CN115369850A - Rammer center positioning method and device and dynamic compaction machine - Google Patents

Abstract

The present invention provides a rammer center positioning method, device and dynamic tamping machine, wherein the method includes: acquiring the antenna position based on the positioning antenna of the dynamic tamping machine; The positional relationship between the centers of the rammers of the dynamic compaction machine is used to determine the position of the centers of the rammers, and the positioning antenna is arranged on the rotary platform of the dynamic compaction machine. The method, the device and the dynamic compaction machine provided by the invention realize the automatic acquisition of the central position of the tamper, improve the alignment accuracy of the compaction point of the dynamic compaction machine, and improve the construction efficiency of the dynamic compaction machine.

Description

Tamper center positioning method, device and dynamic compaction machine

technical field

The invention relates to the technical field of construction machinery, in particular to a rammer center positioning method and device and a dynamic tamping machine.

Background technique

Dynamic tamping machine is a common construction machine, which is usually used to increase the strength of foundation soil, reduce its compressibility, improve the anti-vibration liquefaction ability and eliminate the collapsibility of soil. In the construction process of the dynamic tamping machine, a long-term pain point problem is how to make the center of the rammer quickly align with the designated tamping point.

When using manual strong ramming, generally rely on the driver to observe whether the rammer is aimed at the ramming point in the cab. This method is obviously not high in accuracy, and the driver often has to adjust the walking, luffing and turning many times, resulting in a decrease in construction efficiency.

Contents of the invention

The invention provides a rammer center positioning method, device and dynamic tamping machine, which are used to solve the technical problems of poor alignment accuracy of tamping points of the dynamic tamping machine and low construction efficiency in the prior art.

The invention provides a rammer center positioning method, comprising:

Obtain the antenna position based on the positioning antenna of the dynamic compaction machine;

determining the position of the center of the rammer based on the position of the antenna and the positional relationship between the positioning antenna and the center of the rammer of the dynamic compaction machine;

The positioning antenna is arranged on the rotary platform of the dynamic compaction machine.

According to a rammer center positioning method provided by the present invention, the positional relationship between the positioning antenna and the center of the rammer includes the relative coordinates between the positioning antenna and the center of rotation of the dynamic compactor, and the The extension distance of the rammer of the dynamic compaction machine.

According to a rammer center positioning method provided by the present invention, the positional relationship between the positioning antenna and the rammer center is determined based on the following steps:

Obtain an initial value of the relative coordinates between the positioning antenna and the center of gyration, and an initial value of the extension distance of the tamper of the dynamic compactor;

Based on the gradient descent algorithm, as well as the initial value of the relative coordinates and the initial value of the extension distance of the tamper, determine the relative coordinates between the positioning antenna and the center of gyration, and the extension of the tamper of the dynamic compaction machine distance.

According to a rammer center positioning method provided by the present invention, the cost function in the gradient descent algorithm is the mean square error function of the horizontal distance observation value between the positioning antenna and the rammer center.

According to a tamper center positioning method provided by the present invention, the gradient vector in the gradient descent algorithm is based on the cost function, the initial value of the relative coordinates between the positioning antenna and the center of gyration, and the strong The initial value of the extension distance of the rammer of the rammer is determined.

According to a tamper center positioning method provided by the present invention, the iterative value in the current iterative calculation in the gradient descent algorithm is determined based on the iterative value in the previous iterative calculation, the random learning rate and the gradient vector.

According to a tamper center positioning method provided by the present invention, if the norm of the gradient vector in the current iterative calculation is less than or equal to the preset convergence threshold, the positioning antenna and the center of gyration in the current iterative calculation The relative coordinate iteration value between, and the iterative value of the stretching distance iteration value of the rammer of the dynamic compaction machine are the optimal solution, determine the relative coordinates between the positioning antenna and the center of rotation, and the relative coordinates of the dynamic compaction machine Rammer stick out distance.

According to a tamper center positioning method provided by the present invention, if the norm of the gradient vector in the current iterative calculation is greater than the preset convergence threshold, the iterative calculation is continued until an optimal solution is obtained.

According to a tamper center positioning method provided by the present invention, the gradient descent algorithm is a stochastic gradient descent algorithm.

The invention provides a rammer center positioning device, comprising:

An acquisition unit, configured to acquire the antenna position based on the positioning antenna of the dynamic compaction machine;

A determining unit, configured to determine the position of the center of the rammer based on the position of the antenna and the positional relationship between the positioning antenna and the center of the rammer of the dynamic compaction machine;

The positioning antenna is arranged on the rotary platform of the dynamic compaction machine.

The present invention also provides a dynamic tamping machine, which includes a controller, and the controller executes the method for positioning the center of the rammer.

The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. The steps of the positioning method.

The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the rammer center positioning methods described above are realized.

The rammer center positioning method and device and the dynamic compaction machine provided by the embodiments of the present invention arrange the positioning antenna on the rotary platform of the dynamic compaction machine, according to the antenna position of the positioning antenna and the distance between the positioning antenna and the center of the compaction hammer of the dynamic compaction machine The positional relationship determines the position of the center of the rammer, realizes the automatic acquisition of the center position of the rammer, improves the alignment accuracy of the ramming point of the dynamic compactor, and improves the construction efficiency of the dynamic compactor.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is the schematic flow chart of the rammer center positioning method provided by the present invention;

Fig. 2 is the top view diagram of the dynamic compaction machine provided by the present invention;

Fig. 3 is a schematic flow chart of the gradient descent algorithm provided by the present invention;

Fig. 4 is a structural schematic diagram of a tamper center positioning device provided by the present invention;

FIG. 5 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

The dynamic tamping machine is a kind of common engineering machinery. When it is working normally, it is first placed in the lowest position through the rigid connection rope of the winch, and the rammer is lifted to move upward. When it reaches a certain height, the winch stops working and the rammer Do a free fall downward, hit the ground to compact the filling, and drive the hoist to rotate in reverse. For example, a dynamic compaction machine can lift a rammer of 8 tons to 40 tons to a height of 10 meters to 40 meters, then make it fall freely, and act on the foundation with an impact energy of 500 kNm to 8000 kNm. Shock waves are generated in the soil to overcome various resistances between soil particles and compact the foundation, thereby improving the strength of the foundation, reducing settlement, eliminating collapsibility, and improving liquefaction resistance. How to quickly align the center of the rammer with the designated ramming point and improve construction accuracy and efficiency has become an urgent problem to be solved.

Fig. 1 is a schematic flow chart of the rammer center positioning method provided by the present invention, as shown in Fig. 1, the method comprises:

Step 110, acquire the antenna position obtained based on the positioning antenna of the dynamic compaction machine. The positioning antenna is arranged on the rotary platform of the dynamic compaction machine.

Specifically, the antenna position is position information for positioning the antenna itself. For example, the position may be the latitude and longitude coordinates of the positioning antenna in the earth coordinate system, or may be the relative coordinates of the positioning antenna in the coordinate system where the construction area is located.

The positioning antenna is installed on the rotary platform of the dynamic compaction machine. The slewing platform is the part of the body of the dynamic compaction machine that can be driven to rotate through the slewing mechanism, including the cab and counterweight. The positioning antenna can be a GNSS (Global Navigation Satellite System, Global Navigation Satellite System) antenna, which receives signals from the satellite navigation system, and realizes high-precision positioning through RTK (Real-time kinematic, real-time dynamic carrier phase difference) measurement technology; the positioning antenna can also be The base station positioning antenna receives the positioning signal sent by the communication base station deployed on the construction site to achieve high-precision positioning in the construction area.

In the prior art, many antennas are installed directly above the pulley block at the top of the arm frame of the dynamic tamping machine, and are vertically aligned with the center of the rammer. However, such a defect has two points. First, the dynamic tamping machine will inevitably generate vibration and strong impact during driving and tamping, and there will be continuous vibration at the top of the boom, so it is difficult to accurately determine the positioning of the center of the rammer. Second, the length of the jib is generally more than ten meters to tens of meters, which makes it very difficult to route the wires. At the same time, it is also difficult to repair the positioning antenna at this position.

Therefore, the positioning antenna can be arranged on the rotary platform of the dynamic compaction machine, for example, the positioning antenna can be arranged at the tail of the rotary platform. It is located above the hood without any shelter, which is convenient for installation and maintenance of the positioning antenna, and saves space for cables and equipment installation. At the same time, the vibrations generated here are small and the position of the center of the tamper can be accurately determined.

Step 120, based on the position of the antenna and the positional relationship between the positioning antenna and the center of the rammer of the dynamic compaction machine, determine the position of the center of the rammer.

Specifically, a rammer is a hammer used to tamp the bearing capacity of deep foundations, and its bottom surface is generally circular. The center of the rammer is generally the center of the circle of the bottom surface of the rammer. When the dynamic tamping machine is working, the construction accuracy of the compacted ground can be improved by aligning the center of the rammer with the tamping point.

The positional relationship between the positioning antenna and the center of the tamper of the dynamic compaction machine is used to characterize the relative position between the positioning antenna and the center of the tamper. During the construction process of the dynamic tamping machine, although the height of the tamping hammer will change continuously, the position of the center of the tamping hammer relative to the rotary platform of the dynamic tamping machine on the horizontal plane will not change.

In the present invention, the positioning antenna is arranged on the rotary platform, and its position is fixed relative to the rotary platform. Therefore, the positional relationship between the positioning antenna and the center of the tamper does not change.

The positional relationship between the positioning antenna and the center of the tamper of the dynamic compaction machine can give a reference value by means of calibration or measurement. Further, the position of the center of the tamper can be determined through the position of the antenna and the positional relationship between the positioning antenna and the center of the tamper of the dynamic compaction machine.

Compared with the construction personnel observing whether the rammer is aligned with the tamping point in the cab of the dynamic tamping machine, the position of the center of the rammer is determined by the antenna position, making full use of the existing positioning antenna, without adding new hardware equipment, and without manually determining the rammer hammer center.

In the rammer center positioning method provided by the embodiment of the present invention, the positioning antenna is arranged on the rotary platform of the dynamic compaction machine, and the rammer is determined according to the antenna position of the positioning antenna and the positional relationship between the positioning antenna and the center of the rammer of the dynamic compaction machine The position of the center realizes the automatic acquisition of the center position of the tamper, improves the alignment accuracy of the ram point of the dynamic compactor, and improves the construction efficiency of the dynamic compactor.

Based on the above embodiments, the positional relationship between the positioning antenna and the center of the tamper includes the relative coordinates between the positioning antenna and the center of rotation of the dynamic compactor, and the extension distance of the tamper of the dynamic compactor.

Specifically, the rotary center of the dynamic compactor is the center position of the rotary platform of the dynamic compactor. According to the structural characteristics of the dynamic compactor, the center position of the rotary platform is fixed during the steering and construction of the dynamic compactor. Therefore, the positional relationship between the positioning antenna and the center of the tamper can be expressed by the position of the center of rotation of the dynamic compactor, specifically including the relative coordinates between the positioning antenna and the center of revolution of the dynamic compactor, and the position of the rammer of the dynamic compactor. Protrude distance. The extension distance of the rammer of the dynamic tamping machine is the distance between the projection of the center of the rammer and the center of rotation of the dynamic tamping machine.

For example, FIG. 2 is a schematic top view of the dynamic compactor provided by the present invention. As shown in FIG. 2 , the positioning antenna of the dynamic compactor is installed on the rotary platform. A plane Cartesian coordinate system with the center of rotation of the dynamic tamping machine as the origin can be established, with the extending direction of the rammer as the ordinate axis (Y axis), and the vertical direction of the rammer extending direction as the abscissa axis (X axis). Then the relative coordinates between the positioning antenna and the center of rotation of the dynamic compaction machine can be expressed as (x, y), and the coordinates of the center of the tamper can be expressed as (0, L). Among them, x is the abscissa from the positioning antenna to the center of gyration, y is the ordinate from the positioning antenna to the center of gyration, and L is the extension distance of the rammer.

Based on any of the above-mentioned embodiments, the positional relationship between the positioning antenna and the center of the tamper is determined based on the following steps:

Obtain the initial value of the relative coordinates between the positioning antenna and the center of rotation, and the initial value of the extension distance of the tamper of the dynamic compaction machine;

Based on the gradient descent algorithm, as well as the initial value of the relative coordinates and the initial value of the extension distance of the tamper, determine the relative coordinates between the positioning antenna and the center of rotation, and the extension distance of the tamper of the dynamic compaction machine.

Specifically, although the relative coordinates between the positioning antenna and the center of slewing, as well as the extension distance of the tamper of the dynamic compaction machine can be obtained by measurement, due to the measurement of multiple values involved, the measurement error will accumulate to the center of the tamper In the calculation process of the position, the error of the center position of the rammer finally obtained is relatively large. Therefore, the accurate relative coordinates between the positioning antenna and the center of slewing, as well as the extension distance of the tamper of the dynamic compaction machine can be obtained by reducing the measurement parameters and numerical iterative calculation.

For example, in the above-mentioned embodiment, there is the following relationship between the relative coordinates between the positioning antenna and the center of gyration and the stretching distance of the tamper of the dynamic compaction machine:

In the formula, d is the horizontal distance between the positioning antenna and the center of the rammer, x is the abscissa from the positioning antenna to the center of gyration, y is the ordinate from the positioning antenna to the center of gyration, and L is the extension distance of the rammer.

n为测量次数。You can use the indenter to fix the extension length and angle of the arm when measuring, and measure the horizontal distance between the positioning antenna and the center of the rammer multiple times to obtain the observed value of the horizontal distance between the positioning antenna and the center of the rammer

n is the number of measurements.

The mean squared error function of the horizontal distance observations between the positioning antenna and the center of the tamper can be expressed as:

为定位天线和夯锤中心之间的水平距离观测值的均方误差函数。In the formula,

is the mean squared error function of the observed horizontal distance between the positioning antenna and the center of the tamper.

The average of the observed horizontal distances between the positioning antenna and the center of the tamper can be calculated as:

Then the mean square error function of the horizontal distance observation value between the positioning antenna and the center of the tamper can be expressed as:

At this time, the initial value of the relative coordinates (x _ref , y _ref ) between the positioning antenna and the center of gyration, and the initial value L _ref of the extension distance of the tamper of the dynamic compaction machine can be obtained. For example, (x _ref , y _ref ) can be obtained through measurement or design drawings, and L _ref can be obtained by directly reading the extension length of the boom. The accuracy of the above initial values is not high, and the final value can be determined by further numerical calculation.

Based on any of the above embodiments, the gradient vector in the gradient descent algorithm is determined based on the cost function, the initial value of the relative coordinates between the positioning antenna and the center of gyration, and the initial value of the extension distance of the tamper of the dynamic compactor.

Specifically, the mean square error function of the horizontal distance observation value between the positioning antenna and the center of the tamper can be used as a cost function, and the gradient descent algorithm is used to determine the relative coordinates (x, y) between the positioning antenna and the center of gyration, and The rammer of the dynamic compaction machine extends a distance L.

The tamper center positioning method provided by the embodiment of the present invention uses the gradient descent algorithm to iteratively calculate the initial value of the relative coordinates between the positioning antenna and the center of rotation, and the initial value of the extension distance of the tamper of the dynamic compaction machine, which improves the Accuracy of rammer centering.

Based on any of the above embodiments, the gradient descent algorithm is a stochastic gradient descent algorithm.

Specifically, the stochastic gradient descent algorithm (Stochastic Gradient Descent) only uses one piece of randomly selected data in one iteration calculation, so the learning time is very fast. The disadvantage of the stochastic gradient descent algorithm is that each update may not proceed in the correct direction, and the parameter updates have high variance, resulting in wild fluctuations in the loss function. However, if the objective function has a basin area, the stochastic gradient descent algorithm will make the optimization direction jump from the current local minimum point to another better local minimum point, so that for non-convex functions, it may eventually converge to a Better local extremum points, even global extremum points.

The rammer center positioning method provided by the embodiment of the present invention improves the efficiency of rammer center positioning by adopting a stochastic gradient descent algorithm.

Based on any of the above embodiments, the iteration value in the current iterative calculation in the gradient descent algorithm is determined based on the iterative value in the previous iterative calculation, the random learning rate and the gradient vector.

Specifically, for example, in the above embodiment, the initial iterative calculation process can be expressed as:

[x,y,L]=[x _ref ,y _ref ,L _ref ]+m*v

In the formula, m is the random learning rate and v is the gradient vector.

The size of the random learning rate can be set according to actual needs to avoid the cost function from falling into a local extremum.

Thereafter, the product of the random learning rate and the gradient vector is solved, and the sum of the product and the iteration value in the previous iteration calculation is used as the iteration value in the current iteration calculation.

Based on any of the above embodiments, the gradient vector in the gradient descent algorithm is determined based on the cost function, the initial value of the relative coordinates between the positioning antenna and the center of gyration, and the initial value of the extension distance of the tamper of the dynamic compactor.

Specifically, the gradient vector indicates that the directional derivative of the cost function at a certain point has a maximum value along this direction, that is, the function changes the fastest along this direction (the direction of this gradient) at this point, and the rate of change is the largest (for this gradient modulo).

The partial derivative of the mean square error function of the horizontal distance observation value between the positioning antenna and the center of the tamper can be calculated to obtain the gradient vector, which is expressed as:

The gradient vector changes with the iterative value of the function. For example, when the independent variable in the mean square error function is the initial value, the gradient vector is:

Based on any of the above-mentioned embodiments, if the norm of the gradient vector in the current iterative calculation is less than or equal to the preset convergence threshold, the relative coordinate iteration value between the positioning antenna and the center of gyration in the current iterative calculation, and the dynamic compaction machine The iterative value of the extended distance of the tamper is the optimal solution, and the relative coordinates between the positioning antenna and the center of slewing are determined, as well as the extended distance of the tamper of the dynamic compaction machine.

Specifically, a preset convergence threshold may be set to judge whether the descent of the gradient vector converges.

For example, FIG. 3 is a schematic flowchart of the gradient descent algorithm provided by the present invention. As shown in FIG. 3 , the norm (v) of the gradient vector can be calculated and judged with the preset convergence threshold M. The norm type of the gradient vector can be selected as the root mean square of the gradient vector. If norm(v) is less than or equal to M, it is considered that the gradient vector descent achieves convergence. At this time, the corresponding iteration value is the optimal solution, and the iteration value can be used as the relative coordinate between the positioning antenna and the center of gyration, and the tamping value of the dynamic compaction machine Hammer out distance.

Based on any of the above embodiments, if the norm of the gradient vector in the current iterative calculation is greater than the preset convergence threshold, the iterative calculation is continued until an optimal solution is obtained.

Specifically, in the above example, if norm(v) is greater than M, it is considered that the gradient vector descent has not achieved convergence, and the iterative calculation is continued until an optimal solution is obtained.

The steps to proceed with the iterative calculation include:

Input the iteration value calculated in the current iteration into the gradient vector, and update the gradient vector; calculate the iteration value calculated in the next iteration according to the updated gradient vector, random learning rate, and the iteration value calculated in the current iteration. Iterative calculations are performed continuously according to the above steps.

Based on any of the above-mentioned embodiments, Fig. 4 is a schematic structural diagram of a tamper center positioning device provided by the present invention. As shown in Fig. 4, the device includes:

The obtaining unit 410 is used to obtain the antenna position based on the positioning antenna of the dynamic compaction machine; the positioning antenna is arranged on the rotary platform of the dynamic compaction machine;

The determining unit 420 is configured to determine the position of the center of the rammer based on the position of the antenna and the positional relationship between the positioning antenna and the center of the rammer of the dynamic compaction machine.

Specifically, the acquiring unit 410 is configured to acquire the antenna position based on the positioning antenna of the dynamic compaction machine. The determination unit 420 is used to determine the position of the center of the tamper.

The rammer center positioning device provided by the embodiment of the present invention determines the position of the rammer center according to the position of the antenna and the positional relationship between the positioning antenna and the center of the rammer of the dynamic compaction machine, and realizes the automatic acquisition of the center position of the rammer. The alignment accuracy of the tamping point of the dynamic tamping machine is improved, and the construction efficiency of the dynamic tamping machine is improved.

Based on any of the above embodiments, the positional relationship between the positioning antenna and the center of the tamper includes the relative coordinates between the positioning antenna and the center of rotation of the dynamic compactor, and the extension distance of the tamper of the dynamic compactor.

Based on any of the above-mentioned embodiments, the device also includes:

A positional relationship determining unit, configured to obtain an initial value of the relative coordinates between the positioning antenna and the center of slewing, and an initial value of the extension distance of the tamper of the dynamic compaction machine;

Based on the gradient descent algorithm, as well as the initial value of the relative coordinates and the initial value of the extension distance of the tamper, determine the relative coordinates between the positioning antenna and the center of rotation, and the extension distance of the tamper of the dynamic compaction machine.

Based on any of the above embodiments, the cost function in the gradient descent algorithm is the mean square error function of the horizontal distance observation value between the positioning antenna and the center of the tamper.

Based on any of the above embodiments, the gradient vector in the gradient descent algorithm is determined based on the cost function, the initial value of the relative coordinates between the positioning antenna and the center of gyration, and the initial value of the extension distance of the tamper of the dynamic compactor.

Based on any of the above-mentioned embodiments, the device also includes:

The calculation unit is used for if the norm of the gradient vector in the current iterative calculation is less than or equal to the preset convergence threshold, then use the relative coordinate iteration value between the positioning antenna and the center of slewing in the current iterative calculation, and the tamping value of the dynamic compaction machine The iterative value of the hammer extension distance is the optimal solution, and the relative coordinates between the positioning antenna and the center of slewing are determined, as well as the extension distance of the tamper of the dynamic compaction machine.

Based on any of the above embodiments, the calculation unit is also used for:

If the norm of the gradient vector in the current iterative calculation is greater than the preset convergence threshold, the iterative calculation will continue until the optimal solution is obtained.

Based on any of the above embodiments, the gradient descent algorithm is a stochastic gradient descent algorithm.

Based on any of the above-mentioned embodiments, the present invention also provides a dynamic compaction machine, including a controller, and the controller executes the above-mentioned rammer center positioning method.

Based on any of the above-mentioned embodiments, FIG. 5 is a schematic structural diagram of an electronic device provided by the present invention. As shown in FIG. 5 , the electronic device may include: a processor (Processor) 510, a communication interface (Communications Interface) 520, a memory ) 530 and a communication bus (Communications Bus) 540, wherein, the processor 510, the communication interface 520, and the memory 530 complete mutual communication through the communication bus 540. The processor 510 can invoke logic commands in the memory 530 to perform the following methods:

Obtain the antenna position based on the positioning antenna of the dynamic compaction machine; the positioning antenna is arranged on the rotary platform of the dynamic compaction machine; based on the antenna position and the positional relationship between the positioning antenna and the center of the tamper of the dynamic compaction machine, determine the position of the center of the tamper .

In addition, the above-mentioned logic commands in the memory 530 may be implemented in the form of software function units and may be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several commands are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

The processor in the electronic device provided by the embodiment of the present invention can call the logical instructions in the memory to implement the above method, and its specific implementation mode is consistent with the foregoing method implementation mode, and can achieve the same beneficial effect, and will not be repeated here.

An embodiment of the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the methods provided by the above-mentioned embodiments, for example, including:

Obtain the antenna position based on the positioning antenna of the dynamic compaction machine; the positioning antenna is arranged on the rotary platform of the dynamic compaction machine; based on the antenna position and the positional relationship between the positioning antenna and the center of the tamper of the dynamic compaction machine, determine the position of the center of the tamper .

When the computer program stored on the non-transitory computer-readable storage medium provided by the embodiment of the present invention is executed, the above-mentioned method is realized, and its specific implementation mode is consistent with the above-mentioned method implementation mode, and can achieve the same beneficial effect. Let me repeat.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic Disc, CD, etc., including several commands to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A rammer center positioning method is characterized in that, comprising: Obtain the antenna position based on the positioning antenna of the dynamic compaction machine; determining the position of the center of the rammer based on the position of the antenna and the positional relationship between the positioning antenna and the center of the rammer of the dynamic compaction machine; The positioning antenna is arranged on the rotary platform of the dynamic compaction machine. 2. The rammer center positioning method according to claim 1, characterized in that, the positional relationship between the positioning antenna and the center of the rammer includes the distance between the positioning antenna and the center of rotation of the dynamic compactor. The relative coordinates, and the stretching distance of the rammer of the dynamic compaction machine. 3. The rammer center positioning method according to claim 2, wherein the positional relationship between the positioning antenna and the center of the rammer is determined based on the following steps: Obtain an initial value of the relative coordinates between the positioning antenna and the center of gyration, and an initial value of the extension distance of the tamper of the dynamic compactor; Based on the gradient descent algorithm, as well as the initial value of the relative coordinates and the initial value of the extension distance of the tamper, determine the relative coordinates between the positioning antenna and the center of gyration, and the extension of the tamper of the dynamic compaction machine distance. 4. The rammer center location method according to claim 3, wherein the cost function in the gradient descent algorithm is the mean square error of the horizontal distance observation value between the positioning antenna and the center of the rammer function. 5. The rammer center positioning method according to claim 4, wherein the gradient vector in the gradient descent algorithm is based on the cost function, and the relative coordinates between the positioning antenna and the center of revolution are initially value, and the initial value of the extension distance of the tamper of the dynamic compaction machine is determined. 6. The tamper center positioning method according to claim 5, wherein the iterative value in the current iterative calculation in the gradient descent algorithm is based on the iterative value in the last iterative calculation, the random learning rate and the The gradient vector is determined. 7. The rammer center positioning method according to claim 5, wherein if the norm of the gradient vector in the current iterative calculation is less than or equal to a preset convergence threshold, then the positioning method in the current iterative calculation is An iterative value of the relative coordinates between the antenna and the center of gyration, and an iterative value of the stretching distance of the tamper of the dynamic compaction machine are the optimal solution to determine the relative coordinates between the positioning antenna and the center of gyration, and The stretching distance of the rammer of the dynamic compactor. 8. The rammer center positioning method according to claim 7, wherein if the norm of the gradient vector in the current iterative calculation is greater than the preset convergence threshold, the iterative calculation is continued until an optimal solution is obtained. 9. A tamper center positioning device, characterized in that it comprises: An acquisition unit, configured to acquire the antenna position based on the positioning antenna of the dynamic compaction machine; A determining unit, configured to determine the position of the center of the rammer based on the position of the antenna and the positional relationship between the positioning antenna and the center of the rammer of the dynamic compaction machine; The positioning antenna is arranged on the rotary platform of the dynamic compaction machine. 10. A dynamic compaction machine, characterized by comprising a controller, the controller executes the rammer center positioning method according to any one of claims 1 to 8.

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