WO2011038595A1

WO2011038595A1 - Calibrating positioning method and device thereof

Info

Publication number: WO2011038595A1
Application number: PCT/CN2010/074284
Authority: WO
Inventors: 张中尧; 李天富; 田永丰
Original assignee: 湖南三一智能控制设备有限公司; 三一重工股份有限公司
Priority date: 2009-09-29
Filing date: 2010-06-22
Publication date: 2011-04-07
Also published as: CN101697240B; CN101697240A

Abstract

A calibrating positioning method and device thereof are used for calibrating parameters of a mechanical device. The method includes: obtaining a calibrating value of a parameter to be calibrated in a predetermined working mode, the calibrating value is an actually measured value of the parameter to be calibrated in the predetermined working mode(101); judging whether the calibrating value is equal to a system value of the parameter to be calibrated in the predetermined working mode(102); updating the system value based on the calibrating value when the calibrating value is not equal to the system value(103); and obtaining real time data of the parameter to be calibrated according to the updated system value(104).

Description

The present invention claims the priority of the Chinese patent application filed on September 29, 2009, the Chinese Patent Application No. 200910176993.7, entitled "A Method and Apparatus for Locating and Locating", The entire contents are incorporated herein by reference. Technical field

This invention relates to the field of construction machinery, and more particularly to a method and apparatus for calibration positioning. Background technique

With the development of mechanical automation, sensors and other detection devices are installed in many products to achieve control of product steering, speed, etc. Usually, the fixed positioning of the potentiometer and the sensor is mechanically positioned.

Asphalt pavers are widely used in the construction and maintenance of roads and urban roads, as well as in airports, ports, parking lots, etc. The asphalt concrete paver is divided into a tire type and a crawler type according to the traveling device. The corner sensor of the front wheel assembly of the tire paver is assembled by the machine 3⁄4, and the controller is positioned at the midpoint of the angle sensor 3⁄4, the leftmost side, The rightmost corner sensor parameter value is a reference, and the parameter value of the real-time collected corner sensor is processed by the processing program, thereby realizing the control of the machine and displaying the information on the human-machine interface.

In the process of implementing the present invention, the inventors have found that the prior art has at least the following problems:

The fixed positioning of the detecting device such as the sensor is positioned by the mechanical assembly, which is inconvenient in production, use and maintenance. For example, mechanical positioning is inconvenient in mass production. Inaccurate assembly requires commissioning procedures. At the same time, during the use and maintenance process, due to mechanical deformation and positional deviation caused by various complicated conditions, the machine must be reassembled and adjusted. Work, production, use, and maintenance are not convenient. Summary of the invention

Embodiments of the present invention provide a method and apparatus for calibrating positioning, which calibrates the parameters of the mechanical device by electrical calibration, and achieves the effect of calibrating the cartridge, which is easy to use and maintain.

Embodiments of the present invention provide a method of calibrating positioning for calibrating parameters of a mechanical device, including:

Obtaining a calibration value of the parameter to be calibrated in the preset working mode, where the calibration value is an actual measurement value of the parameter to be calibrated in the preset working mode;

Determining whether the calibration value is equal to a system value of the parameter to be calibrated in the preset working mode;

Updating the system value using the calibration value when it is determined that the calibration value is not equal to the system value;

Real-time data of the parameter to be calibrated is obtained according to the updated system value. And obtaining the calibration value of the parameter to be calibrated in the preset working mode, including: in the preset mode, detecting, by the electrical detecting device, the calibration parameter, and acquiring the detection data;

The detection data is processed and converted into a calibration value corresponding to the parameter to be calibrated.

Before obtaining the calibration value of the parameter to be calibrated in the preset working mode, the method further includes: performing, in the preset working mode, the first calibration of the parameter to be calibrated, including the following steps:

Obtaining, in the preset working mode, an initial calibration value of the parameter to be calibrated;

The first calibration value is set to the first system value of the parameter to be calibrated. The electrical detection device includes a sensor and/or a potentiometer. Updating the system value using the calibration value includes:

The calibration value is updated by the calibration interface to the system value. Embodiments of the present invention provide a means for calibrating positioning for calibrating parameters of a mechanical device, including:

The obtaining module is configured to preset a calibration value of the parameter to be calibrated in the working mode, where the calibration value is an actual measured value of the parameter to be calibrated in the preset working mode;

a determining module, configured to determine whether the calibration value acquired by the acquiring module is equal to a system value of the parameter to be calibrated in the preset working mode;

a calibration module, configured to: when the determining module determines that the calibration value is not equal to the system value, update the system value by using the calibration value;

And a processing module, configured to acquire real-time data of the parameter to be calibrated according to the updated system value of the calibration module.

The obtaining module is specifically configured to:

In the preset mode, the calibration parameter is detected by the electrical detecting device to obtain the detection data;

The obtaining module is further configured to:

The processing module is further configured to:

The first calibration value is set to the first system value of the parameter to be calibrated. The electrical detection device includes a sensor and/or a potentiometer.

Updating the system value using the calibration value includes: The calibration value is updated by the calibration interface to the system value.

The embodiment of the invention calibrates the parameters of the mechanical device by electrical calibration, and achieves the effect of calibrating the cylinder, easy to use and maintain. Of course, implementing any of the products of the embodiments of the present invention does not necessarily require all of the advantages described above to be achieved at the same time. DRAWINGS

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings of the present invention or the drawings used in the prior art description will be described below. Obviously, the drawings in the following description are only Some embodiments of the invention may be obtained by those of ordinary skill in the art from the drawings without departing from the scope of the invention.

1 is a flow chart of a method for calibrating positioning according to an embodiment of the present invention; FIG. 2 is a schematic structural view of an electrical device for performing mechanical device calibration according to an embodiment of the present invention;

3 is a calibration interface of a control platform in an embodiment of the present invention;

4 is a flowchart of a method for calibrating positioning according to an embodiment of the present invention; FIG. 5 is a flowchart of a method for calibrating positioning according to an embodiment of the present invention; FIG. 6 is a device for calibrating positioning according to an embodiment of the present invention; Schematic diagram of the structure. detailed description

The main idea of the embodiment of the present invention includes: obtaining a calibration value of a parameter to be calibrated in a preset working mode, where the calibration value is an actual measurement value of a parameter to be calibrated in the preset working mode; Whether the calibration value is equal to the system value of the parameter to be calibrated in the preset working mode; when it is determined that the calibration value is not equal to the system value, updating the system value by using the calibration value; The system value, the real-time data of the parameter to be calibrated is obtained. The technical solutions in the present invention will be clearly and completely described in the following description of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Embodiments of the present invention provide a method for calibrating positioning, as shown in FIG. 1 , for calibrating parameters of a mechanical device, including the following steps:

Step 101: Obtain a calibration value of a parameter to be calibrated in a preset working mode, where the calibration value is an actual measurement value of the parameter to be calibrated in the preset working mode.

Step 102: Determine whether the calibration value is equal to a system value of the parameter to be calibrated in the preset working mode.

Step 103: When it is determined that the calibration value is not equal to the system value, update the system value by using the calibration value.

Step 104: Obtain real-time data of the parameter to be calibrated according to the updated system value.

In the present invention, the electrical device for performing mechanical device calibration, as shown in FIG. 2, is provided with a detecting device (specifically, a corner sensor), a processing module (specifically, a controller module SYMC), and a control platform (specifically, a human-machine interaction interface SYLD). . The detecting device includes a positioner, an angle sensor and the like for collecting the driving parameters of the paver in real time, such as the traveling speed and the driving angle. The detecting device transmits the collected driving parameters to the processing module, and the processing module processes the collected line 3 history parameters through the processing program, converts them into calibration values for calibration and display values for display, and processes the processed calibration values. Transfer to the control platform and transfer the display values to the dashboard. Wherein, the processing program is configured to convert the received data into a calibration value and a display value corresponding thereto. The display value transmitted to the dashboard is used by the operator to monitor the driving state of the paver according to the data displayed on the dashboard, and the calibration value transmitted to the control platform is used for operation. The staff controls, calibrates, etc. according to the driving state of the paver. Wherein, the control platform is provided with a calibration interface for calibrating the paver driving parameters.

The calibration interface of the control platform, as shown in Fig. 3, is provided with a display window of system values and calibration values of the driving parameters. Among them, the calibration value of the paver driving parameters is the actual measured value of the current paver real-time driving parameters. The system value is the reference value of the driving parameter of the current paver in the preset working mode, and is used to compare the real-time driving parameters of the paver through the program, and compare with the corresponding system values to obtain the paver real-time. Driving status to display on the dashboard. Among them, the preset working mode is usually the limit working mode of the paver driving parameters. For example, for the driving speed parameter, the preset working mode is the maximum driving speed working mode and the minimum traveling speed working mode; for the driving angle parameter, the preset working mode is the maximum left turn driving mode, the maximum right turn driving mode, and Straight working mode.

Specifically, the processing module processes the data detected by the detecting device into the following steps:

(1) The processing module receives data transmitted by the detecting device.

For example: The driving speed is 5 m / s, and the driving angle is 30 ° left.

(2) The processing module acquires calibration data corresponding to the received data based on the actual maximum traveling speed of the paver and the maximum driving angle in the same direction as the data.

Set the actual maximum driving speed of the paver to 10 m / s, then the actual driving speed range is 0 ~ 10 m / s, the driving speed range corresponding to the calibration value is 0 ~ 10000; the actual corresponding maximum left turn Driving angle 60. , the actual left-turn travel angle range is 0~60°, and the left-turn travel angle range corresponds to the calibration value of 0~10000.

If the data received by the processing module at this time is the current traveling speed of 5 m/s, the processing program obtains a calibration value corresponding to the current traveling speed according to the actual driving speed range and the calibration value corresponding to the driving speed range; The data is that the current left-turn travel angle is 30°, and the processing program is based on the actual left-turn travel angle range and left-turning. The calibration value corresponding to the angle range, and the calibration value corresponding to the current left-turn driving angle is obtained.

5000.

(3) The processing module obtains the traveling speed and the driving angle for display corresponding to the calibration data in the step (2) based on the maximum traveling speed of the paver and the system value of the maximum traveling angle in the same direction of the data.

When the paver is in normal driving state, the system value and calibration value corresponding to the same parameter should be the same, that is, the maximum driving speed corresponding to the system value is 10 m/s, and the driving speed range is 0~10 m/s. The driving speed range corresponds to the system value 0~10000; the maximum left-turn driving angle corresponding to the system value is 60°, the left-turn driving angle range is 0~60°, and the left-turn driving angle range corresponds to the system value 0~10000.

If the current driving speed corresponds to a calibration value of 5000, the processing program obtains a display value corresponding to the current traveling speed of 5 m/s according to the driving speed range corresponding to the system value and the system value corresponding to the driving speed range; The calibration value corresponding to the driving angle is 5000, and the processing program obtains the display value corresponding to the current left-turning driving angle by 30° according to the system value corresponding to the left-turn traveling angle range and the left-turn traveling angle range corresponding to the system value.

Through the above steps, the processing module needs to perform two conversions on the data detected by the detecting device, and the two conversions are based on different parameters, and the calibration value corresponding to the detection data is the actual value of the parameter corresponding to the data. For the reference, the display value corresponding to the acquired detection data is based on the system value of the parameter corresponding to the data. When the paver works normally, since the system value of the driving parameter is calibrated by the actual value of the driving parameter in the corresponding working mode when the paver is used for the first time, the data of the two should be consistent. However, due to the deviation of the machine during assembly or use, the system's maximum value of the parameter and the actual maximum value of the parameter are inconsistent, resulting in deviations between the control and display of the mechanical driving. Therefore, in the preset working mode, when the system value is inconsistent with the calibration value, the operator can Setting the paver to the preset working mode, and obtaining the calibration value of the current driving parameter in the working mode, and setting the calibration value to the system value, thereby updating the system value to accurately The paver is controlled.

It should be further noted that the calibration interface layout and parameter selection of the control platform shown in FIG. 3 are only a preferred technical solution of the present invention. In a specific application scenario, the adjustment may be performed as needed, or the layout may be changed. Such changes do not affect the scope of protection of the present invention. Embodiments of the present invention provide a method for calibrating positioning, as shown in FIG. 4, for calibrating parameters of a mechanical device, wherein calibrating the driving speed parameter includes the following steps:

Step 401: The operator starts the tire paver.

When paving roads, it is necessary to use asphalt concrete pavers for paving. The asphalt concrete paver is divided into a tire type and a crawler type according to the traveling device.

In the embodiment of the present invention, a tire paver is taken as an example for description.

The dashboard of the paver includes a speed dashboard for displaying the current paver speed and an angle dashboard for displaying the current paver rotation angle.

In the embodiment of the present invention, the calibration of the traveling speed parameter of the paver is taken as an example for description.

For example, according to the requirements of paving, the operator travels at a speed of 10 m/s. When the operator starts the paver, as the paver starts, the value of the speed parameter on the dashboard continues to rise. The operator constantly monitors the data on the dashboard. When the data on the dashboard shows that the current paver is traveling at 10 m/s, the paver has reached the preset travel speed. At this point, the operator will maintain the current speed and allow the paver to travel at a constant speed of 10 meters per second. Step 402: The working state of the paver is abnormal.

For each section, the paving machine's driving state, such as driving speed and driving angle, is set according to the requirements of paving, which affects the paving parameters of the paving section of the paver, such as paving thickness. During the construction process, the working state of the paver may be abnormal due to various reasons, resulting in the current working state of the paver displayed on the instrument panel being inconsistent with the actual working state of the 4 difficult paving machine. deviation.

The paver obtains the actual traveling speed, obtains the display value of the actual traveling speed according to the actual maximum traveling speed, and determines the driving speed corresponding to the displayed value according to the theoretical maximum traveling speed of the paver. Therefore, when the actual measured value of the maximum traveling speed is inconsistent with the corresponding system value, it will lead to misjudgment of the traveling speed and affect the quality of the paving.

For example, the theoretical maximum travel speed of the current paver is 10 m / s, the maximum travel speed corresponds to a system value of 10,000, and the actual maximum travel speed of the paver is 15 m / s, then the paver At a speed of 5 m / s, the processing program will process 5 m / s according to the maximum travel speed of 15 m / s. The value for display 5 m / s corresponding to the display is 3333, the operator according to the value 3333 determines the current driving speed is 3.3 m / sec. According to the display of the instrument panel, the operator increases the driving speed to 5 m / s, and the corresponding display value is 5000. At this time, the actual traveling speed of the paver is 7.5 m / s, causing operational deviation.

Step 403: Check the working state of the paver.

When the paver is abnormal, the operator knows based on the comparison between the driving parameters displayed on the dashboard and the actual driving data of the paver, or judges that the paver is abnormal according to the operator's experience, the paver needs to be inspected. Working status. If the working condition of the paver is abnormal, the paver needs to be adjusted. Otherwise, the road paved by the paver will not meet the paving requirements. At this time, it can be checked whether the calibration value of the paver driving parameter is consistent with the corresponding system value.

The display platform of the paver is provided with a control platform for the operator to control the operation of the paver.

Specifically, the inspection of the working state of the paver includes the following steps:

(1) The interface of the control platform is switched to the driving parameter calibration interface.

(2) Obtain the calibration value of the maximum travel speed of the current paver.

The paver is equipped with a positioner for detecting the speed of the paving in real time. The positioner transmits the detected speed of the paver to the processing module of the paver, and the processing module converts the traveling speed into a corresponding driving speed calibration value by converting.

(3) Determine whether the calibration value of the maximum traveling speed is equal to the system value of the maximum traveling speed.

When the calibration value of the maximum traveling speed is equal to the system value of the maximum traveling speed, it is judged that the traveling speed system value of the paver is accurate, and the flow proceeds to step 404.

When the calibration value of the maximum traveling speed is not equal to the system value of the maximum traveling speed, it is judged that the traveling speed system value of the paver is inaccurate, and calibration needs to be performed again, and the process goes to step 403.

Step 404: Recalibrate the paver travel speed system value.

The system value of the paver travel speed is usually the extreme value in the preset work mode, including the maximum travel speed in the maximum travel speed mode and the minimum travel speed in the minimum travel mode. At this time, the corresponding calibration value is obtained according to the working mode corresponding to the system value.

First, get the calibration value of the maximum travel speed. The operator places the paver in the working mode of the maximum traveling speed. At this time, the maximum traveling speed of the current paver is obtained by the positioner, and processed by the processing module to be converted into a calibration value corresponding to the maximum traveling speed, The interpersonal interface is displayed to the operator. At this point, the operator calibrates the control platform The value is set to the system value of the current maximum travel speed.

Similarly, the system value of the current minimum travel speed is obtained, so that the system value is updated, and details are not described herein again.

At this time, the system value of the paver driving parameters is consistent with the calibration value in the corresponding working mode, and the paver is in a normal working state.

Step 405: The operator operates the paver under the system value corresponding to the current traveling speed. It should be noted that the calibration method of the minimum travel speed is similar to the calibration method of the maximum travel speed, and will not be described here. Embodiments of the present invention provide a method for calibrating positioning, as shown in FIG. 5, for calibrating parameters of a mechanical device, wherein calibrating a driving angle parameter includes the following steps:

Step 501: The operator starts the tire paver.

In the embodiment of the present invention, the calibration of the traveling angle parameter of the paver is taken as an example for description.

For example, depending on the paving requirements, the operator advances at a 30° left turn. When the operator starts the paver, the data on the dashboard shows that the current paver's driving angle is left turn 30. At the time, the paver has reached the preset driving angle.

Step 502: The working state of the paver is abnormal.

For each section, set the driving state of the paver according to the requirements of the paving, for example The driving speed and driving angle, etc., all affect the paving parameters of the paving section of the paver, such as the paving thickness, the driving angle of the paving paving, and the like. During the construction process, the working state of the paver may be abnormal due to various reasons, so that the current working state of the paver displayed on the instrument panel is inconsistent with the actual working state of the paver, and deviation occurs. .

The paver obtains the actual driving angle, and obtains the display value of the actual driving angle according to the actual maximum left-turn driving angle, and determines the driving angle corresponding to the displayed value according to the theoretical maximum left-turning driving angle of the paver. Therefore, when the actual measured value of the maximum left-turn driving angle is inconsistent with the corresponding system value, it will lead to misjudgment of the driving angle and affect the quality of the paving.

For example, the theoretical maximum left turn travel angle of the current paver is 60°, the maximum left turn travel angle corresponds to a system value of 10000, and the paver's actual maximum left turn travel angle is 45°. Turn the machine to the left and turn 30. At the angle of travel, the handler will process the left turn 30° according to the maximum left turn angle of 45°, and turn left 30 after processing. The corresponding value for display is 6666, and the operator judges the current driving angle to be 40° based on the value 6666. According to the display of the instrument panel, the operator changes the driving angle to 30° left, and the corresponding display value is 5000. At this time, the actual running angle of the paver is 22.5° left, which causes operation deviation.

Step 503: Check the working state of the paver.

(2) Obtain the calibration value of the maximum left turn travel angle of the current paver.

The paver is equipped with an angle sensor for detecting the paving angle in real time. The angle sensor transmits the detected driving angle of the paver to the processing module of the paver, and the processing module converts the driving angle into a corresponding driving speed calibration value by conversion.

(3) Determine whether the calibration value of the maximum left-turn travel angle is equal to the system value of the maximum left-turn travel angle.

When the calibration value of the maximum left turn travel angle is equal to the system value of the maximum left turn travel angle, it is judged that the travel angle system value of the paver is accurate, and the process goes to step 504.

When the calibration value of the maximum left-turn driving angle is not equal to the system value of the maximum left-turn driving angle, it is judged that the traveling angle system value of the paver is inaccurate, and calibration is required, and the process goes to step 503.

Step 504: Recalibrate the paving machine driving angle system value.

The system value of the paver driving angle is usually the extreme value in the preset working mode, including the maximum left turn driving angle in the maximum left turn driving mode and the rightmost driving maximum value in the rightmost driving angle working mode and straight work. The intermediate value in the mode. At this time, the corresponding calibration value is obtained according to the working mode corresponding to the system value.

First, get the calibration value of the maximum left turn travel angle. The operator places the paver in the working mode of the maximum left-turn driving angle. At this time, the angle sensor acquires the maximum left-turning driving angle of the current paver, and is processed by the processing module to be converted into the maximum left-turning driving. The calibration value corresponding to the angle is displayed to the operator through the human interaction interface. At this point, the operator sets the calibration value to the system value of the current maximum left-turn travel angle through the control platform.

Similarly, the system value of the current maximum left-turn driving angle and the intermediate value in the straight-travel working mode are obtained, so that the system value is updated, and details are not described herein again.

Step 505: The operator operates the paver under the system value corresponding to the current driving angle. It should be noted that the maximum right turn angle and the straight line calibration method are similar to the maximum left turn angle, and will not be described here. It is within the scope of the present invention to calibrate both the travel speed and the driving angle or other parameters as long as the parameters that can be electrically calibrated are within the scope of the present invention. An embodiment of the present invention provides a calibration and positioning device 600, as shown in FIG. 6, for calibrating parameters of a mechanical device, including:

The obtaining module 610 is configured to preset a calibration value of the parameter to be calibrated in the working mode, where the calibration value is an actual measured value of the parameter to be calibrated in the preset working mode, and the determining module 620 is configured to determine the acquiring Whether the calibration value acquired by the module 610 is equal to the system value of the parameter to be calibrated in the preset working mode;

The calibration module 630 is configured to: when the determining module 620 determines that the calibration value is not equal to the system value, update the system value by using the calibration value;

The processing module 640 is configured to obtain real-time data of the parameter to be calibrated according to the updated system value of the calibration module 630.

The obtaining module 610 is specifically configured to:

In the preset mode, the calibration parameters are checked by an electrical detection device Measure, obtain test data;

The acquisition module 610 is also used to:

The processing module 640 is also used to:

Updating the system value using the calibration value includes:

The calibration value is updated by the calibration interface to the system value.

The embodiment of the invention calibrates the parameters of the mechanical device by electrical calibration, and achieves the effect of calibrating the cylinder, easy to use and maintain. Of course, implementing any of the products of the embodiments of the present invention does not necessarily require all of the advantages described above to be achieved at the same time.

Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is a better implementation. the way. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium, including a plurality of instructions for making a A terminal device (which may be a cell phone, a personal computer, a server, or a network device, etc.) performs the methods described in various embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. The scope of protection of the invention should be considered.

Claims

Rights request

A method for calibrating positioning, characterized in that it is used for calibrating parameters of a mechanical device, including:

Real-time data of the parameter to be calibrated is obtained according to the updated system value.

2. The method according to claim 1, wherein the obtaining the calibration value of the parameter to be calibrated in the preset working mode comprises:

3. The method according to claim 1, wherein before obtaining the calibration value of the parameter to be calibrated in the preset working mode, the method further comprises:

In the preset working mode, the first calibration of the parameter to be calibrated includes the following steps:

The first calibration value is set to the first system value of the parameter to be calibrated.

4. The method of claim 2 wherein said electrical detection device comprises a sensor and/or a potentiometer.

5. The method of claim 1 wherein updating the system value using the calibration value comprises:

6. A device for calibrating positioning, characterized in that it is used for calibrating parameters of a mechanical device, including:

The device according to claim 6, wherein the acquiring module is specifically configured to:

8. The apparatus according to claim 6, wherein the obtaining module is further configured to:

The processing module is further configured to:

9. Apparatus according to claim 7 wherein said electrical detection means comprises a sensor and / or a potentiometer.

10. The apparatus of claim 6, wherein updating the system value using the calibration value comprises: