Rotary table position calibration method and device for working vehicle and working vehicle

Abstract

The embodiment of the invention provides a rotary table position calibration method and device for an operation vehicle and the operation vehicle, and is applied to the technical field of rotary table control. The method comprises the following steps: in the rotating process of a rotary table, determining a real-time distance between a reference mark point and a physical detection unit through the physical detection unit, and acquiring a real-time image of the reference mark point through an image acquisition unit; comparing the real-time image with a target image to obtain an image detection result, and comparing the real-time distance with a target distance to obtain a physical detection result, the target distance is the distance between the physical detection unit and the reference mark point obtained when the rotary table is located at the target position; and judging whether the turntable is at the target position based on the image detection result and the physical detection result. The objective of the invention is to improve the accuracy of rotary table position calibration.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of turntable control, in particular to a turntable position calibration method and device for a work vehicle and the work vehicle. BACKGROUND

[0002] The turntable is a device for providing support for a boom device, a ladder and the like and realizing rotation, and is an important component of a work vehicle. When the turntable is operated, the position of the turntable is directly related to whether the boom device, the ladder and the like can be precisely controlled, and therefore, the position of the turntable needs to be detected and calibrated.

[0003] In the prior art, the position of the turntable can be determined by using photoelectric detection. Specifically, a photoelectric detection device (including a light source and a light receiver) is arranged on a turntable bearing device, and an optical mark is arranged on the turntable and rotates with the turntable. When the turntable rotates to a preset position, the light emitted by the light source is reflected by the optical mark, and then the light receiver receives the reflected light, and it is determined that the turntable is at the preset position. However, in an actual detection scenario, if there is smoke or dust in the environment, the accuracy of the photoelectric detection result is low. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a turntable position calibration method and device for a work vehicle and the work vehicle.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a turntable position calibration method for a work vehicle. A detection platform is arranged on the turntable, an image acquisition unit and a physical detection unit are arranged on the detection platform, a reference platform is arranged on a turntable bearing device, a reference mark point is arranged at the center position of the reference platform, and the center position of the reference platform is aligned with the center position of the detection platform when the turntable is at a target position. The method comprises the following steps: During rotation of the turntable, the real-time distance between the reference mark point and the physical detection unit is determined by the physical detection unit, and the real-time image of the reference mark point is acquired by the image acquisition unit; An image detection result is obtained by comparing the real-time image with a target image, and a physical detection result is obtained by comparing a real-time distance with a target distance, wherein the target image is acquired by the image acquisition unit when the turntable is at the target position, and the target distance refers to the distance between the reference mark point and the physical detection unit obtained by the physical detection unit when the turntable is at the target position; Whether the turntable is at the target position is determined based on the image detection result and the physical detection result.

[0006] In the embodiment of the present application, the comparison of the real-time image and the target image obtains an image detection result, which includes determining a first coordinate of the reference mark point in the target image and determining a second coordinate of the reference mark point in the real-time image; calculating a first deviation value between the first coordinate and the second coordinate; and in the case that the first deviation value is less than or equal to a first deviation threshold, determining that the image detection result is that the turntable is at the target position.

[0007] In the embodiment of the present application, the comparison of the real-time distance and the target distance obtains a physical detection result, which includes calculating a second deviation value between the target distance and the real-time distance; and in the case that the second deviation value is less than or equal to a second deviation threshold, determining that the physical detection result is that the turntable is at the target position.

[0008] In the embodiment of the present application, the comparison of the real-time distance and the target distance obtains a physical detection result, which includes calculating a second deviation value between the target distance and the real-time distance; and in the case that the second deviation value is less than or equal to a second deviation threshold, determining that the physical detection result is that the turntable is at the target position.

[0009] In the embodiment of the present application, the turntable and the turntable bearing device are provided with a buffer device, and the method further includes: obtaining a real-time rotation angle of the turntable during rotation of the turntable; calculating an angle difference value between the real-time rotation angle and a target rotation angle, the target rotation angle being an angle of rotation of the turntable when the turntable is at the target position; in the case that the angle difference value is greater than a first preset angle threshold and the angle difference value is less than or equal to a second preset angle threshold, controlling the buffer device to reduce the rotation speed of the turntable; and in the case that the angle difference value is less than or equal to the first preset angle threshold, controlling the buffer device to stop the rotation of the turntable within a preset time length.

[0010] In the embodiment of the present application, the buffer device includes an encoder, an electric cylinder and a reduction gear set, the encoder is used to collect the real-time rotation angle during rotation of the turntable, the axis of the electric cylinder is parallel to the tangent direction of the swing support in the turntable, and the reduction gear set is used to connect the output shaft of the electric cylinder and the outer gear ring of the swing support; and the control of the buffer device to reduce the rotation speed of the turntable includes: driving the electric cylinder to operate at a preset torque, wherein when the electric cylinder operates at the preset torque, the linear thrust of the electric cylinder piston rod is converted into a rotary torque, and the rotary torque is amplified by the reduction gear set and then acts as a resistance torque on the outer gear ring of the swing support, so as to reduce the rotation speed of the turntable.

[0011] In the embodiment of the present application, the control of the buffer device to stop the rotation of the turntable within a preset time length includes: reducing the preset torque to zero within the preset time length to stop the rotation of the turntable.

[0012] In the embodiment of the present application, the determination of whether the turntable is at the target position based on the image detection result and the physical detection result comprises: in the case that the turntable stops rotating and both the image detection result and the physical detection result represent that the turntable is at the target position, determining that the turntable is at the target position.

[0013] The second aspect of the present application provides a turntable position calibration device for a work vehicle, comprising: a memory configured to store instructions; a processor configured to call the instructions from the memory and capable of implementing the turntable position calibration method for a work vehicle according to any one of the above when executing the instructions.

[0014] The third aspect of the present application provides a work vehicle, comprising: a turntable and a turntable bearing device, the turntable is provided with a detection platform, the detection platform is provided with an image acquisition unit and a physical detection unit, the turntable bearing device is provided with a reference platform, the center position of the reference platform is provided with a reference mark point, and the center position of the reference platform is aligned with the center position of the detection platform when the turntable is at the target position; and the above turntable position calibration device for a work vehicle.

[0015] In the embodiment of the present application, a buffer device is arranged between the turntable and the turntable bearing device, the buffer device comprises an encoder, an electric cylinder and a reduction gear set, the encoder is used to collect the real-time rotation angle of the turntable during the rotation of the turntable, the axis of the electric cylinder is parallel to the tangent direction of the rotary support in the turntable, and the reduction gear set is used to connect the output shaft of the electric cylinder and the outer gear ring of the rotary support.

[0016] The fourth aspect of the present application provides a machine readable storage medium, the machine readable storage medium has instructions stored thereon, the instructions, when executed by a processor, cause the processor to be configured to execute the above-mentioned turntable position calibration method for a work vehicle.

[0017] The application can perceive the change of the rotating position of the rotating table through the real-time image and the real-time distance by determining the real-time distance between the reference mark point and the physical detection unit in the rotating process of the rotating table through the physical detection unit and collecting the real-time image of the reference mark point through the image acquisition unit; the image detection result is obtained by comparing the real-time image with the target image, and the physical detection result is obtained by comparing the real-time distance with the target distance, wherein the target image is collected by the image acquisition unit when the rotating table is in the target position, and the target distance refers to the distance between the reference mark point obtained by the physical detection unit when the rotating table is in the target position; the rotating table whether is in the target position can be judged from the image level and the physical detection level respectively by comparing the actually collected data and the collected data in the target position; then whether the rotating table is in the target position is judged based on the image detection result and the physical detection result, and the detection results of the image level and the physical detection level can be comprehensively judged whether the rotating table is in the target position. Therefore, the application can improve the accuracy of the rotating table position calibration through the double design and guarantee of image detection and physical detection.

[0018] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following specific implementation, but do not constitute the limitation to the embodiments of the present application. In the drawings: Figure 1 The structure schematic diagram of the work vehicle according to the embodiments of the present application is schematically shown; Figure 2 The flowchart of the rotating table position calibration method for the work vehicle according to the embodiments of the present application is schematically shown; Figure 3 The flowchart of step 202 is schematically shown; Figure 2 Figure 4 The buffer device control flowchart according to the embodiments of the present application is schematically shown; Figure 5 The flowchart of another rotating table position calibration method for the work vehicle according to the embodiments of the present application is schematically shown; Figure 6 The structure block diagram of the work vehicle according to the embodiments of the present application is schematically shown; Figure 7 The internal structure diagram of the computer equipment according to the embodiments of the present application is schematically shown. DETAILED DESCRIPTION

[0020] ​In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0021] Please refer to Figure 1 , Figure 1 The structural schematic diagram of the work vehicle according to the embodiments of the present application is schematically shown. Figure 1 The work vehicle in the figure includes an image acquisition unit, a physical detection unit, a rotary table, a rotary table bearing device and a control module. The image acquisition unit can include a high-resolution camera and a processor in the figure, and the processor is used to preprocess the image collected by the high-resolution camera, such as image filtering. The rotary table bearing device can be a subframe, and the physical detection unit can be a proximity switch. The center reference refers to a center reference point, which is provided on a reference platform (not shown in the figure).

[0022] During the rotation of the rotary table, the high-resolution camera can acquire real-time images, and the physical detection unit can acquire real-time distances. Figure 1 The processor in the figure can first preprocess the real-time images acquired by the high-resolution camera, and then transmit the real-time distances and the processed real-time images to the control module. The control module can compare the real-time images and the target images, and compare the real-time distances and the target distances, so as to determine whether the rotary table is at the target position.

[0023] In another embodiment, as shown in Figure 1 , a buffer device is further provided between the rotary table bearing device and the rotary table. The buffer device is used to reduce the rotation speed of the rotary table when it is determined that the current position of the rotary table is close to the target position. Therefore, the control module can also control the buffer device to further improve the accuracy of position calibration.

[0024] It should be noted that the execution subject of the rotary table position calibration method for the work vehicle in the present application is the above-mentioned control module, which can be an MCU, a computer device or the like with data processing function. In the present application, the control module and other hardware devices in the present application can communicate through wired or wireless means.

[0025] Please refer to Figure 2 , Figure 2 The flowchart of the rotary table position calibration method for the work vehicle according to the embodiments of the present application is schematically shown. As Figure 2As shown in the embodiment of the present application, a method for calibrating the position of a rotating platform of a work vehicle is provided. The rotating platform is provided with a detection platform, and the detection platform is provided with an image acquisition unit and a physical detection unit. A reference platform is provided on the rotating platform bearing device. A reference mark point is provided at the center position of the reference platform. When the rotating platform is in a target position, the center position of the reference platform is aligned with the center position of the detection platform. The embodiment includes the following steps: Step 201, during the rotation of the rotating platform, the real-time distance between the reference mark point and the physical detection unit is determined by the physical detection unit, and the real-time image of the reference mark point is acquired by the image acquisition unit.

[0026] In the embodiment of the present application, the brightness, color or grayscale of the reference mark point and the area on the reference platform other than the reference mark point can form high contrast. For example, the reference mark point can be designed as black, and the area on the reference platform other than the reference mark point can be designed as white. Moreover, the type of the reference mark point corresponds to the specific hardware of the physical detection unit. For example, when the physical detection unit is an ultrasonic proximity switch, the reference mark point needs to be designed in a form that can reflect sound waves.

[0027] It can be understood that when the rotating platform is in the target position, the center position of the detection platform on the rotating platform is aligned with the center position of the reference platform. It should be noted that the target position refers to a position where the rotating platform is expected to stop rotating and remain stationary. During the rotation of the rotating platform, neither the rotating platform bearing device nor the reference platform rotates, while the image acquisition unit and the physical detection unit rotate with the rotating platform. Moreover, during the rotation, the control module controls the image acquisition unit to acquire the real-time image containing the reference mark point, and controls the physical detection unit to detect the distance between itself and the reference mark point in real time.

[0028] Step 202, compare the real-time image with the target image to obtain the image detection result, and compare the real-time distance with the target distance to obtain the physical detection result. The target image is acquired by the image acquisition unit when the rotating platform is in the target position, and the target distance refers to the distance between the reference mark point and the physical detection unit obtained by the physical detection unit when the rotating platform is in the target position.

[0029] In the embodiment of the present application, for the real-time image acquired in the rotation process of the turntable, the control module can compare the real-time image with the target image, so that the difference between the real-time image and the target image can be used to determine whether the image detection level of the turntable is at the target position. Similarly, the control module will also compare the real-time distance acquired in the rotation process of the turntable with the target distance, so that the difference between the distances can be used to determine whether the turntable is at the target position from the physical detection level. Thus, the present application can obtain two detection results for whether the turntable is at the target position through image detection and distance detection at two levels.

[0030] In step 203, it is determined whether the turntable is at the target position based on the image detection result and the physical detection result.

[0031] In the embodiment of the present application, in the case that both the image detection result and the physical detection result indicate that the turntable is at the target position, it is determined that the turntable is at the target position; in the case that any one of the image detection result and the physical detection result indicates that the turntable is not at the target position, it is determined that the turntable is not at the target position.

[0032] In the embodiment of the present application, only in the case that both the image detection result and the physical detection result indicate that the turntable is at the target position, it is determined that the turntable is at the target position, thereby avoiding the problem of unreliable single detection result, and improving the accuracy of the position calibration of the turntable.

[0033] In the embodiment of the present application, by determining the real-time distance between the reference mark point and the physical detection unit in the rotation process of the turntable, and acquiring the real-time image of the reference mark point by the image acquisition unit, the change of the rotation position of the turntable can be perceived through the real-time image and the real-time distance; the image detection result is obtained by comparing the real-time image with the target image, and the physical detection result is obtained by comparing the real-time distance with the target distance, wherein the target image is acquired by the image acquisition unit when the turntable is at the target position, and the target distance refers to the distance between the reference mark point and the physical detection unit acquired by the physical detection unit when the turntable is at the target position, which can be used to determine whether the turntable is at the target position from the image level and the physical detection level by comparing the actually acquired data with the data acquired at the target position; then, whether the turntable is at the target position is determined based on the image detection result and the physical detection result, which can comprehensively determine whether the turntable is at the target position by comprehensively considering the detection results of the image level and the physical detection level. Thus, the present application can improve the accuracy of the position calibration of the turntable by the dual design and guarantee of image detection and physical detection.

[0034] Further, based on the above-mentioned embodiment of the present application for the position calibration method of the turntable of the work vehicle, a second embodiment of the present application for the position calibration method of the turntable of the work vehicle is proposed.

[0035] Please refer to Figure 3 , Figure 3 A flowchart of step 202 in the embodiment is shown schematically. Figure 2 In the embodiment, step 202 includes: Step 2021, determining a first coordinate of the reference mark point in the target image, and determining a second coordinate of the reference mark point in the real-time image.

[0036] In addition to directly comparing the images, the embodiment of the present application also provides a scheme of comparing the images through coordinates. Specifically, since the reference mark point is included in both the target image and the real-time image, the control module can determine the difference between the real-time image and the target image through the coordinates of the reference mark point in different images.

[0037] It should be noted that the first coordinate is the position coordinate of the reference mark point in the target image, and the second coordinate is the position coordinate of the reference mark point in the real-time image, wherein the two-dimensional coordinate system used to determine the first coordinate and the second coordinate in the embodiment of the present application is consistent. In a feasible implementation, the image center can be taken as the origin and a coordinate system can be constructed, and then the control module can obtain the first coordinate and the second coordinate based on the coordinate system constructed with the image center as the origin.

[0038] Step 2022, calculating a first deviation value between the first coordinate and the second coordinate.

[0039] Step 2023, in the case that the first deviation value is less than or equal to a first deviation threshold, determining that the image detection result is that the turntable is at the target position.

[0040] It can be understood that the smaller the first deviation value, the closer the first coordinate and the second coordinate. It should be noted that the first deviation threshold is a pre-set value, which represents the critical standard for determining whether the turntable is at the target position. When the first deviation value does not exceed the first deviation threshold, it can be determined that the turntable is at the target position. That is, the first deviation threshold is the maximum deviation range allowed, as long as the first deviation value actually calculated is within the range, it meets the determination condition that the turntable is at the target position. Therefore, in the embodiment of the present application, in the case that the first deviation value is less than or equal to the first deviation threshold, it can be considered that the turntable is at the target position at the level of image detection. Of course, in the case that the first deviation value is greater than the first deviation threshold, it is determined that the turntable is not at the target position. Then, the image at the next moment can be acquired and compared to determine the image detection result at the next moment.

[0041] In a feasible implementation, the comparison of the real-time distance and the target distance to obtain the physical detection result further includes: The second deviation value between the target distance and the real-time distance is calculated, and the physical detection result is determined as the turntable being at the target position if the second deviation value is less than or equal to a second deviation threshold.

[0042] Similarly, the second deviation threshold is a maximum deviation range designed in advance for the physical detection level. In the embodiments of the present application, the turntable is determined to be at the target position if the second deviation value is less than or equal to the second deviation threshold. Of course, if the second deviation value is greater than the second deviation threshold, it is determined that the turntable is not at the target position.

[0043] Further, based on the above-mentioned various embodiments of the turntable position calibration method for the work vehicle of the present application, a third embodiment of the turntable position calibration method for the work vehicle of the present application is proposed.

[0044] Please refer to Figure 4 , Figure 4 The buffer device control flowchart according to the embodiments of the present application is schematically shown. In the embodiments of the present application, the turntable position calibration method for the work vehicle further comprises: Step 204, during the rotation of the turntable, the real-time rotation angle of the turntable is obtained.

[0045] Step 205, the angle difference value between the real-time rotation angle and a target rotation angle is calculated, and the target rotation angle is the angle of the turntable rotation when the turntable is at the target position.

[0046] It should be noted that the real-time rotation angle is the angle of the turntable rotation relative to the reference line during the rotation of the turntable, and the target rotation angle is the angle of the turntable rotation relative to the reference line when the turntable is at the target position. The reference line is a straight line extending from the turntable shaft center as the starting point.

[0047] In the embodiments of the present application, the angle difference value between the real-time rotation angle and the target rotation angle is used to measure whether the turntable is close to the target position.

[0048] Step 206, if the angle difference value is greater than a first preset angle threshold and the angle difference value is less than or equal to a second preset angle threshold, the buffer device is controlled to reduce the rotation speed of the turntable.

[0049] Step 207, if the angle difference value is less than or equal to the first preset angle threshold, the buffer device is controlled to stop the rotation of the turntable within a preset time length.

[0050] It can be understood that the first angle threshold and the second angle threshold are angle values designed in advance to determine the proximity between the current position and the target position of the rotating table, and the first angle threshold is smaller than the second angle threshold. When the angle difference is between the first angle threshold and the second angle threshold, it indicates that the current position and the target position of the rotating table are relatively close, and the control module can control the buffer device to slow down the rotating table to avoid the problem that the actual stop position of the rotating table deviates greatly from the target position due to long braking time caused by excessive rotating speed. When the angle difference is less than or equal to the first angle threshold, it indicates that the current position and the target position of the rotating table are very close, and therefore the control module can control the buffer device to stop the rotating table within a preset time period so as to make the rotating table be at the target position. Preferably, the second angle threshold can be set to a value in the range of 5° to 10°, the first angle threshold can be set to 0.5°, and the preset time period can be set to 1 second.

[0051] It can be understood that the rotating table has a moment of inertia during rotation, and when the image detection result and the physical detection result both indicate that the rotating table is at the target position, the rotating table will continue to rotate for a distance due to inertia even if a stop command is issued, thereby causing a position error. Therefore, the embodiment of the present application can reduce the rotating speed of the rotating table through the buffer device when it is detected that the real-time rotating angle is close to the target rotating angle, and control the rotating table to stop rotating within a preset time period when the real-time rotating angle is very close to the target rotating angle, for example, the difference is 0.5°, so as to avoid the position error.

[0052] Specifically, in a possible implementation, the buffer device includes an encoder, an electric cylinder, and a reduction gear set. The encoder is used to collect the real-time rotating angle during rotation of the rotating table. The axis of the electric cylinder is parallel to the tangent direction of the tangent line of the rotating support. The reduction gear set is used to connect the output shaft of the electric cylinder and the outer gear ring of the rotating support.

[0053] Based on this, the above-mentioned control of the buffer device to reduce the rotating speed of the rotating table includes: driving the electric cylinder to operate at a preset torque, wherein when the electric cylinder operates at the preset torque, the linear thrust of the electric cylinder piston rod will be converted into a rotating torque, and the rotating torque will act as a resistance torque on the outer gear ring of the rotating support after being amplified by the reduction gear set, so as to reduce the rotating speed of the rotating table.

[0054] It can be understood that the preset torque is a torque value set in advance, which can be set flexibly by those skilled in the art based on actual environmental conditions, and the present application does not limit the value of the preset torque.

[0055] It should be noted that when designing the transmission ratio between the electric cylinder and the outer gear ring of the slewing support, it is necessary to ensure that the small linear displacement of the electric cylinder can be converted into a large angle deceleration process in the rotary table. Preferably, the transmission ratio between the electric cylinder and the outer gear ring of the slewing support can be designed to be 1:10-1:20. Thus, the present application can convert the preset torque into a larger resistance torque based on the designed transmission ratio, so as to reduce the rotation speed of the rotary table.

[0056] In a feasible embodiment, the control buffer device stops the rotary table from rotating within a preset time length, comprising: reducing the preset torque to zero within a preset time length to stop the rotary table from rotating.

[0057] It can be understood that too large resistance torque will cause the rotary table to stop suddenly, thereby causing position error. Therefore, when the difference between the real-time rotation angle and the target rotation angle is very small, the preset torque can be linearly reduced to zero within a preset time length, and then the friction between the rotary table and the rotary table bearing device during rotation of the rotary table can be used to stop the rotary table from rotating, thereby avoiding position error caused by sudden stop.

[0058] Thus, the present application can control the rotary table to stop rotating within a preset time length by means of the buffer device to reduce the speed of the rotary table in advance, and by means of linearly reducing the torque, thereby avoiding the problem of position error.

[0059] Further, based on the above-mentioned various embodiments of the present application for the rotary table position calibration method of the work vehicle, a fourth embodiment of the present application for the rotary table position calibration method of the work vehicle is proposed.

[0060] In the present embodiment, the above-mentioned judging whether the rotary table is at the target position based on the image detection result and the physical detection result further comprises: In the case that the rotary table stops rotating and both the image detection result and the physical detection result represent that the rotary table is at the target position, it is determined that the rotary table is at the target position.

[0061] It can be understood that the above-mentioned scheme of controlling the rotary table to decelerate or stop moving through the real-time rotation angle and the target rotation angle is also equivalent to position detection of the rotary table. Therefore, in the present embodiment, the control module can also comprehensively judge whether the rotary table is at the target position by comprehensively considering the image detection, physical detection and angle detection.

[0062] Please refer to Figure 5 , Figure 5 The flowchart of another rotary table position calibration method for a work vehicle according to an embodiment of the present application is schematically shown. In the present embodiment, the control buffer device stops the rotary table from rotating within a preset time length, comprising: Figure 5In the image detection branch, the real-time image is collected and then transmitted to the processor, the processor pre-processes the real-time image, and then the pre-processed real-time image is transmitted to the control module. The control module determines the first deviation value between the real-time image and the target image, and judges whether the first deviation value is less than or equal to the first deviation threshold. If the first deviation value is less than or equal to the first deviation threshold, it indicates that the image detection level determines that the turntable has reached the target position. If the first deviation value is greater than the first deviation threshold, it indicates that the turntable has not reached the target position, and the real-time image can be continuously collected. In the physical detection branch, the real-time distance can be obtained by a physical detection technology. In an embodiment, the obtained real-time distance can also be pre-processed by the processor to improve the data accuracy of the real-time distance. Then, the control module calculates the second deviation value between the real-time distance and the target distance, and compares the second deviation value with the second deviation threshold. If the second deviation value is less than or equal to the second deviation threshold, it indicates that the physical detection level determines that the turntable has reached the target position; otherwise, it indicates that the turntable has not reached the target position, so that the real-time distance can be continuously obtained. In the angle detection branch, the control module can obtain the real-time rotation angle collected by the encoder. As the turntable rotates, the angle difference between the real-time rotation angle and the target rotation angle becomes smaller and smaller. When the angle difference between the real-time rotation angle and the target rotation angle is less than or equal to the second angle threshold, it is determined that the buffer stage can be entered, and then the electric cylinder can be controlled to control the turntable to enter the deceleration stage. Further, when the angle difference is less than or equal to the first angle threshold, the control module can control the electric cylinder to slowly unload within a preset time period, so as to stop the rotation of the turntable. After the rotation of the turntable is stopped, it is determined that the turntable has reached the target position in the angle detection level. Further, when the image detection branch, the physical detection branch and the angle detection branch all determine that the turntable has reached the target position, it can be considered that the turntable is currently in the target position. Of course, in a feasible embodiment, if any two of the image detection branch, the physical detection branch and the angle detection branch determine that the turntable has reached the target position, and the other branch determines that the turntable has not reached the target position, an alarm signal can be outputted for manual inspection.

[0063] In an embodiment, the application also provides a turntable position calibration device for a work vehicle, which comprises a processor and a memory. The memory is configured to store instructions, and the processor is configured to call the instructions from the memory and to implement the above-mentioned turntable position calibration method for a work vehicle when executing the instructions.

[0064] Specifically, the processor contains a core, and the core calls corresponding program units in the memory. The core can be set to one or more, and the core parameters are adjusted to implement the turntable position calibration method for the work vehicle.

[0065] The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0066] In one embodiment, as Figure 6 shown, the application also provides a work vehicle 600, which includes a turntable 601 and a turntable bearing device 602, the turntable 601 is provided with a detection platform, the detection platform is provided with an image acquisition unit and a physical detection unit, the turntable bearing device 602 is provided with a reference platform, the center position of the reference platform is provided with a reference mark point, and the center position of the reference platform is aligned with the center position of the detection platform when the turntable 601 is in a target position; and the above-mentioned turntable position calibration device 603 for the work vehicle.

[0067] In one embodiment, the above-mentioned work vehicle is further provided with a buffer device (not shown) between the turntable 601 and the turntable bearing device 602. Figure 6 The buffer device includes an encoder, an electric cylinder and a reduction gear set. The encoder is used to collect the real-time rotation angle of the turntable 601 during the rotation of the turntable 601. The axis of the electric cylinder is parallel to the tangent direction of the slewing support in the turntable 601. The reduction gear set is used to connect the output shaft of the electric cylinder and the outer gear ring of the slewing support.

[0068] In one embodiment, a computer device is provided, which can be a server, and the internal structure diagram thereof can be as Figure 7 shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control ability. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operating system B01 and the computer program B02 in the non-volatile storage medium A04 to run. The database of the computer device is used to store target distances and target images. The network interface A02 of the computer device is used to communicate with the external terminal through the network connection. The computer program B02 is executed by the processor A01, which has realized a turntable position calibration method for a work vehicle.

[0069] Those skilled in the art can understand that,Figure 7 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0070] The embodiment of the present application provides a storage medium, which stores a program, and the program is executed by a processor to realize the method for calibrating the position of a turret of a job vehicle.

[0071] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0072] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system) and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device implemented in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the function specified in the flow or flows and / or block or blocks.

[0073] These computer program instructions can also be stored in a computer readable storage medium capable of guiding a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable storage medium produce a manufactured product including instruction apparatus, which implements the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the function specified in the flow or flows and / or block or blocks.

[0074] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer implemented process, so that the instructions executed on the computer or other programmable device provide a process for implementing the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1steps of a function specified in one or more blocks.

[0075] It should also be noted that the terms "comprising," "including," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0076] The above embodiments of the present application have been described only for clarity's sake and should not be considered limiting. Various changes and modifications can be made to the application by one of ordinary skill in the art without departing from the spirit and scope of the application. Any modifications, equivalent substitutions, improvements, and the like that are made within the spirit and principle of the application should be included in the scope of the claims.

Claims

1. A method for turret position calibration for a work vehicle, characterized by, The rotary table is provided with a detection platform, the detection platform is provided with an image acquisition unit and a physical detection unit, the rotary table bearing device is provided with a reference platform, the center position of the reference platform is provided with a reference mark point, and the center position of the reference platform is aligned with the center position of the detection platform when the rotary table is at a target position; The method comprises: During the rotation of the rotary table, the real-time distance between the reference mark point and the physical detection unit is determined by the physical detection unit, and the real-time image of the reference mark point is acquired by the image acquisition unit; The image detection result is obtained by comparing the real-time image with a target image, and the physical detection result is obtained by comparing the real-time distance with a target distance, wherein the target image is acquired by the image acquisition unit when the rotary table is at the target position, and the target distance refers to the distance between the reference mark point and the physical detection unit acquired by the physical detection unit when the rotary table is at the target position; Whether the rotary table is at the target position is judged based on the image detection result and the physical detection result.

2. The turret position calibration method for a work vehicle according to claim 1, characterized by, The image detection result comprises: The first coordinate of the reference mark point in the target image is determined, and the second coordinate of the reference mark point in the real-time image is determined; The first deviation value between the first coordinate and the second coordinate is calculated; In the case that the first deviation value is less than or equal to a first deviation threshold, it is determined that the image detection result is that the rotary table is at the target position.

3. The turret position calibration method for a work vehicle according to claim 1, characterized by, The physical detection result comprises: The second deviation value between the target distance and the real-time distance is calculated; In the case that the second deviation value is less than or equal to a second deviation threshold, it is determined that the physical detection result is that the rotary table is at the target position.

4. The turret position calibration method for a work vehicle according to claim 3, characterized by, Whether the rotary table is at the target position is judged based on the image detection result and the physical detection result, which comprises: In the case that the image detection result and the physical detection result both represent that the rotary table is at the target position, it is determined that the rotary table is at the target position; In the case that any one of the image detection result and the physical detection result represents that the rotary table is not at the target position, it is determined that the rotary table is not at the target position.

5. The turret position calibration method for a work vehicle according to claim 1, characterized by, The buffer device is arranged between the rotary table and the rotary table bearing device; The method further comprises: During the rotation of the rotary table, the real-time rotation angle of the rotary table is acquired; The angle difference value between the real-time rotation angle and a target rotation angle is calculated, the target rotation angle being the rotation angle of the rotary table when the rotary table is at the target position; In the case that the angle difference value is greater than a first preset angle threshold and the angle difference value is less than or equal to a second preset angle threshold, the rotation speed of the rotary table is reduced by controlling the buffer device; In the case that the angle difference value is less than or equal to the first preset angle threshold, the rotary table is stopped from rotating within a preset time length by controlling the buffer device.

6. The turret position calibration method for a work vehicle according to claim 5, characterized by, The buffer device comprises an encoder, an electric cylinder and a reduction gear set, the encoder is used to collect the real-time rotation angle during rotation of the turntable, the axis of the electric cylinder is parallel to the tangent direction of the swing support in the turntable, and the reduction gear set is used to connect the output shaft of the electric cylinder and the outer gear ring of the swing support. The control of the buffer device to reduce the rotation speed of the turntable comprises: The electric cylinder is driven to operate at a preset torque, wherein when the electric cylinder operates at the preset torque, the linear thrust of the electric cylinder piston rod is converted into a rotary torque, and the rotary torque is amplified by the reduction gear set and then acts as a resistance torque on the outer gear ring of the swing support to reduce the rotation speed of the turntable.

7. The turret position calibration method for a work vehicle according to claim 6, characterized by, The control of the buffer device to stop the rotation of the turntable within a preset time period comprises: The preset torque is reduced to zero within a preset time period to stop the rotation of the turntable.

8. The turret position calibration method for a work vehicle according to claim 5, characterized by, The judgment of whether the turntable is at the target position based on the image detection result and the physical detection result comprises: In the case that the turntable stops rotating and both the image detection result and the physical detection result represent that the turntable is at the target position, it is determined that the turntable is at the target position.

9. A turret position calibration apparatus for a work vehicle, characterized by, Comprise: a memory configured to store instructions; a processor configured to call the instructions from the memory and enable the method for calibrating the position of a turntable of a work vehicle according to any one of claims 1 to 8 when the instructions are executed.

10. A work vehicle characterized by, Comprise: a turntable and a turntable bearing device, the turntable is provided with a detection platform, the detection platform is provided with an image acquisition unit and a physical detection unit, the turntable bearing device is provided with a reference platform, the center position of the reference platform is provided with a reference mark point, and the center position of the reference platform is aligned with the center position of the detection platform when the turntable is at the target position; and the calibration device for the position of the turntable of the work vehicle according to claim 9.

11. The work vehicle of claim 10, characterized in that, The buffer device is arranged between the turntable and the turntable bearing device, and comprises an encoder, an electric cylinder and a reduction gear set, the encoder is used to collect the real-time rotation angle of the turntable during rotation of the turntable, the axis of the electric cylinder is parallel to the tangent direction of the swing support in the turntable, and the reduction gear set is used to connect the output shaft of the electric cylinder and the outer gear ring of the swing support.

12. A machine-readable storage medium having stored thereon instructions, the instructions being executable by a machine to cause the machine to perform operations comprising: The instructions, when executed by the processor, cause the processor to be configured to perform the method for calibrating the position of the turntable of the work vehicle according to any one of claims 1 to 8.

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