Method for measuring position of hammer tip of unmanned crushing excavator

Abstract

The invention relates to a method for measuring the position of a hammer tip of an unmanned crushing excavator, belongs to the technical field of unmanned driving of engineering machinery, and is particularly suitable for unmanned operation of the crushing excavator. According to the method, the relative position of a total station and an excavator is adjusted, a coordinate system of the total station and a coordinate system of the excavator are established, a set point is measured, the rotation and translation relation between the two coordinate systems is solved, calibration of the relative pose relation of the two coordinate systems is completed, and high-precision measurement of the position of the hammer tip of the breaking hammer is achieved. The measuring method comprises the steps of adjusting the layout and the measuring mode of the total station, establishing three-dimensional space calibration coordinate systems, calibrating the rotation and translation relation between the two coordinate systems and measuring the position of the hammer tip of the unmanned crushing excavator. Compared with the prior art, the method has the advantages of less human factor intervention, high measurement precision and simple operation, and has important significance for promoting the application and implementation of the unmanned crushing excavator.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned driving of engineering machinery, and in particular relates to a method for measuring the hammer tip position of an unmanned driving crushing excavator. Background Art

[0002] As core equipment in construction and civil engineering, crushing excavators play an important role in construction sites, mines, landfills and other places. Against the background of the rapid development and application of unmanned and autonomous driving technologies, unmanned and autonomous driving operations of crushing excavators will become an important development trend, which can significantly reduce labor costs, improve work efficiency and safety.

[0003] In the application of unmanned crushing excavators, the precise control of the breaker is crucial to improving the quality, efficiency and safety of the operation. At present, the measurement of the hammer tip position of the breaker is still insufficient in accuracy and the process is cumbersome, which greatly affects the control performance of the breaker and the application of the unmanned crushing excavator technology. Secondly, when the breaker hammer of the unmanned crushing excavator is crushing hard materials such as rocks and concrete, the precise control of the hammer tip position is the key to realizing unmanned operation and construction, which directly affects the effect, efficiency and safety of the unmanned operation. In the implementation and application of unmanned crushing excavators, it is necessary to accurately obtain the hammer tip position to evaluate the control accuracy of the breaker, especially in the development stage of the breaker control strategy, it is necessary to obtain the accurate hammer tip position to debug the control strategy, so as to improve the control performance of the breaker. However, the manual measurement method is not only inefficient but also easy to cause great measurement errors, which cannot meet the requirements of high-precision control of unmanned crushing excavators. Therefore, it is particularly urgent to develop a measurement method for the hammer tip position of unmanned crushing excavators. Summary of the invention

[0004] A method for measuring the hammer tip position of an unmanned crushing excavator comprises the following steps:

[0005] S1. Adjust the layout and measurement method of the total station to simplify the calibration of the excavator coordinate system;

[0006] The calibration of the excavator coordinate system includes: the rotation relationship between the total station and the excavator coordinate system and the translation relationship between the total station and the excavator coordinate system;

[0007] The adjustment process is as follows:

[0008] S1.1. After turning off the excavator, park it on a flat surface to ensure that it is stable. Select any position in the left front of the excavator and place the total station. The horizontal distance between the total station and the excavator should be 8m to 25m.

[0009] S1.2. Find a flat plane perpendicular to the ground on the side of the excavator body and define it as the side plane. The side plane should be consistent with the forward direction of the excavator.

[0010] S1.3. Direct the total station laser onto the side plane, adjust the objective lens angle to keep the laser level, fix the objective lens and measure;

[0011] In order to ensure that the laser can hit the side plane when it is shot horizontally, the base height of the total station is adjusted so that the objective lens can be at the same height as the side plane, and then the base of the total station is physically leveled to ensure that the laser is shot horizontally;

[0012] During the measurement process, the objective lens is required to only rotate horizontally;

[0013] S1.4, rotate the objective lens horizontally to direct the laser beam onto the side plane;

[0014] The laser points on the side plane are all on the same horizontal plane as the laser beam, and this horizontal plane is defined as the horizontal plane of the total station;

[0015] S2. After the adjustment is completed, the yaw angle θ is determined by calibrating the coordinate system in three-dimensional space;

[0016] The three-dimensional space calibration coordinate system includes: excavator coordinate system and total station coordinate system;

[0017] The specific process of determining the yaw angle θ is as follows:

[0018] S2.1. Establish the coordinate system of the excavator as O0X0Y0Z0 and the coordinate system of the total station as O1X1Y1Z1;

[0019] Both coordinate systems are defined as Cartesian coordinate systems;

[0020] In the total station coordinate system, the X1O1Y1 plane is in the horizontal plane of the total station, the X1 axis is perpendicular to the Y1 axis, the positive directions of the X1 axis and the Y1 axis are arbitrary, and the positive direction of the Z1 axis is perpendicular to the ground and upward;

[0021] In the excavator coordinate system, the excavator's forward direction is the positive direction of the X0 axis, the left side of the excavator is the positive direction of the Y0 axis, and the vertical ground upward is the positive direction of the Z0 axis; the O0 point is on the excavator's rotation center axis and is at the same height as O1, that is, the X0O0Y0 plane is in the horizontal plane of the total station;

[0022] S2.2, determine the yaw angle θ through the total station coordinate system and the excavator coordinate system;

[0023] Specifically, the Z-axis directions of the total station and the excavator are the same, and the X1O1Y1 plane and the X0O0Y0 plane are both in the same plane. Since the positive directions of the X1 axis and the Y1 axis in the total station coordinate system are arbitrary, there is a translation and a rotation around the Z axis between the two coordinate systems, which generates a yaw angle θ;

[0024] S3, obtaining the rotation relationship between the total station and the excavator coordinate system by solving the yaw angle θ;

[0025] By measuring the set points on the side plane of the excavator, the rotation relationship between the total station and the excavator coordinate system is solved;

[0026] The specific steps are as follows:

[0027] S3.1. The intersection line of the excavator side plane and the total station horizontal plane is parallel to the X0 axis of the excavator coordinate system. Therefore, two points are taken on this intersection line as set points A and B, and the coordinates of these two set points are measured by the total station. The specific steps are as follows:

[0028] S3.1.1. Find any point on the side plane of the excavator and set it as point A. Mark point A on the side plane of the excavator and measure and record the coordinates of point A (x A1 ,y A1 ,z A1 );

[0029] S3.1.2. Rotate the total station horizontally and find any point on the side plane of the excavator except point A. Set this point as point B. Measure and record the coordinates of point B (x B1 ,y B1 ,z B1 );

[0030] S3.2, points A and B are both in the horizontal plane of the total station. According to the coordinates of points A and B, we get the vector At the same time, if we take any point C on the X1 axis of the total station coordinate system, we can get the vector

[0031] S3.3, The positive direction of the X0 axis of the excavator coordinate system is consistent with that of the and Solve the yaw angle (rotation angle) of the two coordinate systems; the specific calculation is as follows:

[0032]

[0033] In the formula, and are two vectors, θ is the angle between the two coordinate systems, that is, the yaw angle of the two coordinate systems, and for and The magnitude of two vectors;

[0034] The final yaw angle (rotation angle) is the rotation relationship between the two coordinate systems;

[0035] S4. After the rotation relationship is determined, solve the translation relationship between the total station and the excavator coordinate system; the steps are as follows:

[0036] S4.1. Mark a point E on the side plane of the excavator, start the excavator, rotate the slewing platform, and ensure that point E can always be measured by the total station during the rotation process; rotate the slewing platform around the rotation center O0 arbitrarily n times, n∈(1, N; N is a natural positive integer), and measure the coordinates of point E in the horizontal plane of the total station after each rotation, recorded as E i (x Ei ,y Ei ),(i∈[1,n]);

[0037] S4.2. n rotation circle equations are established according to the measured coordinates of the n points E, and the n rotation circle equations are solved by the least square method to obtain the coordinates of the center O0 of the rotation circle, and the precise coordinates of the center are solved to finally obtain the translation relationship between the two coordinate systems;

[0038] The equation of the circle of gyration is as follows:

[0039] x 2 +y 2 +ax+by+c=0

[0040] In the formula, a, b, c are the parameters to be determined; x, y are the coordinates of the measurement point E;

[0041] The solution steps are as follows:

[0042] S4.2.1. The measured point E i (x Ei ,y Ei ),(i∈[1,n]) into the equation of the circle of rotation to obtain:

[0043] x Ei 2 +y Ei 2 +ax Ei +by Ei +c=0

[0044] Further changed to:

[0045] ax Ei +by Ei +c=-(x Ei 2 +y Ei 2 )

[0046] For n measurement points, a system of linear equations is obtained:

[0047]

[0048] S4.2.2. Write the obtained linear equations as:

[0049]

[0050] In the formula,

[0051] Solve the parameters to be determined by the least squares method:

[0052]

[0053] Where, X T is the transpose of X, (X T X) -1 Yes (X T X) inverse matrix;

[0054] S4.2.3. After solving a, b, and c, the coordinates of the center of the circle of revolution O0 are:

[0055]

[0056] In the formula, is the coordinate of the center of the circle of rotation O0 in the horizontal plane of the total station in the total station coordinate system;

[0057] S4.2.4, after obtaining the coordinates of O0, according to the characteristics of the total station horizontal plane, it can be known that Finally, the spatial coordinates of the rotation center in the total station coordinate system can be obtained

[0058] Finally, the translation relationship between the two coordinate systems can be obtained;

[0059] S5. Measure the position of the hammer tip of the unmanned crushing excavator through the relationship between the rotation angle and the translation; the details are as follows:

[0060] S5.1. According to the rotation angle and translation relationship between the total station and the excavator coordinate system, the transformation matrix of the two coordinate systems is obtained to complete the relative position and posture relationship calibration between the excavator coordinate system and the total station coordinate system;

[0061] The rotation and translation relationship between the two coordinate systems is as follows:

[0062]

[0063] Where (X0, Y0, Z0) is the coordinate in the excavator coordinate system, and (X1, Y1, Z1) is the coordinate in the total station coordinate system;

[0064] S5.2. Measure the position of the hammer tip D of the breaker hammer by using a total station;

[0065] Specifically, the laser beam of the total station no longer needs to be kept horizontal, but the position of the total station is not moved; the coordinates of the hammer tip D of the breaker hammer in the total station coordinate system are measured by the total station, and the coordinates are converted into the coordinate system of the excavator using the transformation matrix, so as to obtain the precise position of the hammer tip of the unmanned breaker excavator;

[0066] Beneficial effects of the present invention

[0067] 1. High measurement accuracy: The measurement method of the present invention can significantly improve the measurement accuracy of the hammer tip position of the unmanned crushing excavator;

[0068] 2. Simple operation: A series of geometric and vector calculations are used to make the coordinate system calibration and hammer tip measurement process simpler and more intuitive;

[0069] This measurement method can be widely used in the precise measurement of the hammer tip position of unmanned crushing excavators and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 The structure of the crushing excavator in the present invention;

[0071] Figure 2 is a flow chart of the present invention;

[0072] Figure 3 It is a schematic diagram of the steps of the present invention;

[0073] Figure 4 It is a schematic diagram of the position relationship and coordinate system of the total station and the excavator in the present invention;

[0074] Figure 5 A schematic diagram of calculating the rotation angle between two coordinate systems in the present invention;

[0075] Figure 6 It is a schematic diagram of the decomposition of the relationship between the two coordinate systems in the present invention;

[0076] Figure 7 This is a schematic diagram of using a total station to measure the set points in the present invention;

[0077] Figure 8 It is a schematic top view of the measurement point in the present invention. DETAILED DESCRIPTION

[0078] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0079] The structure of the crushing excavator is as follows Figure 1 As shown, 1 is the walking track, 2 is the rotating platform, 3 is the cab, 4 is the boom, 5 is the dipper, and 6 is the breaker. The main mechanical structure of the excavator can be divided into a working device and a walking device according to its function. The working device is mainly composed of a rotating platform, a boom, a dipper and a breaker, and the walking device is mainly composed of walking tracks.

[0080] like Figure 2 , Figure 3 As shown, a method for measuring the hammer tip position of an unmanned crushing excavator comprises the following steps:

[0081] S1. Adjust the layout and measurement method of the total station to simplify the calibration of the excavator coordinate system;

[0082] The calibration of the excavator coordinate system includes: the rotation relationship between the total station and the excavator coordinate system and the translation relationship between the total station and the excavator coordinate system;

[0083] like Figure 4 As shown, the adjustment process is as follows:

[0084] S1.1. After turning off the excavator, park it on a flat surface to ensure that it is stable. Select any position in the left front of the excavator and place the total station. The horizontal distance between the total station and the excavator should be 8m to 25m. In this embodiment, the horizontal distance between the total station and the excavator should be 9m.

[0085] S1.2. Find a flat plane perpendicular to the ground on the side of the excavator body and define it as the side plane. The side plane should be consistent with the forward direction of the excavator.

[0086] S1.3. Direct the total station laser onto the side plane, adjust the objective lens angle to keep the laser level, fix the objective lens and measure;

[0087] In order to ensure that the laser can hit the side plane when it is shot horizontally, the base height of the total station is adjusted so that the objective lens can be at the same height as the side plane, and then the base of the total station is physically leveled to ensure that the laser is shot horizontally;

[0088] During the measurement process, the objective lens is required to only rotate horizontally;

[0089] At this point, the total station is in a ready state;

[0090] S1.4. Rotate the objective lens horizontally to project the laser beam onto the side plane. At this time, the laser points on the side plane are all on the same horizontal plane as the laser beam, and this horizontal plane is defined as the horizontal plane of the total station.

[0091] This adjustment simplifies the subsequent calibration steps and ensures that the laser beam and the set point are measured in the same horizontal plane; the set point is any point in the laser spot;

[0092] S2, such as Figure 5 As shown, after the adjustment is completed, the yaw angle θ is determined by calibrating the coordinate system in three-dimensional space;

[0093] The three-dimensional space calibration coordinate system includes: excavator coordinate system and total station coordinate system;

[0094] The specific process of determining the yaw angle θ is as follows:

[0095] S2.1. Establish the coordinate system of the excavator as O0X0Y0Z0 and the coordinate system of the total station as O1X1Y1Z1;

[0096] Both coordinate systems are defined as Cartesian coordinate systems;

[0097] In the total station coordinate system, the X1O1Y1 plane is in the horizontal plane of the total station, the X1 axis is perpendicular to the Y1 axis, the positive directions of the X1 axis and the Y1 axis are arbitrary, and the positive direction of the Z1 axis is perpendicular to the ground and upward;

[0098] In the excavator coordinate system, the excavator's forward direction is the positive direction of the X0 axis, the left side of the excavator is the positive direction of the Y0 axis, and the vertical ground upward is the positive direction of the Z0 axis; the O0 point is on the excavator's rotation center axis and is at the same height as O1, that is, the X0O0Y0 plane is in the horizontal plane of the total station;

[0099] S2.2, determine the yaw angle θ through the total station coordinate system and the excavator coordinate system;

[0100] Specifically, the Z-axis directions of the total station and the excavator are the same, and the X1O1Y1 plane and the X0O0Y0 plane are both in the same plane. Since the positive directions of the X1 axis and the Y1 axis in the total station coordinate system are arbitrary, there is a translation and a rotation around the Z axis between the two coordinate systems, which generates a yaw angle θ;

[0101] In the established three-dimensional space calibration coordinate system, use the total station to measure the three-dimensional coordinates of the set points on the side plane of the excavator; these coordinate points will play a key role in the subsequent rotation and translation calculations;

[0102] S3, such as Figure 6 As shown, the rotation relationship between the total station and the excavator coordinate system is obtained by solving the yaw angle θ;

[0103] By measuring the set points on the side plane of the excavator, the rotation relationship between the total station and the excavator coordinate system is solved;

[0104] The specific steps are as follows:

[0105] S3.1. The intersection line of the excavator side plane and the total station horizontal plane is parallel to the X0 axis of the excavator coordinate system. Therefore, two points are selected on this intersection line as the set points A and B, such as Figure 7 As shown, use a total station to measure the coordinates of the two set points; the specific steps are as follows:

[0106] S3.1.1. Find any point on the side plane of the excavator and set it as point A. Mark point A on the side plane of the excavator and measure and record the coordinates of point A (x A1 ,y A1 ,z A1 );

[0107] S3.1.2. Rotate the total station horizontally and find any point on the side plane of the excavator except point A. Set this point as point B. Measure and record the coordinates of point B (x B1 ,y B1 ,z B1 );

[0108] S3.2, points A and B are both in the horizontal plane of the total station. According to the coordinates of points A and B, we get the vector At the same time, if we take any point C on the X1 axis of the total station coordinate system, we can get the vector

[0109] In this embodiment, point A is (8.665, 8.527, 0.003), point B is (8.623, 9.219, 0.003), and point C is (4, 0, 0), and the unit is meter;

[0110] S3.3, The positive direction of the X0 axis of the excavator coordinate system is consistent with that of the and Solve the yaw angle (rotation angle) of the two coordinate systems; the specific calculation is as follows:

[0111]

[0112] In the formula, and are two vectors, θ is the angle between the two coordinate systems, that is, the yaw angle of the two coordinate systems, and for and The magnitude of two vectors;

[0113] In this embodiment, the yaw angle θ is 176.53°, thereby obtaining the rotation relationship between the two coordinate systems;

[0114] S4, such as Figure 6 As shown in the figure, after the rotation relationship is determined, the translation relationship between the total station and the excavator coordinate system is solved; the steps are as follows:

[0115] S4.1, if Figure 8 As shown in the figure, mark a point E on the side plane of the excavator, start the excavator, rotate the slewing platform, and ensure that point E can always be measured by the total station during the rotation process; make the slewing platform rotate around the rotation center O0 arbitrarily n times, n∈(1, N; N is a natural positive integer), and measure the coordinates of point E in the "total station horizontal plane" after each rotation, recorded as E i (x Ei ,y Ei ),(i∈[1,n]);

[0116] S4.2. n rotation circle equations are established according to the measured coordinates of the n points E, and the n rotation circle equations are solved by the least square method to obtain the coordinates of the center O0 of the rotation circle, and the precise coordinates of the center are solved to finally obtain the translation relationship between the two coordinate systems;

[0117] The equation of the circle of gyration is as follows:

[0118] x 2 +y 2 +ax+by+c=0

[0119] In the formula, a, b, c are the parameters to be determined; x, y are the coordinates of the measurement point E;

[0120] The solution steps are as follows:

[0121] S4.2.1. The measured point E i (x Ei ,y Ei ),(i∈[1,n]) into the equation of the circle of rotation to obtain:

[0122] x Ei 2 +y Ei 2 +ax Ei +by Ei +c=0

[0123] Further changed to:

[0124] ax Ei +by Ei +c=-(x Ei 2 +y Ei 2 )

[0125] For n measurement points, a system of linear equations is obtained:

[0126]

[0127] S4.2.2. Write the obtained linear equations as:

[0128]

[0129] In the formula,

[0130] Solve the parameters to be determined by the least squares method:

[0131]

[0132] Where, X T is the transpose of X, (X T X) -1 Yes (X T X) inverse matrix;

[0133] S4.2.3. After solving a, b, and c, the coordinates of the center of the circle of revolution O0 are:

[0134]

[0135] In the formula, is the coordinate of the center of the circle of rotation O0 in the horizontal plane of the total station in the total station coordinate system;

[0136] S4.2.4. Obtain After that, according to the characteristics of the total station horizontal plane, it can be known that Finally, the spatial coordinates of the rotation center in the total station coordinate system can be obtained

[0137] Finally, the translation relationship between the two coordinate systems can be obtained;

[0138] S5. Measure the position of the hammer tip of the unmanned crushing excavator through the relationship between the rotation angle and the translation; the details are as follows:

[0139] S5.1. According to the rotation angle and translation relationship between the total station and the excavator coordinate system, the transformation matrix of the two coordinate systems is obtained to complete the relative position and posture relationship calibration between the excavator coordinate system and the total station coordinate system;

[0140] The rotation and translation relationship between the two coordinate systems is as follows:

[0141]

[0142] Where (X0, Y0, Z0) is the coordinate in the excavator coordinate system, and (X1, Y1, Z1) is the coordinate in the total station coordinate system;

[0143] In this embodiment, n is 4, and the experimental measurements obtain E1 (8.858, 8.368, 0.003), E2 (8.799, 8.782, 0.003), E3 (8.819, 8.920, 0.003) and E4 (9.093, 7.987, 0.003), in meters; since points E1, E2, E3, and E4 are all in the horizontal plane of the total station, the horizontal plane coordinates of the total station of each point are taken for calculation, and O0 (9.844, 8.715) is calculated; the two coordinate systems have the same height, so O0 (9.844, 8.715, 0.003) can be finally obtained;

[0144] The rotation and translation relationship between the two coordinate systems is as follows:

[0145]

[0146] S5.2. Measure the position of the hammer tip D of the breaker hammer by using a total station;

[0147] Specifically, the laser beam of the total station no longer needs to be kept horizontal, but the position of the total station is not moved; the coordinates of the hammer tip D of the breaker hammer in the total station coordinate system are measured by the total station, and the coordinates are converted into the coordinate system of the excavator using the transformation matrix, so as to obtain the precise position of the hammer tip of the unmanned breaker excavator;

[0148] In this embodiment, the coordinates obtained by experimental measurement in the total station coordinate system are D1 (9.830, 3.793, -0.009), which can be further converted into the coordinates in the excavator coordinate system as D0 (-0.197, 5.525, -0.009) based on the coordinate conversion relationship in the previous step.

[0149] The present invention realizes precise measurement of the hammer tip position of the breaker hammer based on the total station, designs a calibration method for the relative posture of the excavator coordinate system and the total station coordinate system, can achieve high-precision measurement of the hammer tip position, reduce human intervention, enhance the control effect of the unmanned crushing excavator, improve working efficiency and safety, and accelerate the application and implementation of the unmanned crushing excavator.

[0150] The method for accurately measuring the hammer tip position of an unmanned crushing excavator of the present invention is suitable for accurately measuring the hammer tip of a crushing hammer of an unmanned crushing excavator. The measurement result can be used to evaluate the control accuracy of the crushing hammer, especially in the development stage of the crushing hammer control strategy, the control strategy can be debugged according to the accurate measurement result of the hammer tip, and a high-performance control strategy can be developed to improve the control quality and operation efficiency of the unmanned crushing excavator.

[0151] This specific implementation ensures the operability and reproducibility of the invention through detailed description of steps such as adjusting the layout and measurement method of the total station, establishing a three-dimensional space calibration coordinate system, calibrating the relative posture relationship between the excavator coordinate system and the total station coordinate system, and measuring the hammer tip position.

[0152] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for measuring the hammer tip position of an unmanned crushing excavator, characterized in that: The following steps are involved: S1. Adjust the layout and measurement method of the total station to simplify the calibration of the excavator coordinate system; The calibration of the excavator coordinate system includes: a rotation relationship between the total station and the excavator coordinate system and a translation relationship between the total station and the excavator coordinate system; S2. After the adjustment is completed, the yaw angle is determined by calibrating the coordinate system in three-dimensional space; The three-dimensional space calibration coordinate system includes: an excavator coordinate system and a total station coordinate system; S3, obtaining the rotation relationship between the total station and the excavator coordinate system by solving the yaw angle; S4. After the rotation relationship is determined, the translation relationship between the total station and the excavator coordinate system is solved; S5. The position of the hammer tip of the unmanned crushing excavator is measured by the relationship between the rotation angle and the translation to obtain the result.

2. The method for measuring the hammer tip position of an unmanned crushing excavator according to claim 1, characterized in that: The steps for adjusting the layout and measurement method of the total station are as follows: S1.

1. After turning off the excavator, park it on a flat surface to ensure that it is stable. Select any position in the left front of the excavator and place the total station. The horizontal distance between the total station and the excavator should be 8m to 25m. S1.

2. Find a flat plane perpendicular to the ground on the side of the excavator body and define it as the side plane. The side plane should be consistent with the forward direction of the excavator. S1.

3. Direct the total station laser onto the side plane, adjust the objective lens angle to keep the laser level, fix the objective lens and measure; S1.

4. Rotate the objective lens horizontally to direct the laser beam onto the side plane.

3. The method for measuring the hammer tip position of an unmanned crushing excavator according to claim 1, characterized in that: The yaw angle determination process is specifically as follows: S2.

1. Establish the coordinate system of the excavator as O0X0Y0Z0 and the coordinate system of the total station as O1X1Y1Z1; S2.

2. Determine the yaw angle using the total station coordinate system and the excavator coordinate system.

4. The method for measuring the hammer tip position of an unmanned crushing excavator according to claim 1, characterized in that: The steps of obtaining the rotation relationship between the total station and the excavator coordinate system by solving the yaw angle are as follows: S4.

1. Mark a point E on the side plane of the excavator, start the excavator, rotate the slewing platform, and ensure that point E can always be measured by the total station during the rotation process; rotate the slewing platform around the rotation center O0 arbitrarily n times, n∈(1, N; N is a natural positive integer), and measure the coordinates of point E in the horizontal plane of the total station after each rotation, recorded as E i (x Ei ,y Ei ),(i∈[1,n]); S4.

2. According to the measured coordinates of the n points E, n equations of a circle of revolution are established. The coordinates of the center O0 of the circle of revolution are obtained by solving the coordinates of the center of the circle and obtaining the translation relationship between the two coordinate systems.

5. The method for measuring the hammer tip position of an unmanned crushing excavator according to claim 1, characterized in that: The steps of measuring the position of the hammer tip of the unmanned crushing excavator through the rotation angle and translation relationship are as follows: S5.

1. According to the rotation angle and translation relationship between the total station and the excavator coordinate system, the transformation matrix of the two coordinate systems is obtained to complete the relative position and posture relationship calibration between the excavator coordinate system and the total station coordinate system; S5.

2. Measure the position of the hammer tip D of the breaker hammer using a total station.

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