A photo would help. Set flower pots over the heads to protect them while backing in.
Put lawn flags ( found at home depot or Lowe's ) around sprinkler heads so you can see where to avoid while parking ! I would be cautious of parking over sprinkler heads with the rv , you don't have to only watch for the heads but the weight of the rv might damage the lines leading to the heads !😮
4’ steel fence stakes, driven into the adjacent ground.
I can’t ever see flags on the ground when working with my RV. The big stakes, yes.
Install pop up heads.