CN113514068A - Working machine positioning method and device and working machine - Google Patents
Working machine positioning method and device and working machine Download PDFInfo
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- CN113514068A CN113514068A CN202110725140.5A CN202110725140A CN113514068A CN 113514068 A CN113514068 A CN 113514068A CN 202110725140 A CN202110725140 A CN 202110725140A CN 113514068 A CN113514068 A CN 113514068A
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Abstract
The invention provides a method and a device for positioning a working machine and the working machine, wherein the method comprises the following steps: acquiring steering wheel angle data and driving distance data of the operating machine in the process that the operating machine drives from an initial place to a current place; and determining the coordinates of the current position in the first coordinate system according to the steering wheel angle data and the driving distance data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine acquired in advance. The working machine positioning method, the working machine positioning device and the working machine can accurately position the working machine without depending on a positioning system, are simpler in positioning process, efficient and lower in cost, and can provide technical support for the unmanned working machine.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a working machine positioning method and device and a working machine.
Background
The high-precision positioning of the working machine can be carried out based on a GPS (global positioning system), a DGPS (global satellite differential positioning system) or a Beidou system and other satellite positioning systems. However, in certain specific scenarios, for example: in a blocked scene, an indoor scene, a scene with an interfering signal or a shielded signal, and the like, a satellite signal transmitted by the satellite positioning system may be lost or interfered, resulting in a low positioning accuracy of the work machine.
In the prior art, the operation machine can be positioned by an IMU integral positioning method under the condition of not depending on a satellite positioning system, but the positioning precision is lower when the operation machine is positioned by the IMU integral positioning method due to the problem of accumulative errors existing in the IMU integral positioning.
Disclosure of Invention
The invention provides a method and a device for positioning a working machine and the working machine, which are used for solving the defect that the working machine is difficult to be accurately positioned without depending on an external positioning system in the prior art and realizing more accurate positioning of the working machine without depending on the external positioning system.
The invention provides a positioning method of a working machine, which comprises the following steps:
acquiring steering wheel angle data and driving distance data of the operating machine in the process that the operating machine drives from an initial place to a current place;
and determining the coordinates of the current position in the first coordinate system according to the steering wheel angle data and the driving distance data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine, which is acquired in advance.
According to a positioning method for a working machine according to the present invention, the method for determining a coordinate of a current position in a first coordinate system based on a mapping relationship between a steering wheel angle and a turning radius of the working machine, which is acquired in advance, and based on steering wheel angle data and travel distance data of the working machine, further includes:
and determining each segment which is sequentially connected in a path from the initial position to the current position of the working machine according to the steering wheel angle data of the working machine.
According to a method of positioning a work machine provided by the present invention,
the determining, based on a mapping relationship between a steering wheel angle and a turning radius of the work machine acquired in advance, a coordinate of the current location in the first coordinate system according to steering wheel angle data and travel distance data of the work machine specifically includes:
sequentially determining the coordinates of the terminal point of each segment in the first coordinate system according to the steering wheel angle and the driving distance of the working machine passing through each segment on the basis of the mapping relation;
and taking the coordinate of the end point of the last segment in the first coordinate system as the position coordinate of the current position in the first coordinate system.
According to a positioning method for a working machine provided by the present invention, the determining coordinates of the end point of each segment in the first coordinate system in sequence according to the steering wheel angle and the travel distance of the working machine passing through each segment based on the mapping relationship specifically includes:
for each segment, determining a relative positional relationship between an end point of the segment and a start point of the segment according to a steering wheel angle and a travel distance of the work machine passing through the segment based on the mapping relationship;
and determining the coordinates of the end point of the segment in the first coordinate system according to the relative position relation of the end point of the segment and the start point of the segment and the coordinates of the start point of the segment in the first coordinate system.
According to a positioning method for a working machine provided by the present invention, for each segment, based on the mapping relationship, determining a relative positional relationship between an end point of the segment and a start point of the segment according to a steering wheel angle and a travel distance of the working machine passing through the segment, specifically includes:
determining coordinates of the end point of the segment in the second coordinate system according to the steering wheel angle and the travel distance of the working machine passing through the segment based on the mapping relation;
wherein the second coordinate system is determined based on the start of the segment and a heading of the work machine at the start of the segment; the origin of the second coordinate system is located at the start of the segment.
According to a positioning method for a working machine according to the present invention, before acquiring steering wheel angle data and travel distance data of the working machine in a process in which the working machine travels from an initial location to a current location, the positioning method further includes:
calibrating an error of an original mapping relation between the steering wheel angle and the turning radius of the operation machine to obtain the mapping relation;
wherein the original mapping relationship is determined according to a corresponding kinematic model of the working machine.
According to the work machine positioning method provided by the present invention, each of the segments in the path along which the work machine travels from the initial point to the current point is determined based on steering wheel angle data of the work machine.
The present invention also provides a positioning device for a working machine, comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring steering wheel angle data and driving distance data of the working machine in the process of driving the working machine from an initial place to a current place;
and the positioning module is used for determining the coordinate of the current position in the first coordinate system according to the steering wheel angle data and the driving distance data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine, which is acquired in advance.
The invention also provides a working machine comprising a positioning device as described above.
The present invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps of any of the above-mentioned work machine positioning methods.
The present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, performs the steps of the work machine positioning method as described in any one of the above.
According to the working machine positioning method, the working machine positioning device and the working machine, after the turning radius data of the working machine is determined according to the steering wheel angle data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine, the coordinates of the current position of the working machine in the first coordinate system are determined according to the turning radius data of the working machine, the driving distance data and the coordinates of the initial position of the working machine in the first coordinate system, the working machine can be accurately positioned without depending on an external positioning system, the positioning process is simpler, efficient and lower in cost, and technical support can be provided for the unmanned working machine.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a work machine positioning method provided by the present disclosure;
fig. 2 is one of schematic diagrams of a travel path of a work machine in a first coordinate system in the work machine positioning method according to the present disclosure;
fig. 3 is a second schematic diagram of a travel path of the work machine in the first coordinate system in the work machine positioning method according to the present invention;
FIG. 4 is a schematic diagram of a second coordinate system of the work machine positioning method of the present disclosure;
FIG. 5 is a schematic diagram of a work machine positioning device according to the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The work machine positioning method according to the present invention can position a work machine without relying on an external positioning system, and is particularly suitable for positioning an autonomous work machine.
The work machine in the present invention refers to a machine that can perform transportation work and mechanized work, and includes, for example: various household automobiles, and engineering vehicles such as excavators, concrete pump trucks and the like. The control mode of the work machine may be a drive-by-wire module.
Fig. 1 is a schematic flow chart of a work machine positioning method according to the present disclosure. The work machine positioning method of the present disclosure is described below in conjunction with fig. 1. As shown in fig. 1, the method includes: step 101, acquiring steering wheel angle data and driving distance data of the working machine in the process that the working machine drives from an initial position to a current position.
In particular, a steering wheel is a wheel-like device used in work machines for controlling the direction of travel. The driver or the automatic driving system can control the driving direction of the working machine by controlling the angle of the steering wheel.
In the embodiment of the present invention, the steering wheel angle when the work machine travels straight may be regarded as 0 °.
The steering wheel angle data of the working machine may include: the steering angle of the work machine may be changed at each steering angle, which occurs in sequence during travel of the work machine, and the time at which each steering angle is changed.
Steering wheel angle data of the work machine may be obtained in a variety of ways during travel of the work machine from an initial location to a current location. For example: the steering wheel angle can be acquired by a steering wheel angle sensor arranged on the steering wheel; the time when the steering wheel angle changes every time can be recorded through a timer, and the duration and the like of the steering wheel angle keeping unchanged can be determined based on the time when the steering wheel angle changes.
The travel distance data of the work machine may include: the travel distance of the work machine during travel, the travel distance for a certain period of time, and the like.
Travel distance data of the work machine in the process of traveling from the initial location to the current location may be acquired in various ways. For example: the distance traveled by the operating machine within the duration that the angle of each steering wheel remains unchanged, or the total distance traveled from the initial location to the current location, etc. can be obtained by the odometer; the speed of the operating machine in the time length in which the angle of each steering wheel is kept unchanged can be obtained according to the speed sensor, and the running distance of the operating machine in the time length in which the angle of each steering wheel is kept unchanged is obtained through calculation based on the speed and the time length.
And 102, determining the coordinates of the current position in the first coordinate system according to the steering wheel angle data and the driving distance data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine acquired in advance.
Specifically, the first coordinate system may be determined based on an initial location and a heading of the work machine when located at the initial location.
The heading of the work machine may refer to the direction of the work machine body.
Fig. 2 is a schematic diagram of a travel path of a work machine in a first coordinate system in the work machine positioning method according to the present invention. As shown in fig. 2, the first coordinate system XOY may be obtained by using a midpoint of a rear axis of the work machine located at the initial point as an origin O of the first coordinate system, a heading direction of the work machine when located at the initial point as an X-axis direction, and a direction perpendicular to the X-axis to the left of the work machine as a Y-axis direction. The coordinates of the initial location in the first coordinate system XOY are the origin of the first coordinate system XOY. The angle between the direction of the body of the work machine during travel and the X axis in the first coordinate system XOY may be used as the heading k of the work machine in the first coordinate system XOY. The heading k in the first coordinate system XOY when the work machine is at the initial position is 0 °.
When the first coordinate system is established based on the initial location and the heading when the work machine is located at the initial location, another location in the area where the work machine is located may be selected as the origin of the first coordinate system, and an arbitrary direction may be selected as the X-axis direction in the first coordinate system. After establishing the first coordinate system, the coordinates of the initial location in the first coordinate system may be determined based on a relative positional relationship between an origin of the first coordinate system and the initial location, and a heading of the work machine in the first coordinate system when the work machine is located at the initial location may be determined based on the heading of the work machine. However, the first coordinate system XOY shown in fig. 2 may provide a simpler and more intuitive representation of the current location of the work machine.
It should be noted that the first coordinate system may be a cartesian coordinate system.
The mapping between the steering wheel angle and the turning radius of the work machine may be used to describe the turning radius corresponding to any steering wheel angle of the work machine.
The mapping relationship may be obtained in advance, for example: the mapping relation between the steering wheel angle and the turning radius of the working machine sent by other devices can be received; the mapping may also be determined by field testing of the work machine prior to positioning the work machine.
Based on the map, turning radius data of the work machine can be determined while the work machine travels from the initial point to the current point, based on the steering wheel angle data of the work machine.
The turning radius data of the work machine may include turning radii corresponding to respective steering wheel angles that sequentially appear during travel of the work machine.
As shown in fig. 2, while the work machine is traveling backward at a certain steering wheel angle, the turning radius R of the work machine can be determined based on the steering wheel angle. The travel distance D of the work machine is the length of the arc in fig. 2.
Fig. 3 is a second schematic diagram of the travel path of the work machine in the first coordinate system in the work machine positioning method according to the present invention. As shown in fig. 3, while the work machine is kept traveling straight and backward, the steering wheel angle is 0 °, and the corresponding turning radius is null. The travel distance D of the work machine is the length of the straight line segment in fig. 3.
The coordinates of the current position in the first coordinate system can be obtained by numerical calculation or the like based on the turning radius data and the travel distance data of the work machine in the process of traveling from the initial position to the current position, and the coordinates of the initial position of the work machine in the first coordinate system.
In this case, the coordinates of the current point in the first coordinate system are determined only from the travel distance data and the coordinates of the initial point of the work machine in the first coordinate system.
According to the embodiment of the invention, after the turning radius data of the working machine is determined according to the steering wheel angle data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine, the coordinates of the current position of the working machine in the first coordinate system are determined according to the turning radius data of the working machine, the traveling distance data and the coordinates of the initial position of the working machine in the first coordinate system, so that the working machine can be more accurately positioned without depending on an external positioning system, the positioning process is simpler, more efficient and lower in cost, and technical support can be provided for the unmanned working machine.
Based on the content of the above embodiments, determining the coordinates of the current location in the first coordinate system before the coordinates of the current location in the first coordinate system based on the steering wheel angle data and the travel distance data of the work machine, based on the mapping relationship between the steering wheel angle and the turning radius of the work machine acquired in advance, further includes: and determining each segment which is sequentially connected in a path from the initial position to the current position of the working machine according to the steering wheel angle data of the working machine.
It should be noted that the steering wheel angle is fixed during the passage of the work machine through any segment.
Specifically, whether or not the steering wheel angle of the work machine is changed may be used as a criterion for dividing segments connected in sequence on a route along which the work machine travels from an initial point to a current point.
If it is determined that the steering wheel angle of the working machine has changed, the point at which the steering wheel angle of the working machine has changed may be the end point of the current segment and the start point of the next segment.
According to the embodiment of the invention, the path from the starting point to the current position of the operation machine is segmented according to whether the angle of the steering wheel of the operation machine changes, so that the operation machine can be positioned for multiple times in the running process of the operation machine, the running track of the operation machine can be obtained based on the multiple positioning, and the operation machine can be positioned more accurately.
Based on the content of the foregoing embodiments, determining coordinates of a current location in a first coordinate system according to steering wheel angle data and travel distance data of a work machine based on a mapping relationship between a steering wheel angle and a turning radius of the work machine acquired in advance specifically includes:
and sequentially determining the coordinates of the end point of each section in the first coordinate system according to the steering wheel angle and the driving distance of the working machine passing through each section on the basis of the mapping relation.
When the steering wheel angle data and the travel distance data of the working machine in the process of traveling from the initial point to the current point of the working machine are acquired, the steering wheel angle and the travel distance of the working machine passing through each segment can be acquired. For example: each steering wheel angle and the time at which each steering wheel angle changes, which occur in sequence, can be obtained by a steering wheel angle sensor and a timer provided on the steering wheel. After the time when each steering wheel angle is changed is determined, the steering wheel angle of the current segment can be determined according to the time when the previous steering wheel angle is changed, and the driving distance of the current segment is obtained according to the odometer or the speed sensor.
Based on the mapping relationship between the steering wheel angle and the turning radius of the work machine, the turning radius of the work machine passing through each segment may be determined according to the steering wheel angle of the work machine passing through each segment.
The coordinates of the end point of each segment in the first coordinate system may be determined in sequence by numerical calculation or the like based on the turning radius and the travel distance of the work machine passing each segment and based on the end point of each segment and the turning radius and the travel distance of the segment.
And taking the coordinates of the end point of the last segment in the first coordinate system as the position coordinates of the current position in the first coordinate system.
It will be appreciated that the current location is the end of the last segment of the path traveled by the work machine from the initial location to the current location. After determining the coordinates of the end point of the last segment in the first coordinate system, the coordinates of the end point of the last segment in the first coordinate system may be used as the coordinates of the current location in the first coordinate system.
According to the embodiment of the invention, the turning radius of each section passed by the operation machine is determined according to the steering wheel angle of each section passed by the operation machine based on the mapping relation between the steering wheel angle and the turning radius of the operation machine, the coordinates of the terminal point of each section in the first coordinate system are sequentially determined based on the turning radius and the running distance of each section passed by the operation machine, the position coordinates of the current position of the operation machine in the first coordinate system are obtained, the operation machine can be positioned for multiple times in the running process of the operation machine without depending on an external positioning system, the running track of the operation machine can be obtained based on the multiple positioning, and the relative position relation between the current position of the operation machine and the initial position can be more accurately obtained.
Based on the content of the foregoing embodiments, sequentially determining coordinates of an end point of each segment in the first coordinate system according to a steering wheel angle and a travel distance of the work machine passing through each segment based on the mapping relationship specifically includes: for each segment, a relative positional relationship between an end point of the segment and a start point of the segment is determined according to a steering wheel angle and a travel distance of the work machine passing through the segment based on the mapping relationship.
And determining the coordinates of the end point of the segment in the first coordinate system according to the relative position relation of the end point of the segment and the start point of the segment and the coordinates of the start point of the segment in the first coordinate system.
Wherein, the starting point of the segment is the end point of the last segment of the segment.
Specifically, the starting point of the first segment in the path where the work machine travels from the initial point to the current point is the initial point of the work machine. Wherein the coordinates of the start of the first segment in the first coordinate system XOY are the origin.
Based on the above mapping, the turning radius of the work machine passing through the first segment may be determined based on the steering wheel angle of the work machine passing through the first segment. From the turning radius and the travel distance of the work machine through the first segment, the relative positional relationship between the end point and the start point of the first segment can be determined by numerical calculation or the like, for example: the distance and offset angle between the end point and the start point of the first segment, etc.
The coordinates of the end point of the first segment in the first coordinate system can be determined by numerical calculation or the like based on the relative positional relationship between the end point and the start point of the first segment and the coordinates of the start point (initial point) of the first segment in the first coordinate system (the origin of the first coordinate system XOY).
The starting point of each segment after the first segment is the end point of the last segment of the segment, and the coordinates of the starting point of the segment in the first coordinate system are the determined coordinates of the end point of the last segment of the segment in the first coordinate system. For example: after determining the coordinates of the end point of the first segment in the first coordinate system, the end point of the first segment may be used as the start point of the second segment, and the coordinates of the end point of the first segment in the first coordinate system are the coordinates of the start point of the second segment in the first coordinate system.
For each segment subsequent to the first segment, the turning radius of the work machine passing through the segment may be determined based on the mapping, based on the steering wheel angle of the work machine passing through the segment. The relative positional relationship between the end point and the start point of the segment can be determined by numerical calculation or the like based on the turning radius and the travel distance of the work machine passing through the segment.
The coordinates of the end point of the segment in the first coordinate system can be determined by numerical calculation or the like based on the relative positional relationship between the end point and the start point of the segment and the coordinates of the start point of the segment in the first coordinate system.
According to the embodiment of the invention, the relative position relation between the starting point and the end point of each segment is obtained, and the coordinate of the end point of each segment in the first coordinate system is determined based on the relative position relation between the starting point and the end point of each segment and the coordinate of the starting point of each segment in the first coordinate system, so that the operation machine can be positioned more simply, more efficiently and more accurately.
Based on the content of the foregoing embodiments, for each segment, based on the mapping relationship, determining the relative positional relationship between the end point of the segment and the start point of the segment according to the steering wheel angle and the travel distance of the work machine passing through the segment specifically includes: and determining the coordinates of the end point of the segment in the second coordinate system according to the steering wheel angle and the travel distance of the working machine passing through the segment and the coordinates of the start point of the segment in the second coordinate system based on the mapping relation.
Wherein the second coordinate system is determined based on the start of the segment and a heading of the work machine at the start of the segment; the origin of the second coordinate system is located at the start of the segment.
Fig. 4 is a schematic diagram of a second coordinate system in the positioning method for a working machine according to the present invention. As shown in fig. 4, the origin O of the first coordinate system XOY is a midpoint of a rear axis of the working machine located at the initial point, the X-axis direction of the first coordinate system is a vehicle body direction when the working machine is located at the initial point from the rear to the front, and the Y-axis direction of the first coordinate system is a direction perpendicular to the X-axis to the left of the working machine.
For any segment subsequent to the first segment, a second coordinate system may be established based on a heading of the work machine at a start of the segment. As shown in the figure4, may be located at the start O of the segment1The midpoint of the rear axle of the working machine is set as the origin of the second coordinate system, and the vehicle body direction of the working machine from the rear to the front is set as X1Axial direction, moving the working machine to the left and X1The direction perpendicular to the axis being Y1Axial direction, obtaining a second coordinate system X1O1Y1。
Starting point O of the segment1In a second coordinate system X1O1Y1The coordinate in (B) is the second coordinate system X1O1Y1Of the origin. The direction of the vehicle body of the working machine during the driving process and the second coordinate system X can be adjusted1O1Y1In (C) X1The included angle of the axes being taken as the angle of the working machine in the second coordinate system X1O1Y1Heading k in (1). The working machine being located at the starting point O of the segment1At the second coordinate system X1O1Y1Heading k in (1) is 0 °.
In the embodiment of the present invention, the turning radius R of the work machine passing through the segment can be determined based on the above-described mapping relation, based on the steering wheel angle of the work machine passing through the segment.
In the case where the steering wheel angle of the work machine passing through the segment is not 0 °, it can be determined numerically from the turning radius R and the travel distance D of the work machine passing through the segment that the work machine is at the end of the segment in the second coordinate system X1O1Y1The specific calculation formula of the course k in (1) is as follows:
k＝D/R；
according to the turning radius R of the working machine passing through the section and the second coordinate system X when the working machine is at the end of the section1O1Y1The heading k in (1) can be determined in a numerical calculation mode, and the end point of the segment is positioned in the second coordinate system X1O1Y1The specific calculation formula of the coordinates (x, y) is as follows:
when the steering wheel angle of the working machine passing through the segment is 0 °, the turning radius R of the working machine passing through the segment is null, and the working machine is located at the end of the segment in the second coordinate system X1O1Y1Heading k in (1) is 0 °. The end point of the segment is in a second coordinate system X1O1Y1The coordinates (x, y) of (a) are determined only from the travel distance D of the work machine through the segment, in particular:
it should be noted that the heading in the first coordinate system XOY when the work machine is located at the end of the first segment and the coordinates of the end of the first segment in the first coordinate system XOY may also be obtained in the above manner.
Correspondingly, determining the coordinates of the end point of the segment in the first coordinate system according to the relative position relationship between the end point of the segment and the start point of the segment, specifically comprising: the coordinates of the end point of the segment in the first coordinate system are determined based on the coordinates of the start point of the segment in the first coordinate system and the coordinates of the end point of the segment in the second coordinate system.
By means of coordinate transformation, the starting point O of the segment can be determined1The coordinate in the first coordinate system XOY is (x)1,y1) And the end point O of the segment2In a second coordinate system X1O1Y1Coordinates (x, y) of (d), determining the end point O of the segment2Coordinates (x) in a first coordinate system XOY2,y2)。
Specifically, based on the work machine being located at the start O of the segment1A heading k in the first coordinate system XOY1And the working machine is located at the end point O of the section2Time in the second coordinate system X2O2Y2The heading k in (1) can determine that the working machine is located at the end point O of the section by means of numerical calculation2Course k in the first coordinate system XOY2Concrete formula of calculationThe following were used:
k2＝k1+k；
based on the starting point O of the segment1The coordinate in the first coordinate system XOY is (x)1,y1) End point O of the segment2In a second coordinate system X1O1Y1Coordinates (x, y) of (a) and the working machine being at the end O of the segment2Course k in the first coordinate system XOY2Performing coordinate transformation to determine the coordinate (x) of the end point of the segment in the first coordinate system XOY2,y2) The specific calculation formula of (2) is as follows:
according to the embodiment of the invention, after the coordinates of the end point of each segment in the second coordinate system are determined, the coordinates of the end point of the segment in the first coordinate system are obtained through coordinate transformation according to the coordinates of the start point of the segment in the first coordinate system, so that the operation machine can be positioned more simply, more efficiently and more accurately, and the path and the current location of the operation machine in the driving process can be displayed more intuitively.
Based on the content of the above embodiments, before acquiring the steering wheel angle data and the travel distance data of the work machine in the process of traveling from the initial point to the current point, the method further includes: and calibrating the error of the original mapping relation between the steering wheel angle and the turning radius of the working machine to obtain the mapping relation.
The original mapping relation is determined according to a corresponding kinematic model of the working machine.
In the process of acquiring the steering wheel angle data and the driving distance data of the working machine from the initial position to the current position, the original mapping relation between the steering wheel angle and the turning radius of the working machine can be determined according to the corresponding kinematic model of the working machine.
Specifically, the vehicle kinematics model may reflect a vehicle position, velocity, acceleration, and time relationship. In the embodiment of the invention, the vehicle kinematic model corresponding to the working machine is pre-established based on the single vehicle model, the configuration parameters of the working machine and the like. The original mapping between the steering wheel angle and the turning radius of the work machine may be determined by numerical methods (e.g., numerical calculations based on ackermann steering geometry) based on a corresponding kinematic model of the work machine.
After the original mapping relation between the steering wheel angle and the turning radius of the working machine is determined, error calibration can be carried out on the original mapping relation through field test of the working machine, the mapping relation between the steering wheel angle and the turning radius of the working machine is obtained, and therefore the turning radius corresponding to any steering wheel angle of the working machine can be described more accurately.
According to the embodiment of the invention, the turning radius of the operation machine passing through each section can be more accurately obtained through the mapping relation based on the error calibration, so that the operation machine can be more accurately positioned.
Fig. 5 is a schematic structural diagram of a positioning device for a work machine according to the present disclosure. The following describes the positioning device of the working machine provided by the present invention with reference to fig. 5, and the positioning device of the working machine described below and the positioning method of the working machine described above may be referred to in correspondence with each other. As shown in fig. 5, the apparatus includes: an acquisition module 501 and a positioning module 502.
The obtaining module 501 is configured to obtain steering wheel angle data and travel distance data of the work machine during a process that the work machine travels from an initial location to a current location.
The positioning module 502 is configured to determine coordinates of a current location in a first coordinate system according to steering wheel angle data and travel distance data of the work machine based on a mapping relationship between a steering wheel angle and a turning radius of the work machine, which is acquired in advance.
Specifically, the acquisition module 501 and the positioning module 502 are electrically connected.
The acquisition module 501 may acquire steering wheel angle data of the work machine during travel of the work machine from an initial location to a current location in a variety of ways. For example: the steering wheel angle can be acquired by a steering wheel angle sensor arranged on the steering wheel; the time point of each change of the steering wheel angle can be recorded through a timer, and the duration of each steering wheel angle which is kept unchanged is determined based on the time point of each change of the steering wheel angle.
After determining the duration in which the steering wheel angles remain unchanged, the obtaining module 501 may obtain the travel distance data of the work machine in the process of traveling from the initial location to the current location in various ways. For example: the distance traveled by the operating machine in the time period in which the angle of each steering wheel is kept unchanged and the total travel distance from the initial position to the current position can be obtained through the odometer; the speed of the operating machine in the time length in which the angle of each steering wheel is kept unchanged can be obtained according to the speed sensor, and the running distance of the operating machine in the time length in which the angle of each steering wheel is kept unchanged is obtained through calculation based on the speed and the time length.
The positioning module 502 may determine the turning radius data of the work machine during travel of the work machine from the initial location to the current location based on the mapping from the steering wheel angle data of the work machine. The coordinates of the current position in the first coordinate system can be obtained by numerical calculation or the like based on the turning radius data and the travel distance data of the work machine in the process of traveling from the initial position to the current position, and the coordinates of the initial position of the work machine in the first coordinate system.
Optionally, the positioning module 502 may be further configured to determine, according to the steering wheel angle data of the work machine, segments that are sequentially connected in a path where the work machine travels from the initial point to the current point before determining, according to the steering wheel angle data and the travel distance data of the work machine, coordinates of the current point in the first coordinate system based on a mapping relationship between a steering wheel angle and a turning radius of the work machine, which is acquired in advance.
The positioning module 502 may be further configured to sequentially determine coordinates of an end point of each segment in the first coordinate system according to a steering wheel angle and a travel distance of the work machine passing through each segment based on the mapping relationship; and taking the coordinates of the end point of the last segment in the first coordinate system as the position coordinates of the current position in the first coordinate system.
Optionally, the positioning module 502 may be further configured to determine, for each segment, a relative positional relationship between an end point of the segment and a start point of the segment according to a steering wheel angle and a travel distance of the work machine passing through the segment based on the mapping relationship; and determining the coordinates of the end point of the segment in the first coordinate system according to the relative position relation of the end point of the segment and the start point of the segment and the coordinates of the start point of the segment in the first coordinate system.
Optionally, the positioning module 502 may be further configured to determine coordinates of the end point of the segment in the second coordinate system according to the steering wheel angle and the travel distance of the work machine passing through the segment based on the mapping relationship; wherein the second coordinate system is determined based on the start of the segment and a heading of the work machine at the start of the segment; the origin of the second coordinate system is located at the start of the segment.
According to the embodiment of the invention, after the turning radius data of the working machine is determined according to the steering wheel angle data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine, the coordinates of the current position of the working machine in the first coordinate system are determined according to the turning radius data of the working machine, the traveling distance data and the coordinates of the initial position of the working machine in the first coordinate system, so that the working machine can be more accurately positioned without depending on an external positioning system, the positioning process is simpler, more efficient and lower in cost, and technical support can be provided for the unmanned working machine.
Based on the content of the above embodiments, the working machine comprises the above working machine positioning device.
Specifically, the working machine comprises the working machine positioning device, and the working machine can be positioned more accurately through the working machine positioning device without depending on an external positioning system.
The structure and the work flow of the positioning device for the working machine can be referred to the above embodiments of the positioning device for the working machine, and are not described herein again.
According to the embodiment of the invention, after the turning radius data of the working machine is determined according to the steering wheel angle data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine, the coordinates of the current position of the working machine in the first coordinate system are determined according to the turning radius data of the working machine, the traveling distance data and the coordinates of the initial position of the working machine in the first coordinate system, so that the working machine can be more accurately positioned without depending on an external positioning system, the positioning process is simpler, more efficient and lower in cost, and technical support can be provided for the unmanned working machine.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor)610, a communication interface (communication interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 are communicated with each other via the communication bus 640. Processor 610 may invoke logic instructions in memory 630 to perform a work machine positioning method comprising: acquiring steering wheel angle data and driving distance data of the operating machine in the process that the operating machine drives from an initial place to a current place; and determining the coordinates of the current position in the first coordinate system according to the steering wheel angle data and the driving distance data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine acquired in advance.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In another aspect, the present disclosure also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method for positioning a work machine provided by the above methods, the method comprising: acquiring steering wheel angle data and driving distance data of the operating machine in the process that the operating machine drives from an initial place to a current place; and determining the coordinates of the current position in the first coordinate system according to the steering wheel angle data and the driving distance data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine acquired in advance.
In yet another aspect, the present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the method of locating a work machine provided above, the method comprising: acquiring steering wheel angle data and driving distance data of the operating machine in the process that the operating machine drives from an initial place to a current place; and determining the coordinates of the current position in the first coordinate system according to the steering wheel angle data and the driving distance data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine acquired in advance.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of positioning a work machine, comprising:
acquiring steering wheel angle data and driving distance data of the operating machine in the process that the operating machine drives from an initial place to a current place;
and determining the coordinates of the current position in a first coordinate system according to the steering wheel angle data and the driving distance data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine, which is acquired in advance.
2. The work machine positioning method according to claim 1, wherein the determining the coordinates of the current position in the first coordinate system based on a mapping relationship between a steering wheel angle and a turning radius of the work machine acquired in advance from steering wheel angle data and travel distance data of the work machine, further comprises:
and determining each segment which is sequentially connected in a path from the initial position to the current position of the working machine according to the steering wheel angle data of the working machine.
3. The method according to claim 2, wherein the determining the coordinates of the current location in the first coordinate system based on the steering wheel angle data and the travel distance data of the work machine based on a mapping relationship between a steering wheel angle and a turning radius of the work machine acquired in advance, specifically comprises:
sequentially determining the coordinates of the terminal point of each segment in the first coordinate system according to the steering wheel angle and the driving distance of the working machine passing through each segment on the basis of the mapping relation;
and taking the coordinate of the end point of the last segment in the first coordinate system as the position coordinate of the current position in the first coordinate system.
4. The method according to claim 2, wherein the determining coordinates of the end point of each segment in the first coordinate system in turn based on the mapping relationship and according to the steering wheel angle and the travel distance of the work machine through each segment comprises:
for each segment, determining a relative positional relationship between an end point of the segment and a start point of the segment according to a steering wheel angle and a travel distance of the work machine passing through the segment based on the mapping relationship;
and determining the coordinates of the end point of the segment in the first coordinate system according to the relative position relation of the end point of the segment and the start point of the segment and the coordinates of the start point of the segment in the first coordinate system.
5. The method according to claim 4, wherein the determining, for each segment, a relative positional relationship between an end point of the segment and a start point of the segment based on the mapping relationship and a steering wheel angle and a travel distance of the work machine through the segment specifically comprises:
determining coordinates of the terminal point of the segment in a second coordinate system according to the steering wheel angle and the driving distance of the working machine passing through the segment based on the mapping relation;
wherein the second coordinate system is determined based on the start of the segment and a heading of the work machine at the start of the segment; the origin of the second coordinate system is located at the start of the segment.
6. The work machine positioning method according to any one of claims 1 to 5, wherein before acquiring the steering wheel angle data and the travel distance data of the work machine while the work machine travels from the initial location to the current location, the method further comprises:
calibrating an error of an original mapping relation between the steering wheel angle and the turning radius of the operation machine to obtain the mapping relation;
wherein the original mapping relationship is determined according to a corresponding kinematic model of the working machine.
7. A work machine positioning device, comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring steering wheel angle data and driving distance data of the working machine in the process of driving the working machine from an initial place to a current place;
and the positioning module is used for determining the coordinate of the current position in a first coordinate system according to the steering wheel angle data and the driving distance data of the working machine based on the mapping relation between the steering wheel angle and the turning radius of the working machine, which is acquired in advance.
8. A work machine comprising a work machine positioning device as claimed in claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the steps of the method of positioning a work machine according to any of claims 1 to 6.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for positioning a work machine according to any one of claims 1 to 6.
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