Device deviation calibration method and apparatus, and device and storage medium

Abstract

Disclosed in the embodiments of the present application are a device deviation calibration method and apparatus, and a device and a storage medium. In the embodiments of the present application, when the deviation of an ancillary device towed by an operating device is adjusted, a collection step is required to be performed multiple times within a preset time period, such that heading information of the operating device, first coordinates of a main device in a longitude and latitude coordinate system, and second coordinates of the ancillary device in the longitude and latitude coordinate system are collected, and the first coordinates and the second coordinates are transformed into third coordinates in a local Cartesian coordinates coordinate system and fourth coordinates in the local Cartesian coordinates coordinate system; and finally, the deviation of the ancillary device is determined on the basis of the operation width of the ancillary device and the heading information, third coordinates and fourth coordinates corresponding to each collection step, and the position of the ancillary device is calibrated on the basis of the deviation. The embodiments of the present application solve the technical problems in the prior art of low efficiency and poor accuracy during the calibration of the deviation of a device.

Description

Device offset calibration method, device, equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 26, 2023, with application number 202311258978.3 and invention name “A device offset calibration method, apparatus, device and storage medium”, the entire contents of which are incorporated by reference into the application. Technical Field

[0002] The embodiments of the present application relate to the field of device calibration, and in particular to a device offset calibration method, apparatus, device, and storage medium. Background Art

[0003] A junction row, also called a connecting row or connecting ridge, refers to the distance between two adjacent ridges in a field. The accuracy of the junction row is a key indicator in autonomous driving technology for agricultural machinery. Adjusting the junction row essentially involves adjusting the offset of the implement, that is, adjusting the lateral offset of the trailer implement relative to the navigation host. In the prior art, when adjusting the offset of a trailer implement, the machine must be driven in an S-shaped straight line for at least three rows. During the operation, the left and right junction rows are measured. The difference between the left and right junction rows is calculated and then divided by four to obtain the offset of the implement.

[0004] The applicant is aware that the prior art methods for calibrating the offset of agricultural implements are cumbersome, require high learning costs, are time-consuming and fuel-consuming, and have low accuracy. In the actual agricultural implement offset calibration process, the cumbersome process can easily lead to users missing steps, resulting in errors in the offset calibration of the agricultural implement.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a device offset calibration method, apparatus, device and storage medium, which can simplify the process of calibrating the offset of the device, improve the efficiency and accuracy of calibrating the offset of the device, and solve the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the device in the prior art.

[0007] In the first aspect, an embodiment of the present application provides an equipment offset calibration method, which is applied to an operating equipment, wherein the operating equipment includes a main equipment and a subsidiary equipment, the main equipment being connected to the subsidiary equipment, and the main equipment being used to drive the subsidiary equipment to perform operations, including: determining the operating width of the operating equipment; executing a collection step multiple times within a preset time period, the collection step including collecting the heading information of the operating equipment, the first coordinate of the main equipment in the latitude and longitude coordinate system, and the second coordinate of the subsidiary equipment in the latitude and longitude coordinate system; respectively converting the first coordinate and the second coordinate corresponding to each collection step into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system; determining the offset of the subsidiary equipment according to the operating width and the heading information, the third coordinate, and the fourth coordinate corresponding to each collection step, and calibrating the position of the subsidiary equipment according to the offset.

[0008] In the second aspect, an embodiment of the present application provides an equipment offset calibration device, which includes a processor and a memory; the memory is used to store a computer program and transmit the computer program to the processor; the processor is used to execute the following steps according to the instructions in the computer program: determine the working width of the working equipment; execute the collection step multiple times within a preset time period, the collection step including collecting the heading information of the working equipment, the first coordinate of the main equipment in the latitude and longitude coordinate system and the second coordinate of the auxiliary equipment in the latitude and longitude coordinate system; respectively convert the first coordinate and the second coordinate corresponding to each collection step into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system; determine the offset of the auxiliary equipment according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each collection step, and calibrate the position of the auxiliary equipment according to the offset.

[0009] In a third aspect, an embodiment of the present application provides a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to perform the following steps: determining the working width of the working equipment; performing a collection step multiple times within a preset time period, the collection step including collecting the heading information of the working equipment, the first coordinate of the main equipment in the latitude and longitude coordinate system, and the second coordinate of the auxiliary equipment in the latitude and longitude coordinate system; converting the first coordinate and the second coordinate corresponding to each collection step into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system respectively; determining the offset of the auxiliary equipment based on the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each collection step, and calibrating the position of the auxiliary equipment based on the offset.

[0010] In the fourth aspect, an embodiment of the present application provides an equipment offset calibration device, which is applied to working equipment. The working equipment includes a main equipment and a subsidiary equipment. The main equipment is connected to the subsidiary equipment. The main equipment is used to drive the subsidiary equipment to perform operations, including: a width determination module, used to determine the working width of the working equipment; a data acquisition module, used to execute the acquisition step multiple times within a preset time length, the acquisition step including collecting the heading information of the working equipment, the first coordinate of the main equipment in the latitude and longitude coordinate system and the second coordinate of the subsidiary equipment in the latitude and longitude coordinate system; a coordinate conversion module, 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; an offset calibration module, used to determine the offset of the subsidiary equipment according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and calibrate the position of the subsidiary equipment according to the offset.

[0011] As described above, the embodiments of the present application provide a method, apparatus, equipment and storage medium for calibrating the offset of an equipment towed by an operating equipment. When adjusting the offset of an auxiliary equipment towed by an operating equipment, the embodiments of the present application need to perform the collection step multiple times within a preset time period to collect the heading information of the operating equipment, the first coordinate of the main equipment in the latitude and longitude coordinate system and the second coordinate of the auxiliary equipment in the latitude and longitude coordinate system, and convert the first coordinate and the second coordinate into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system; finally, according to the operating width of the auxiliary equipment and the heading information, the third coordinate and the fourth coordinate corresponding to each collection step, the offset of the auxiliary equipment is determined, and the position of the auxiliary equipment is calibrated according to the offset. In the process of calibrating the offset of the auxiliary equipment in the embodiments of the present application, the user does not need to operate the operating equipment to move, the operating equipment only needs to remain in a stationary state, and the offset of the auxiliary equipment can be calibrated without excessive operation, which simplifies the steps of calibrating the offset of the equipment. At the same time, the calibration accuracy is high and the learning cost is low. The embodiments of the present application solve the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the equipment in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG1 is a schematic diagram of a process for calibrating device offset in the prior art provided in an embodiment of the present application.

[0013] FIG2 is a flow chart of a device offset calibration method provided in an embodiment of the present application.

[0014] FIG3 is a schematic diagram of an operating width provided in an embodiment of the present application.

[0015] FIG4 is a schematic diagram of setting a navigation host and a secondary GPS antenna on an agricultural machine according to an embodiment of the present application.

[0016] FIG5 is a flow chart of another device offset calibration method provided in an embodiment of the present application.

[0017] FIG6 is a schematic diagram of calculating the position deviation of a secondary device relative to a primary device according to an embodiment of the present application.

[0018] FIG7 is a schematic structural diagram of a device offset calibration apparatus provided in an embodiment of the present application.

[0019] FIG8 is a schematic structural diagram of a device offset calibration device provided in an embodiment of the present application.

[0020] Reference numerals: agricultural machine 10 , machine head 20 , agricultural implement 30 , navigation host 40 , auxiliary GPS antenna 50 . DETAILED DESCRIPTION

[0021] The following description and accompanying drawings sufficiently illustrate specific embodiments of the present application to enable those skilled in the art to practice them. The examples represent only possible variations. Unless expressly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The scope of the embodiments of the present application includes the entire scope of the claims, as well as all available equivalents of the claims. In this document, each embodiment may be referred to individually or collectively by the term "application", which is merely for convenience and does not automatically limit the scope of the application to any single application or application concept if more than one application is actually disclosed. In this document, relational terms such as first and second, etc. are used solely to distinguish one entity or operation from another, and do not require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed. The various embodiments herein are described in a progressive manner, with each embodiment focusing on the differences from the other embodiments. Reference can be made to the common and similar parts between the various embodiments. For structures, products, etc. disclosed in the embodiments, the description is relatively simple because they correspond to the parts disclosed in the embodiments. For relevant parts, refer to the method description.

[0022] In the prior art, when a towed implement is offset, causing its forward direction to misalign with the planned path, the offset needs to be adjusted. As shown in Figure 1, the agricultural machine 10 is driven in an S-shaped pattern for at least three straight lines. During the operation, the left and right intersection lines are measured. The difference between the left and right intersection lines is calculated and divided by four to obtain the implement offset. However, this calibration method is cumbersome, requires a high learning curve, is time-consuming and fuel-intensive, and has low accuracy.

[0023] Based on this, in order to solve the above problems, an embodiment of the present application provides a device offset calibration method, as shown in Figure 2, which is a flow chart of a device offset calibration method provided by an embodiment of the present application. The device offset calibration method provided by the embodiment of the present application can be executed by a device offset calibration device, which can be implemented by software and / or hardware. The device offset calibration device can be composed of two or more physical entities, or it can be composed of one physical entity. For example, the device offset calibration device can be a computer, a host computer, a tablet and other devices. In addition, the device offset calibration method in this embodiment is applied to operating equipment, and the operating equipment includes a main device and a subsidiary device. The main device is connected to the subsidiary device, and the main device is used to drive the subsidiary device to perform operations. Among them, the operating equipment refers to equipment used for performing operations, such as equipment for performing agricultural operations, industrial operations or construction operations. In this embodiment, the operating equipment is an agricultural machine used for agricultural operations. The main device on the agricultural machine is the head for providing power, and the subsidiary device is the agricultural implement towed on the head. After the head is started, it can drive the agricultural implement to move, so that the agricultural implement can carry out plowing operations, sowing operations or harvesting operations. The device offset calibration method provided by the embodiment of the present application includes:

[0024] Step 101: Determine the operating width of the operating equipment.

[0025] In this embodiment, when adjusting the offset of an operating device, the device offset calibration device first determines the operating width of the operating device. The operating width refers to the actual operating width of the agricultural implement during operation. For example, if the implement is a seed drill, the operating width of the implement is the distance between the center point of the rightmost seeding hole and the center point of the leftmost seeding control, as shown in Figure 3. To determine the operating width of the agricultural implement, the implement can be pre-controlled to travel a certain distance, then the actual operating width of the implement can be measured to obtain the operating width. This operating width can then be entered into the device offset calibration device.

[0026] Step 102: Execute the collection step multiple times within a preset time period, the collection step including 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.

[0027] After determining the operating width of the operating equipment, the equipment offset calibration device needs to perform the collection step multiple times within a preset time. The preset time and the cycle of performing the collection step can be set according to actual needs. For example, the preset time can be set to 10 seconds and the cycle can be set to 1 second, that is, performing 10 collection steps within 10 seconds. In addition, it should be noted that during the collection step, the operating equipment must remain stationary, that is, the operating equipment must not move.

[0028] Specifically, when executing the acquisition step, the acquisition step includes acquiring the heading information of the operating equipment, the first coordinate of the main equipment in the longitude and latitude coordinate system, and the second coordinate of the auxiliary equipment in the longitude and latitude coordinate system. The heading information includes the heading of the operating equipment, and the heading of the operating equipment is the angle measured clockwise from the north end of the longitude of the location of the operating equipment to the heading line. The longitude and latitude coordinate system is a geographic coordinate system that uses a combination of longitude and latitude to determine a specific location on the surface of the earth. The longitude and latitude coordinates of a point are expressed as a combination of two numerical values, for example: 40°N, 120°E represents a position of 40 degrees north latitude and 120 degrees east longitude. In one embodiment, the user can set a positioning device on the agricultural machinery in advance, and the equipment offset calibration device can obtain the heading information, the first coordinate, and the second coordinate on the positioning device when executing the acquisition step. For example, as shown in Figure 4, a user can install a navigation host 40 on the nose 20 of an agricultural machine 10, and a secondary GPS antenna 50 (or a dot dot) on the left or right edge of an implement 30 of the agricultural machine, and establish a communication connection between the secondary GPS antenna 50 (or dot dot) and the navigation host 40. Subsequently, during the acquisition process, after both the navigation host 40 and the secondary GPS antenna 50 (or dot dot) enter the RTK positioning state and successfully acquire high-precision positioning and heading information, the device offset calibration device can then acquire the heading information, the first coordinates of the nose 20, and the second coordinates of the implement 30 from the navigation host 40 and the secondary GPS antenna 50.

[0029] Step 103: Convert the first coordinate and the second coordinate corresponding to each acquisition step into a third coordinate in the station center coordinate system and a fourth coordinate in the station center coordinate system respectively.

[0030] After executing the acquisition step and acquiring the heading coordinates, the first coordinates and the second coordinates, it is necessary to convert the first coordinates and the second coordinates of the longitude and latitude coordinate system acquired in each acquisition step into the third coordinates of the station center coordinate system and the fourth coordinates of the station center coordinate system. The station center coordinate system is also called the northeast celestial coordinate system. The station center coordinate system is a rectangular coordinate system with the station center as the coordinate system origin O, the Z axis coincides with the ellipsoid normal, upward is positive (celestial), the y axis coincides with the minor semi-axis of the ellipsoid (north), and the x axis coincides with the major semi-axis of the earth ellipsoid (east). Specifically, when converting the coordinates, the first conversion matrix between the longitude and latitude coordinate system and the geocentric earth-fixed coordinate system can be first determined, and then the second conversion matrix between the geocentric earth-fixed coordinate system and the station center coordinate system can be determined. Subsequently, according to the first conversion matrix and the second conversion matrix, the first coordinates and the second coordinates of the longitude and latitude coordinate system can be converted into the third coordinate and the fourth coordinate of the station center coordinate system respectively. The specific process can be referred to the existing technology and will not be repeated in this embodiment. Since the heading information is in the station center coordinate system, the heading information does not need to be converted.

[0031] In addition, it is understandable that the conversion process of the first coordinate and the second coordinate can be executed immediately after the first coordinate and the second coordinate are collected, without having to wait until all the collection steps are completed before executing them uniformly.

[0032] Step 104 : Determine the offset of the auxiliary device according to the working width and the heading information, the third coordinate, and the fourth coordinate corresponding to each acquisition step, and calibrate the position of the auxiliary device according to the offset.

[0033] After the acquisition step is completed, the device offset calibration device can determine the offset of the secondary device based on the working width, the heading information collected in each acquisition step, and the third and fourth coordinates corresponding to each acquisition step. For example, the device offset calibration device can calculate the relative position deviation between the machine head and the agricultural implement during each acquisition step based on the third and fourth coordinates corresponding to each acquisition step. It then performs a mean filter on the relative position deviations corresponding to all acquisition steps to obtain the movement deviation value of the agricultural implement. Finally, based on the movement deviation value and the working width of the agricultural implement, the offset of the agricultural implement is determined, and the position of the agricultural implement is calibrated based on the offset.

[0034] As described above, the embodiment of the present application provides a method for calibrating the offset of an equipment. When adjusting the offset of the auxiliary equipment towed in the operating equipment, the embodiment of the present application needs to perform the collection step multiple times within a preset time period to collect the heading information of the operating equipment, the first coordinate of the main equipment in the latitude and longitude coordinate system, and the second coordinate of the auxiliary equipment in the latitude and longitude coordinate system, and convert the first coordinate and the second coordinate into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system; finally, according to the operating width of the auxiliary equipment and the heading information, the third coordinate and the fourth coordinate corresponding to each collection step, the offset of the auxiliary equipment is determined, and the position of the auxiliary equipment is calibrated according to the offset. In the process of calibrating the offset of the auxiliary equipment in the embodiment of the present application, the user does not need to operate the operating equipment to move, the operating equipment only needs to remain in a stationary state, and the offset of the auxiliary equipment can be calibrated without excessive operation, which simplifies the steps of calibrating the offset of the equipment. At the same time, the calibration accuracy is high and the learning cost is low. The embodiment of the present application solves the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the equipment in the prior art.

[0035] As shown in FIG5 , FIG5 is a flow chart of another device offset calibration method provided in an embodiment of the present application. The device offset calibration method shown in FIG5 is a concretization of the above-mentioned device offset calibration method.

[0036] As shown in Figure 5, the device offset calibration method includes:

[0037] Step 201: Determine the operating width of the operating equipment.

[0038] Step 202: Execute the collection step multiple times within a preset time period, the collection step including 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.

[0039] Step 203: Convert the first coordinate and the second coordinate corresponding to each acquisition step into a third coordinate in the station center coordinate system and a fourth coordinate in the station center coordinate system respectively.

[0040] Step 204: Determine the position deviation of the secondary device relative to the primary device each time the acquisition step is performed based on the heading information, the third coordinate, and the fourth coordinate corresponding to each acquisition step.

[0041] In this embodiment, when calibrating the offset of the slave device, it is first necessary to determine the position deviation of the slave device relative to the master device during each acquisition step based on the heading information, third coordinate, and fourth coordinate corresponding to each acquisition step. The position deviation refers to the deviation of the slave device's position relative to the master device's position in a direction perpendicular to the heading. For example, when calculating the position deviation, the master device's direction of travel can be determined based on the heading information and the master device's third coordinate. Subsequently, the vertical distance between the slave device and the direction of travel is calculated based on the slave device's fourth coordinate to obtain the position deviation of the slave device relative to the master device.

[0042] Based on the above embodiment, in step 204, determining the position deviation of the secondary device relative to the primary device during each acquisition step according to the heading information, the third coordinate, and the fourth coordinate corresponding to each acquisition step includes:

[0043] Step 2041: Determine the target straight line in the station center coordinate system based on the heading information corresponding to each acquisition step and the third coordinate.

[0044] When calculating position deviation, the target line must first be determined in the station-centered coordinate system based on the heading information and third coordinate collected in each acquisition step. In this embodiment, the heading information includes the angle between the orientation of the work equipment and true north. When determining the target line, a line extending from this angle and passing through the third coordinate can be set in the station-centered coordinate system. This line is the target line.

[0045] Step 2042: Determine the vertical distance between the fourth coordinate corresponding to each acquisition step and the corresponding target straight line, and obtain the position deviation of the secondary device relative to the primary device when each acquisition step is performed.

[0046] After determining the target straight line corresponding to each acquisition step, the fourth coordinate of the slave device corresponding to each acquisition step can be further obtained, and the vertical distance of the fourth coordinate corresponding to each acquisition step in the direction perpendicular to the target straight line corresponding to each step can be calculated, thereby obtaining the position deviation of the slave device relative to the main device each time the acquisition step is executed, as shown in Figure 6. Assuming that the target straight line in Figure 6 is S, then L is the position deviation.

[0047] Step 205: Determine the offset of the auxiliary device according to the working width and the position deviation corresponding to each acquisition step.

[0048] After determining the position deviation of the auxiliary device relative to the main device each time the acquisition step is executed, the device offset calibration device can determine the offset of the auxiliary device based on the working width and the position deviation corresponding to each acquisition step, so as to subsequently adjust the position of the auxiliary device according to the offset of the auxiliary device.

[0049] Based on the above embodiment, in step 205, the offset of the auxiliary device is determined according to the working width and the position deviation corresponding to each acquisition step, including:

[0050] Step 2051: Calculate the movement deviation value of the secondary device according to the position deviation corresponding to each acquisition step.

[0051] After obtaining the position 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 position deviations corresponding to all acquisition steps can be mean filtered to obtain the movement deviation value of the secondary device. In the embodiment of the present application, by executing the acquisition step multiple times and performing mean filtering on the position deviation values ​​corresponding to all acquisition steps, it is possible to avoid the problem of acquisition errors or large acquisition deviations that occur when executing the acquisition step only once, resulting in inaccurate calculated position deviation results, thereby improving the accuracy of the calculated movement deviation value to a certain extent.

[0052] Step 2052: Determine the offset of the auxiliary equipment according to the working width and the movement deviation value of the auxiliary equipment.

[0053] Finally, the offset of the auxiliary device is determined based on the working width of the working device and the movement deviation value of the auxiliary device. In one embodiment, when determining the offset of the auxiliary device, the movement deviation value can be first subtracted from half of the working width to obtain the difference. The specific formula is as follows:

[0054] Difference = movement deviation value - working width / 2.

[0055] The offset of the secondary device is then determined based on the difference and the position of the positioning device used to collect the second coordinates on the secondary device. In this embodiment, the secondary GPS antenna (or dotting device) used to collect the second coordinates can be installed on the left or right side of the agricultural implement. The calculated difference is essentially the offset of the left or right side of the agricultural implement relative to the implement nose. Therefore, in this embodiment, the influence of the position of the secondary GPS antenna (or dotting device) on the difference is further considered when determining the offset of the secondary device. The position of the secondary GPS antenna (or dotting device) determines the direction in which the secondary device adjusts the offset.

[0056] Based on the above embodiment, determining the offset of the secondary device according to the difference and the position of the positioning device that collects the second coordinate on the secondary device includes:

[0057] When the positioning device is located on the right side of the secondary device, the difference is determined as the offset of the secondary device. When the positioning device is located on the left side of the secondary device, a negative sign is assigned to the difference to obtain the offset of the secondary device.

[0058] Specifically, in this embodiment, when the secondary GPS antenna (or dotting device) is installed on the right side of the agricultural implement,

[0059] The difference calculated using the above formula is the final offset of the secondary device. If the secondary GPS antenna (or dot dot) is installed on the left side of the implement, a negative sign should be added to the difference to obtain the final offset of the secondary device.

[0060] Step 206: Calibrate the position of the secondary device according to the offset.

[0061] Finally, the position of the auxiliary device can be calibrated based on the offset. In one embodiment, the user can pre-determine the target width of the junction line. After calibrating the position of the auxiliary device, the user controls the operation device to measure the width of the junction line. The target width and the measured width are compared, and the comparison result is used to verify the accuracy of the junction line after the auxiliary device is calibrated.

[0062] As described above, the embodiment of the present application provides a method for calibrating an equipment offset. When adjusting the offset of the auxiliary equipment towed by the operating equipment, the embodiment of the present application needs to perform the acquisition step multiple times within a preset time period to collect the heading information of the operating equipment, the first coordinate of the main equipment in the longitude and latitude coordinate system, and the second coordinate of the auxiliary equipment in the longitude and latitude coordinate system, and convert the first coordinate and the second coordinate into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system. Afterwards, based on the heading information, the third coordinate, and the fourth coordinate, the position deviation of the auxiliary equipment relative to the main equipment is determined each time the acquisition step is executed, and the position deviations corresponding to all acquisition steps are averaged and filtered to obtain the movement deviation value of the auxiliary equipment. Finally, based on the movement deviation value of the auxiliary equipment and the working width, the offset of the auxiliary equipment is determined and the position of the auxiliary equipment is calibrated.

[0063] In the embodiment of the present application, during the process of calibrating the offset of the auxiliary device, the user does not need to operate the operating device to move; the operating device only needs to remain in a stationary state, and the offset of the auxiliary device can be calibrated without excessive operation, thereby simplifying the steps of calibrating the offset of the device, while having high calibration accuracy and low learning cost. The embodiment of the present application solves the technical problems of low efficiency and poor accuracy in the process of calibrating the offset of the device in the prior art.

[0064] The present application also provides an equipment offset calibration device, as shown in FIG7 . FIG7 is a schematic structural diagram of an equipment offset calibration device provided in an embodiment of the present application, which is applied to an operating device. The operating device includes a main device and a secondary device. The main device is connected to the secondary device, and the main device is used to drive the secondary device to perform an operation, including:

[0065] The width determination module 301 is used to determine the operating width of the operating equipment.

[0066] The data acquisition module 302 is used to perform the acquisition step multiple times within a preset time period, and the acquisition step includes collecting the heading information of the operating equipment, the first coordinates of the main equipment in the longitude and latitude coordinate system, and the second coordinates of the auxiliary equipment in the longitude and latitude coordinate system.

[0067] The coordinate conversion module 303 is used to convert the first coordinate and the second coordinate corresponding to each acquisition step into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system respectively.

[0068] The offset calibration module 304 is used to determine the offset of the auxiliary device according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and calibrate the position of the auxiliary device according to the offset.

[0069] Based on the above embodiment, the offset calibration module 304 includes:

[0070] a position deviation determination submodule, configured to determine the position deviation of the slave device relative to the master device when each acquisition step is performed based on the heading information, the third coordinate, and the fourth coordinate corresponding to each acquisition step;

[0071] The offset determination submodule is used to determine the offset of the auxiliary equipment according to the working width and the position deviation corresponding to each acquisition step.

[0072] Based on the above embodiment, the position deviation determination submodule includes:

[0073] a target straight line determination unit, configured to determine the target straight line in the station center coordinate system based on the heading information corresponding to each acquisition step and the third coordinate;

[0074] The position deviation determining unit is used to determine the vertical distance between the fourth coordinate corresponding to each acquisition step and the corresponding target straight line, and obtain the position deviation of the secondary device relative to the primary device when each acquisition step is performed.

[0075] Based on the above embodiment, the offset determination submodule includes:

[0076] a movement deviation calculation unit, configured to calculate a movement deviation value of the secondary device based on a position deviation corresponding to each acquisition step;

[0077] The offset calculation unit is used to determine the offset of the auxiliary equipment according to the working width and the movement deviation value of the auxiliary equipment.

[0078] On the basis of the above embodiment, the movement deviation calculation unit is specifically configured to perform mean filtering on the position deviations corresponding to all acquisition steps to obtain the movement deviation value of the secondary device.

[0079] Based on the above embodiment, the offset calculation unit includes:

[0080] The difference calculation subunit subtracts half of the working width from the moving deviation value to obtain the difference;

[0081] The offset determination subunit is used to determine the offset of the secondary device according to the difference and the position of the positioning device that collects the second coordinate on the secondary device.

[0082] Based on the above embodiment, the offset determination subunit is specifically used to determine the difference as the offset of the secondary device when the positioning device is located on the right side of the secondary device; when the positioning device is located on the left side of the secondary device, give a negative sign to the difference to obtain the offset of the secondary device.

[0083] The device offset calibration apparatus provided in the embodiment of the present application is included in the device offset calibration device, and can be used to execute the device offset calibration method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0084] It is worth noting that in the embodiment of the above-mentioned device offset calibration apparatus, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0085] This embodiment further provides a device offset calibration device, as shown in FIG8 , the device offset calibration device 40 includes a processor 400 and a memory 401 ;

[0086] The memory 401 is used to store the computer program 402 and transmit the computer program 402 to the processor 400;

[0087] The processor 400 is configured to execute the steps in the above-mentioned embodiment of a device offset calibration method according to instructions in the computer program 402 .

[0088] 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 implement the present application. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of computer program 402 in device offset calibration device 40.

[0089] Device offset calibration device 40 can be a computing device such as a desktop computer, laptop, PDA, or cloud server. Device offset calibration device 40 can include, but is not limited to, a processor 400 and a memory 401. Those skilled in the art will appreciate that FIG8 is merely an example of device offset calibration device 40 and does not limit the device offset calibration device 40. Device offset calibration device 40 can include more or fewer components than shown, or a combination of certain components, or different components. For example, device offset calibration device 40 can also include input / output devices, network access devices, buses, and the like.

[0090] The processor 400 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), 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.

[0091] The memory 401 can be an internal storage unit of the device offset calibration device 40, such as a hard disk or memory of the device offset calibration device 40. The memory 401 can also be an external storage device of the device offset calibration device 40, such as a plug-in hard disk equipped on the device offset calibration device 40, a smart memory card (SMC), a secure digital (SD) card, a flash card, etc. Furthermore, the memory 401 can also include both an internal storage unit of the device offset calibration device 40 and an external storage device. 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 is about to be output.

[0092] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0093] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0094] Units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0095] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0096] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, 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, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store computer programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0097] The present application also provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, the computer-executable instructions are used to perform a device offset calibration method. The method includes the following steps:

[0098] Determine the operating width of the operating equipment;

[0099] Performing a collection step multiple times within a preset time period, the collection step including collecting heading information of the operating device, a first coordinate of the primary device in a latitude and longitude coordinate system, and a second coordinate of the secondary device in a latitude and longitude coordinate system;

[0100] Convert the first coordinate and the second coordinate corresponding to each acquisition step into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system respectively;

[0101] The offset of the auxiliary device is determined according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and the position of the auxiliary device is calibrated according to the offset.

[0102] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the embodiments of the present application are described in more detail through the above embodiments, the embodiments of the present application are not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the embodiments of the present application, and the scope of the embodiments of the present application is determined by the scope of the appended claims.

Claims

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

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

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

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

5. A device offset calibration method according to claim 4, wherein: The step of calculating the movement deviation value of the secondary device according to the position deviation corresponding to each acquisition step includes: The position deviations corresponding to all the acquisition steps are filtered by the mean value to obtain the secondary device The moving deviation value.

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

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

8. A device offset calibration device, wherein: The device offset calibration device comprises a processor and a memory; The memory is used to store a computer program and transmit the computer program to the processor; The processor is configured to perform the following steps according to the instructions in the computer program: Determine the operating width of the operating equipment; Performing the collection step multiple times within a preset time period, the collection step including collecting heading information of the operating device, a first coordinate of the main device in the longitude and latitude coordinate system, and a second coordinate of the auxiliary device in the longitude and latitude coordinate system; The first coordinate and the second coordinate corresponding to each acquisition step are respectively converted into the third coordinate in the station center coordinate system and the fourth coordinate in the station center coordinate system; The offset of the auxiliary device is determined according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, and the position of the auxiliary device is calibrated according to the offset.

9. The device offset calibration device according to claim 8, wherein: Determining the offset of the auxiliary device according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each of the acquisition steps includes: Determine, according to the heading information, the third coordinate and the fourth coordinate corresponding to each of the acquisition steps, the position deviation of the slave device relative to the master device when the acquisition step is performed each time; The offset of the auxiliary device is determined according to the working width and the position deviation corresponding to each collection step.

10. The device offset calibration device according to claim 9, wherein: The determining, according to the heading information, the third coordinate and the fourth coordinate corresponding to each of the collecting steps, the position deviation of the secondary device relative to the primary device when the collecting step is performed each time, comprises: Determine a target straight line in the station center coordinate system according to the heading information corresponding to each of the acquisition steps and the third coordinate; Determine the vertical distance between the fourth coordinate corresponding to each acquisition step and the corresponding target straight line, and obtain the relative position of the secondary device to the primary device when the acquisition step is performed each time. Setting deviation.

11. The device offset calibration device according to claim 9, wherein: The step of determining the offset of the auxiliary device according to the working width and the position deviation corresponding to each acquisition step includes: Calculating the movement deviation value of the secondary device according to the position deviation corresponding to each acquisition step; The offset of the auxiliary equipment is determined according to the working width and the movement deviation value of the auxiliary equipment.

12. The device offset calibration device according to claim 11, wherein: The step of calculating the movement deviation value of the secondary device according to the position deviation corresponding to each acquisition step includes: The position deviations corresponding to all the acquisition steps are subjected to mean filtering to obtain the movement deviation value of the secondary device.

13. The device offset calibration device according to claim 11, wherein: The step of determining the offset of the auxiliary device according to the working width and the movement deviation value of the auxiliary device comprises: Subtract half of the working width from the movement deviation value to obtain a difference; The offset of the secondary device is determined according to the difference and the position of the positioning device that collects the second coordinate on the secondary device.

14. The device offset calibration device according to claim 13, wherein: Determining the offset of the secondary device according to the difference and the position of the positioning device that collects the second coordinate on the secondary device includes: When the positioning device is located on the right side of the secondary device, determining the difference as an offset of the secondary device; When the positioning device is located on the left side of the secondary device, a negative sign is given to the difference to obtain the offset of the secondary device.

15. A storage medium storing computer executable instructions, wherein: The computer executable instructions are used to perform the following steps when executed by a computer processor: Determining the operating width of the operating equipment; Performing a collection step multiple times within a preset time period, the collection step comprising collecting heading information of the operating device, a first coordinate of the main device in a longitude and latitude coordinate system, and a second coordinate of the auxiliary device in the longitude and latitude coordinate system; Respectively converting the first coordinate and the second coordinate corresponding to each of the acquisition steps into a third coordinate in a station center coordinate system and a fourth coordinate in the station center coordinate system; The offset of the auxiliary device is determined according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each of the acquisition steps, and the position of the auxiliary device is calibrated according to the offset.

16. A storage medium storing computer executable instructions according to claim 15, wherein: Determining the offset of the auxiliary device according to the working width and the heading information, the third coordinate and the fourth coordinate corresponding to each of the acquisition steps includes: According to the heading information, the third coordinate and the fourth coordinate corresponding to each acquisition step, Determining a position deviation of the slave device relative to the master device each time the acquisition step is performed; The offset of the auxiliary device is determined according to the working width and the position deviation corresponding to each collection step.

17. A storage medium storing computer executable instructions according to claim 16, wherein: The determining, according to the heading information, the third coordinate and the fourth coordinate corresponding to each of the collecting steps, the position deviation of the secondary device relative to the primary device when the collecting step is performed each time, comprises: Determine a target straight line in the station center coordinate system according to the heading information corresponding to each of the acquisition steps and the third coordinate; The vertical distance between the fourth coordinate corresponding to each acquisition step and the corresponding target straight line is determined to obtain the position deviation of the secondary device relative to the primary device when the acquisition step is performed each time.

18. A storage medium storing computer executable instructions according to claim 16, wherein: The step of determining the offset of the auxiliary device according to the working width and the position deviation corresponding to each acquisition step includes: Calculating the movement deviation value of the secondary device according to the position deviation corresponding to each acquisition step; The offset of the auxiliary equipment is determined according to the working width and the movement deviation value of the auxiliary equipment.

19. A storage medium storing computer executable instructions according to claim 16, wherein: The step of calculating the movement deviation value of the secondary device according to the position deviation corresponding to each acquisition step includes: The position deviations corresponding to all the acquisition steps are subjected to mean filtering to obtain the movement deviation value of the secondary device.

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

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