the latitude and longitude coordinate system, and the second coordinates of the auxiliary equipment in the latitude and longitude coordinate system.

[0013] The coordinate transformation module is used to convert the first and second coordinates corresponding to each acquisition step into the third and fourth coordinates in the station-centered coordinate system, respectively.

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

[0015] Thirdly, embodiments of the present invention provide a device offset calibration device, which includes a processor and a memory;

[0016] The memory is used to store computer programs and transfer them to the processor;

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

[0018] Fourthly, embodiments of the present invention provide a storage medium for 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] The present invention provides a method, apparatus, device, and storage medium for calibrating equipment offset. When adjusting the offset of a secondary device towed by a working device, the present invention requires multiple data acquisition steps within a preset time period to collect the heading information of the working device, the first coordinates of the main device in the latitude and longitude coordinate system, and the second coordinates of the secondary device in the latitude and longitude coordinate system. The first and second coordinates are then converted into third and fourth coordinates in the station-centered coordinate system. Finally, based on the working width of the secondary device and the heading information, third coordinates, and fourth coordinates corresponding to each data acquisition step, the offset of the secondary device is determined, and the position of the secondary device is calibrated according to the offset. In the process of calibrating the offset of the secondary device, the user does not need to operate the working device to move it; the working device only needs to remain stationary. The offset calibration of the secondary device can be achieved without excessive operation, simplifying the calibration process. Furthermore, the calibration accuracy is high, and the learning cost is low. The present invention solves the technical problems of low efficiency and poor accuracy in the prior art of calibrating equipment offset. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the prior art for calibrating device offset, provided as an embodiment of the present invention.

[0021] Figure 2 This is a schematic flowchart of a device offset calibration method provided in an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of a working width provided for an embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram illustrating the installation of a navigation host and a secondary GPS antenna on agricultural machinery, as provided in an embodiment of the present invention.

[0024] Figure 5 This is a flowchart illustrating another device offset calibration method provided in an embodiment of the present invention.

[0025] Figure 6 This is a schematic diagram illustrating the positional deviation of the secondary device relative to the primary device, provided in an embodiment of the present invention.

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

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

[0028] Figure label:

[0029] 10 agricultural machines, 20 machine heads, 30 agricultural implements, 40 navigation main unit, and 50 auxiliary GPS antennas. Detailed Implementation

[0030] The following description and accompanying drawings fully illustrate specific embodiments of this application to enable those skilled in the art to practice them. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of embodiments of this application includes the entire scope of the claims and all available equivalents of the claims. In this document, each embodiment may be referred to individually or collectively by the term "invention," which is merely for convenience and is not intended to automatically limit the scope of the application to any single invention or inventive concept if more than one invention is disclosed. Relational terms such as "first" and "second" are used herein only to distinguish one entity or operation from another, without requiring or implying any actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed. The various embodiments in this document are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the structures, products, etc., disclosed in the embodiments, since they correspond to the disclosed parts, the descriptions are relatively simple; relevant details can be found in the method section.

[0031] In existing technology, when the towed implement deviates, causing its forward direction to not align with the planned path, it is necessary to adjust the deviation of the towed implement. The adjustment method is as follows: Figure 1 As shown, the agricultural machinery 10 needs to be driven in an S-shape for at least three straight lines during operation. The left and right intersection lines must be measured during the operation. The offset of the implement is obtained by calculating the difference between the left and right intersection lines and dividing the difference by four. However, this calibration method is cumbersome, has a high learning cost, is time-consuming and fuel-intensive, and has low accuracy.

[0032] Therefore, in order to solve the above problems, embodiments of the present invention provide a device offset calibration method, such as... Figure 2 As shown, Figure 2This is a flowchart illustrating a device offset calibration method provided in an embodiment of the present invention. The device offset calibration method provided in this embodiment can be executed by a device offset calibration device, which can be implemented through software and / or hardware. The device offset calibration device can consist of two or more physical entities, or it can consist of a single physical entity. For example, the device offset calibration device can be a computer, a host computer, a tablet, etc. Furthermore, the device offset calibration method in this embodiment is applied to a working device, which includes a main device and an auxiliary device connected to each other. The main device drives the auxiliary device to perform operations. The working device refers to equipment used for performing operations, such as agricultural operations, industrial operations, or construction operations. In this embodiment, an agricultural machine used for agricultural operations is used as an example. The main device on the agricultural machine is the engine head that provides power, while the auxiliary device is the implement towed by the engine head. After the engine head starts, it can drive the implement to move, enabling the implement to perform tillage, sowing, or harvesting operations. The device offset calibration method provided in this embodiment includes:

[0033] Step 101: Determine the working width of the 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 it is performing operations. For example, when the implement is a seeder, the working width of the implement refers to the distance between the center point of the rightmost seed hole and the center point of the leftmost seed control hole. Figure 3 As shown. When determining the working width of agricultural machinery, the machinery can be pre-controlled to travel a certain distance, and then the actual working width of the implement can be measured to obtain the working width of the implement. Then, the working width can be entered into the equipment offset calibration device.

[0035] Step 102: Execute the data acquisition steps multiple times within a preset time period. The data acquisition steps include acquiring the heading information of the operating equipment, the first coordinates of the main equipment in the latitude and longitude coordinate system, and the second coordinates of the auxiliary equipment in the latitude and longitude coordinate system.

[0036] After determining the working width of the equipment, the equipment offset calibration device needs to perform multiple data acquisition steps within a preset time period. The preset time period and the cycle of the data acquisition steps can be set according to actual needs. For example, the preset time period can be set to 10 seconds, and the cycle to 1 second, meaning 10 data acquisition steps are performed within 10 seconds. Additionally, it is important to note that the equipment must remain stationary during the data acquisition steps; that is, the equipment must not move.

[0037] Specifically, the data acquisition step includes acquiring the heading information of the operating equipment, the first coordinates of the main equipment in the latitude and longitude coordinate system, and the second coordinates of the auxiliary equipment in the latitude and longitude coordinate system. The heading information includes the heading of the operating equipment, which is the angle measured clockwise from the north end of the meridian at the location of the operating equipment to the heading line. The latitude and longitude coordinate system is a geographic coordinate system that uses a combination of longitude and latitude to determine a specific location on the Earth's surface. The latitude and longitude coordinates of a point are represented by a combination of two values; for example, 40°N, 120°E represents the location at 40 degrees North latitude and 120 degrees East longitude. In one embodiment, the user can pre-set a positioning device on the agricultural machinery. When the equipment offset calibration device performs the data acquisition step, it can obtain the heading information, the first coordinate, and the second coordinate from the positioning device. For example, as... Figure 4 As shown, the user can install the navigation host 40 on the head 20 of the agricultural machinery 10, and install the secondary GPS antenna 50 (or marker) on the left or right edge of the implement 30 of the agricultural machinery, and establish a communication connection between the secondary GPS antenna 50 (or marker) and the navigation host 40. During the subsequent data acquisition process, after both the navigation host 40 and the secondary GPS antenna 50 (or marker) enter RTK positioning mode and successfully acquire 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 implement 30 from the navigation host 40 and the secondary GPS antenna 50.

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

[0039] After performing the data acquisition steps and acquiring the heading coordinates, the first coordinate, and the second coordinate, it is necessary to transform the first and second coordinates in the latitude and longitude coordinate system acquired in each acquisition step into the third and fourth coordinates in the station-centered coordinate system. The station-centered coordinate system, also known as the Northeast-Northeast coordinate system, is a rectangular coordinate system with the station center as the origin O, the Z-axis coinciding with the ellipsoid normal (positive direction), the y-axis coinciding with the minor axis of the ellipsoid (northward direction), and the x-axis coinciding with the major axis of the Earth ellipsoid (eastward direction). Specifically, when transforming the coordinates, the first transformation matrix between the latitude and longitude coordinate system and the geocentric coordinate system can be determined first, followed by the second transformation matrix between the geocentric coordinate system and the station-centered coordinate system. Subsequently, based on the first and second transformation matrices, the first and second coordinates in the latitude and longitude coordinate system can be transformed into the third and fourth coordinates in the station-centered coordinate system, respectively. The specific process can be found in existing technologies and will not be elaborated upon in this embodiment. Since the heading information is located in the station center coordinate system, the heading information does not need to be converted.

[0040] In addition, it is understandable that the conversion process between the first and second coordinates can be executed immediately after the first and second coordinates are acquired, without having to wait until all acquisition steps are completed before executing it uniformly.

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

[0042] After completing the data acquisition steps, the equipment offset calibration device determines the offset of the auxiliary equipment based on the working width, the heading information acquired in each acquisition step, and the third and fourth coordinates corresponding to each acquisition step. For example, the equipment offset calibration device can calculate the relative positional deviation between the machine head and the implement at each acquisition step based on the third and fourth coordinates corresponding to each acquisition step. Then, it performs a mean filter on the relative positional deviations corresponding to all acquisition steps to obtain the implement's movement deviation value. Finally, based on the implement's movement deviation value and the implement's working width, the offset of the implement is determined, and the implement's position is calibrated according to the offset.

[0043] The above-described embodiment of the present invention provides a method for calibrating equipment offset. When adjusting the offset of a secondary device towed by a working device, this embodiment requires multiple data acquisition steps within a preset time period to collect the heading information of the working device, the first coordinates of the main device in the latitude and longitude coordinate system, and the second coordinates of the secondary device in the latitude and longitude coordinate system. The first and second coordinates are then converted into third and fourth coordinates in the station-centered coordinate system. Finally, based on the working width of the secondary device and the heading information, third coordinates, and fourth coordinates corresponding to each data acquisition step, the offset of the secondary device is determined, and the position of the secondary device is calibrated according to the offset. In the process of calibrating the offset of the secondary device, the user does not need to operate the working device to move it; the working device only needs to remain stationary. The offset calibration of the secondary device can be achieved without excessive operation, simplifying the calibration process. Furthermore, the calibration accuracy is high, and the learning cost is low. This embodiment of the present invention solves the technical problems of low efficiency and poor accuracy in the prior art of calibrating equipment offset.

[0044] like Figure 5 As shown, Figure 5 This is a flowchart illustrating another device offset calibration method provided in an embodiment of the present invention. Figure 5 The device offset calibration method shown is a specific implementation of the above-mentioned device offset calibration method.

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

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

[0047] Step 202: Execute the data acquisition steps multiple times within a preset time period. The data acquisition steps include acquiring the heading information of the operating equipment, the first coordinates of the main equipment in the latitude and longitude coordinate system, and the second coordinates of the auxiliary equipment in the latitude and longitude coordinate system.

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

[0049] Step 204: Based on the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step, determine the positional deviation of the secondary device relative to the primary device when each acquisition step is executed.

[0050] In this embodiment, when calibrating the offset of the secondary device, it is first necessary to determine the positional deviation of the secondary device relative to the primary device for each acquisition step based on the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step. The positional deviation refers to the deviation of the secondary device's position relative to the primary device's position in the direction perpendicular to the heading. For example, when calculating the positional deviation, the primary device's direction of travel can be determined based on the heading information and the primary device's third coordinate. Then, based on the secondary device's fourth coordinate, the vertical distance between the secondary device and the direction of travel can be calculated to obtain the positional deviation of the secondary device relative to the primary device.

[0051] Based on the above embodiments, step 204 determines the positional deviation of the secondary device relative to the primary device during each acquisition step based on the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step, including:

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

[0053] When calculating the positional deviation, the target straight line must first be determined in the station-centered coordinate system based on the heading information and the third coordinate acquired in each acquisition step. In this embodiment, the heading information includes the angle between the orientation of the working equipment and true north. When determining the target straight line, a straight line can be set in the station-centered coordinate system with this angle as its extension direction and passing through the third coordinate; 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 line, and obtain the positional deviation of the secondary device relative to the primary device when each acquisition step is executed.

[0055] After determining the target line corresponding to each acquisition step, the fourth coordinate of the secondary device corresponding to each acquisition step can be obtained, and the vertical distance of the fourth coordinate corresponding to each acquisition step in the direction perpendicular to the target line corresponding to each step can be calculated. This yields the positional deviation of the secondary device relative to the primary device during each acquisition step. Figure 6 As shown, assuming Figure 6 If the target line is S, then L is the positional deviation.

[0056] Step 205: Determine the offset of the auxiliary equipment based on the working width and the positional deviation corresponding to each acquisition step.

[0057] After determining the positional deviation of the auxiliary device relative to the main device during each data acquisition step, the device offset calibration device can determine the offset of the auxiliary device based on the working width and the positional deviation corresponding to each data acquisition step, so that the position of the auxiliary device can be adjusted accordingly.

[0058] Based on the above embodiments, step 205 determines the offset of the auxiliary equipment according to the working width and the positional deviation corresponding to each acquisition step, including:

[0059] Step 2051: Calculate the movement deviation value of the auxiliary device based on the positional deviation corresponding to each acquisition step.

[0060] After obtaining the positional deviation corresponding to each acquisition step, the movement deviation value of the secondary device can be calculated. Specifically, when calculating the movement deviation value, the positional deviations corresponding to all acquisition steps can be averaged and filtered to obtain the movement deviation value of the secondary device. In this embodiment of the invention, by executing the acquisition steps multiple times and averaging the positional deviation values ​​corresponding to all acquisition steps, the problem of acquisition errors or large acquisition deviations occurring when only one acquisition step is executed can be avoided, leading to inaccurate positional deviation results in the final calculation. This improves the accuracy of calculating the movement deviation value to a certain extent.

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

[0062] Finally, the offset of the auxiliary equipment is determined based on the working width of the main equipment and the movement deviation value of the auxiliary equipment. In one embodiment, when determining the offset of the auxiliary equipment, the movement deviation value can first be subtracted from half of the working width to obtain the difference, as shown in the following formula:

[0063] Difference = Movement deviation value - Working width / 2.

[0064] Next, based on the difference and the position of the positioning device that collects the second coordinates on the auxiliary device, the offset of the auxiliary device is determined. In this embodiment, the auxiliary GPS antenna (or marker) used to collect the second coordinates can be installed on the left or right side of the implement. The calculated difference is essentially the offset of the left or right side of the implement relative to the machine head. Therefore, in this embodiment, when determining the offset of the auxiliary device, the influence of the position of the auxiliary GPS antenna (or marker) on the difference needs to be further considered. The position of the auxiliary GPS antenna (or marker) determines the adjustment direction of the auxiliary device when adjusting the offset.

[0065] Based on the above embodiments, the offset of the secondary device is determined according to the difference and the position of the positioning device that acquires the second coordinates on the secondary device, including:

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

[0067] Specifically, in this embodiment, when the secondary GPS antenna (or marker) is installed on the right side of the implement, the difference calculated according to the above formula is the final offset of the secondary device. When the secondary GPS antenna (or marker) is installed on the left side of the implement, the difference needs to be given a negative sign 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 equipment can be calibrated based on the offset. In one embodiment, the user can obtain the target width of the handover line in advance, control the operation of the working equipment after calibrating the position of the auxiliary equipment, measure the width of the handover line, compare the target width and the measured width, and verify the accuracy of the handover line after the auxiliary equipment is calibrated based on the comparison result.

[0070] The above-described embodiment of the present invention provides a method for calibrating equipment offset. When adjusting the offset of a secondary device towed in a working device, this embodiment requires multiple data acquisition steps within a preset time period to collect the heading information of the working device, the first coordinates of the main device in a latitude and longitude coordinate system, and the second coordinates of the secondary device in a latitude and longitude coordinate system. The first and second coordinates are then converted into third and fourth coordinates in a station-centered coordinate system. Subsequently, based on the heading information, the third coordinates, and the fourth coordinates, the positional deviation of the secondary device relative to the main device is determined for each data acquisition step. The positional deviations corresponding to all data acquisition steps are then averaged and filtered to obtain the movement deviation value of the secondary device. Finally, based on the movement deviation value of the secondary device and the working width, the offset of the secondary device is determined, and the position of the secondary device is calibrated.

[0071] In this invention, during the calibration of the offset of the auxiliary device, the user does not need to move the working device; the working device only needs to remain stationary. This simplifies the calibration process by requiring minimal user intervention, resulting in high accuracy and low learning curve. This invention addresses the problems of low efficiency and poor accuracy in existing methods for calibrating device offset.

[0072] This invention also provides a device offset calibration apparatus, such as... Figure 7 As shown, Figure 7 This is a schematic diagram of a device offset calibration apparatus provided in an embodiment of the present invention. It is applied to a working device, which includes a main device and an auxiliary device connected to each other. The main device drives the auxiliary device to perform operations, including:

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

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

[0075] The coordinate transformation module 303 is used to transform the first and second coordinates corresponding to each acquisition step into the third and fourth coordinates in the station-centered coordinate system, respectively.

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

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

[0078] The position deviation determination submodule is used to determine the position deviation of the auxiliary device relative to the main device when each acquisition step is performed, based on the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step.

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

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

[0081] The target line determination unit is used to determine the target line in the station center coordinate system based on the heading information and the third coordinate corresponding to each acquisition step.

[0082] The position deviation determination unit is used to determine the vertical distance between the fourth coordinate corresponding to each acquisition step and the corresponding target line, so as to obtain the position deviation of the auxiliary device relative to the main device when each acquisition step is executed.

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

[0084] The movement deviation calculation unit is used to calculate the movement deviation value of the auxiliary device based on the position deviation corresponding to each acquisition step;

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

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

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

[0088] The difference calculation subunit subtracts half the working width from the movement deviation value to obtain the difference.

[0089] The offset determination subunit is used to determine the offset of the auxiliary device based on the difference and the position of the positioning device that acquires the second coordinate on the auxiliary device.

[0090] Based on the above embodiments, the offset determination subunit is specifically used to determine the difference value as the offset of the sub-device when the positioning device is located to the right of the sub-device; and to assign a negative sign to the difference value when the positioning device is located to the left of the sub-device, thereby obtaining the offset of the sub-device.

[0091] The device offset calibration device provided in this embodiment of the invention is included in the device offset calibration device and can be used to perform 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 embodiments of the above-mentioned device offset calibration device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation 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] Memory 401 is used to store computer program 402 and transfer computer program 402 to processor 400;

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

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

[0097] The device offset calibration device 40 can be a computing device such as a desktop computer, laptop, handheld computer, or 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 understand that... Figure 8 This is merely an example of the device offset calibration device 40 and does not constitute a limitation on the device offset calibration device 40. It may include more or fewer components than shown, or combine certain components, or different components. For example, the device offset calibration device 40 may also include input / 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 (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), 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.

[0099] The memory 401 can be an internal storage unit of the device offset calibration device 40, such as a hard disk or RAM of the device offset calibration device 40. The memory 401 can also be an external storage device of the device offset calibration device 40, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the device offset calibration device 40. Furthermore, the memory 401 can include both internal and external storage units 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 can also be used to temporarily store data that has been output or will be output.

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

[0101] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0104] If the integrated unit is implemented as 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing computer programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] This invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a device offset calibration method, the method comprising the following steps:

[0106] Determine the working width of the equipment;

[0107] The data collection process is executed multiple times within a preset time period. The data collection process includes collecting the heading information of the operating equipment, the first coordinates of the main equipment in the latitude and longitude coordinate system, and the second coordinates of the auxiliary equipment in the latitude and longitude coordinate system.

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

[0109] Based on the working width and the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step, the offset of the auxiliary equipment is determined, and the position of the auxiliary equipment is calibrated based on the offset.

[0110] Note that the above are merely preferred embodiments and the technical principles applied in this invention. Those skilled in the art will understand that the embodiments of this invention are not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of this invention. Therefore, although the embodiments of this invention have been described in detail above, the embodiments of this invention are not limited to the above embodiments. More other equivalent embodiments may be included without departing from the concept of the embodiments of this invention, and the scope of the embodiments of this invention is determined by the scope of the appended claims.

Claims

1. A method for calibrating equipment offset, applied to a working device, the working device comprising a main device and an auxiliary device, the main device being connected to the auxiliary device, the main device being used to drive the auxiliary device to perform operations, characterized in that... include: Determine the working width of the equipment; The data collection steps are performed multiple times within a preset time period. The data collection steps include collecting the heading information of the operating equipment, the first coordinates of the main equipment in the latitude and longitude coordinate system, and the second coordinates of the auxiliary equipment in the latitude and longitude coordinate system. The first coordinate and the second coordinate corresponding to each of the acquisition steps are respectively converted into the third coordinate and the fourth coordinate in the station center coordinate system; Based on the working width and the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step, the offset of the auxiliary device is determined, and the position of the auxiliary device is calibrated based on the offset.

2. The device offset calibration method according to claim 1, characterized in that, The step of determining the offset of the auxiliary device based on the working width and the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step includes: Based on the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step, determine the positional deviation of the secondary device relative to the primary device when each acquisition step is executed. The offset of the auxiliary device is determined based on the working width and the positional deviation corresponding to each acquisition step.

3. The device offset calibration method according to claim 2, characterized in that, The determination of the positional deviation of the secondary device relative to the primary device during each data acquisition step, based on the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step, includes: Based on the heading information and the third coordinates corresponding to each acquisition step, the target straight line is determined in the station center coordinate system; Determine the vertical distance between the fourth coordinate corresponding to each acquisition step and the corresponding target line to obtain the positional deviation of the secondary device relative to the primary device when each acquisition step is executed.

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

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

6. The device offset calibration method according to claim 4, characterized in that, The step of determining the offset of the auxiliary equipment based on the working width and the movement deviation value of the auxiliary equipment includes: The difference is obtained by subtracting half the working width from the movement deviation value. The offset of the secondary device is determined based on the difference and the position of the positioning device that acquires the second coordinate on the secondary device.

7. The device offset calibration method according to claim 6, characterized in that, The step of determining the offset of the secondary device based on the difference and the position of the positioning device that acquired the second coordinates on the secondary device includes: When the positioning device is located to the right of the auxiliary device, the difference is determined to be the offset of the auxiliary device; When the positioning device is located to the left of the auxiliary device, the difference is given a negative sign to obtain the offset of the auxiliary device.

8. A device for calibrating equipment offset, applied to a working device, the working device comprising a main device and an auxiliary device, the main device being connected to the auxiliary device, the main device being used to drive the auxiliary device to perform operations, characterized in that... include: Width determination module, used to determine the working width of the working equipment; The data acquisition module is used to execute acquisition steps multiple times within a preset time period. The acquisition steps include acquiring the heading information of the operating equipment, the first coordinates of the main equipment in the latitude and longitude coordinate system, and the second coordinates of the auxiliary equipment in the latitude and longitude coordinate system. The coordinate transformation module is used to convert the first coordinate and the second coordinate corresponding to each acquisition step into the third coordinate and the fourth coordinate in the station center coordinate system, respectively. The offset calibration module is used to determine the offset of the auxiliary device based on the working width and the heading information, third coordinate and fourth coordinate corresponding to each acquisition step, and to calibrate the position of the auxiliary device based on the offset.

9. A device offset calibration device, characterized in that, The device offset calibration device includes a processor and a memory; The memory is used to store computer programs and to transfer the computer programs to the processor; The processor is configured 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 for storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform a device offset calibration method as described in any one of claims 1-7.

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