Method for measuring the position of a hammer tip of an unmanned percussive excavator

Abstract

The present application relates to a kind of unmanned breaking excavator hammer tip position measurement method, belong to engineering machinery unmanned technology field, especially suitable for the unmanned operation of breaking excavator.The method is by adjusting the relative position of total station and excavator, establishes total station coordinate system and excavator coordinate system, and by measuring set point, solve the rotation and translation relationship between two coordinate systems, complete the calibration of the relative pose relationship of two coordinate systems, realize the high-precision measurement of breaking hammer hammer tip position.Measurement method includes adjusting the layout and measurement mode of total station, establishing three-dimensional space calibration coordinate system, calibrating the rotation and translation relationship between two coordinate systems and the measurement of the hammer tip position of unmanned breaking excavator.Compared with prior art, the present application is less for factor intervention, high measurement accuracy, simple operation, and has important significance for promoting the application of unmanned breaking excavator.

Description

Technical Field

[0001] This invention belongs to the field of unmanned driving technology for construction machinery, and specifically relates to a method for measuring the position of the hammer tip of an unmanned crusher excavator. Background Technology

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

[0003] In the application of unmanned rock breaker excavators, precise control of the hydraulic breaker hammer is crucial for improving the quality, efficiency, and safety of construction operations. Currently, the measurement of the hammer tip position suffers from insufficient accuracy and cumbersome processes, significantly impacting the control performance of the hydraulic breaker and hindering the implementation of unmanned rock breaker excavator technology. Furthermore, when unmanned rock breaker excavators are crushing hard materials such as rock and concrete, precise control of the hammer tip position is key to achieving unmanned operation, directly affecting the effectiveness, efficiency, and safety of unmanned operations. Accurate acquisition of the hammer tip position is necessary for evaluating the control precision of the hydraulic breaker, especially during the development phase of the control strategy. Accurate hammer tip position measurement is required to fine-tune the control strategy and improve the control performance of the hydraulic breaker. However, manual measurement is not only inefficient but also prone to significant measurement errors, failing to meet the high-precision control requirements of unmanned rock breaker excavators. Therefore, developing a method for measuring the hammer tip position of unmanned rock breaker excavators is particularly urgent. Summary of the Invention

[0004] A method for measuring the hammer tip position of an unmanned rock dump excavator includes 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 rotational relationship between the total station and the excavator coordinate system, and the translational 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 any flat surface to ensure its stability; select any position in front of the left side 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 direction at the side of the excavator body and define it as the side plane, and the side plane is consistent with the forward direction of the excavator;

[0010] S1.3, the total station laser is shot to the side plane, the objective lens angle is adjusted to keep the laser horizontal, the objective lens is fixed and measurement is carried out;

[0011] In order to ensure that the laser can be shot horizontally to the side plane, the base height of the total station is adjusted to make the objective lens 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 measurement, the objective lens can only be horizontally rotated;

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

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

[0015] S2, after adjustment, the yaw angle θ is determined through the three-dimensional space calibration coordinate system;

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

[0017] The yaw angle θ determination process is as follows:

[0018] S2.1, establish the excavator coordinate system as O0X0Y0Z0, and the total station coordinate system 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 total station horizontal plane, the X1 axis is perpendicular to the Y1 axis, and the positive directions of the X1 axis and the Y1 axis are arbitrary, with the Z1 axis positive direction upward;

[0021] In the excavator coordinate system, the forward direction of the excavator 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 center axis of the excavator rotation, and is at the same height as O1, that is, the X0O0Y0 plane is in the total station horizontal plane;

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

[0023] Specifically, the Z-axis direction of the total station and the excavator is the same, and the X1O1Y1 plane and the X0O0Y0 plane are 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 motion around the Z-axis between the two coordinate systems, that is, a yaw angle θ is generated;

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

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

[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, so two points on the intersection line are taken as set points A and B, and the coordinates of the two set points are measured by the total station; The specific steps are as follows:

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

[0029] S3.1.2, horizontally rotate the total station, find an arbitrary point on the excavator side plane other than point A, and set the point as point B. Measure and record the coordinates (x B1 ,y B1 ,z B1 ) of point B;

[0030] S3.2, A and B points are in the total station horizontal plane, according to the coordinates of A and B points, the vector is obtained. At the same time, an arbitrary point C is taken on the X1-axis of the total station coordinate system, and the vector

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

[0032]

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

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

[0035] S4. After determining the rotation relationship, solve for 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 and rotate the slewing platform, ensuring that point E can always be measured by the total station during the rotation. Rotate the slewing platform around the rotation center O0 arbitrarily n times, n∈(1,N;N is a natural positive integer). After each rotation, measure the coordinates of point E in the horizontal plane of the total station and record it as E. i (x Ei ,y Ei ),(i∈[1,n]);

[0037] S4.2. Based on the measured coordinates of n points E, establish n equations of the circle of revolution. Solve the n equations of the circle of revolution using the least squares method to obtain the coordinates of the center O0 of the circle of revolution. Solve for the precise center coordinates and finally obtain the translation relationship between the two coordinate systems.

[0038] The equation of a circle of revolution is expressed as follows:

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

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

[0041] The solution steps are as follows:

[0042] S4.2.1, measure point E i (x Ei ,y Ei Substituting (i∈[1,n]) into the equation of the circle of revolution, we get:

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

[0044] Further revised to:

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

[0046] For n measurement points, a linear equation group is obtained:

[0047]

[0048] S4.2.2, the obtained linear equation group is written as:

[0049]

[0050] In the formula,

[0051] The to-be-determined parameters are solved by least square method:

[0052]

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

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

[0055]

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

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

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

[0059] S5, the position of the hammer tip of the unmanned breaking excavator is measured through the rotation angle and the translation relationship; specifically as follows:

[0060] S5.1, according to the rotation angle and the translation relationship between the total station and the excavator coordinate system, the coordinate system transformation matrix is obtained, and the relative pose relationship calibration between the excavator coordinate system and the total station coordinate system is completed;

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

[0062]

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

[0064] S5.2, measuring the position of the hammer tip D of the breaking hammer by the total station;

[0065] Specifically, the laser beam of the total station does not need to be kept horizontal, but the total station is not moved; the coordinate of the hammer tip D of the breaking hammer in the coordinate system of the total station is measured by the total station, is converted into the coordinate in the coordinate system of the excavator by the conversion matrix, so that the accurate position of the hammer tip of the unmanned breaking excavator is obtained;

[0066] Advantages of the present application

[0067] 1. High measurement accuracy: the measurement by the method of the present application can significantly improve the measurement accuracy of the position of the hammer tip of the unmanned breaking excavator;

[0068] 2. Simple operation: a series of geometric and vector calculations are adopted, so that the coordinate system calibration and hammer tip measurement process are more simple and intuitive;

[0069] The measurement method can be widely applied to the accurate measurement of the position of the hammer tip of the unmanned breaking excavator, and has good application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0070] Figure 1 The structure of the breaking excavator in the present application;

[0071] Figure 2 The flowchart of the present application;

[0072] Figure 3 The step schematic diagram of the present application;

[0073] Figure 4 The position relationship and coordinate system schematic diagram of the total station and the excavator in the present application;

[0074] Figure 5 The rotation angle calculation schematic diagram between the two coordinate systems in the present application;

[0075] Figure 6 The relationship decomposition schematic diagram between the two coordinate systems in the present application;

[0076] Figure 7 The total station measurement set point schematic diagram in the present application;

[0077] Figure 8 The top view schematic diagram of the measurement point in the present application. DETAILED DESCRIPTION

[0078] With reference to the drawings and embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0079] The structure of the breaking excavator is shown in Figure 1 FIG. 1, wherein 1 is a walking track, 2 is a rotating platform, 3 is a cab, 4 is a boom, 5 is a bucket rod, and 6 is a breaking hammer. The main mechanical structure of the excavator can be divided into a working device and a walking device according to functions, wherein the working device is mainly composed of the rotating platform, the boom, the bucket rod, and the breaking hammer, and the walking device is mainly composed of the walking track.

[0080] As shown in Figure 2 , Figure 3 FIG. 1, a method for measuring the position of a hammer tip of an unmanned breaking excavator includes the following steps:

[0081] S1, adjusting the layout and measurement mode of the total station and simplifying the calibration of the excavator coordinate system;

[0082] The calibration of the excavator coordinate system includes the rotational relationship between the total station and the excavator coordinate system and the translational relationship between the total station and the excavator coordinate system;

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

[0084] S1.1, after the excavator is turned off, it is parked on a plane at random, and its stability is ensured; an arbitrary position in front of the left side of the excavator is selected, and the total station is placed, and the horizontal distance between the total station and the excavator should be 8m-25m; in this embodiment, the horizontal distance between the total station and the excavator should be 9m;

[0085] S1.2, find a flat plane on the side of the excavator body perpendicular to the ground direction and define it as a side plane, and the side plane is consistent with the advancing direction of the excavator;

[0086] S1.3, the laser of the total station is shot to the side plane, the objective lens angle is adjusted to keep the laser horizontal, the objective lens is fixed, and the measurement is performed;

[0087] In order to ensure that the laser can be shot to the side plane when it is horizontally shot, the base height of the total station is adjusted to make the objective lens 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 horizontally shot;

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

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

[0090] S1.4, horizontally rotate the theodolite, and shoot the laser beam to the side plane; at this time, the laser points on the side plane are all in the same horizontal plane with the laser beam, and the horizontal plane is defined as the theodolite horizontal plane;

[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 one of the laser points;

[0092] S2, as shown in the figure, after the adjustment is completed, the yaw angle θ is determined through the three-dimensional space calibration coordinate system; Figure 5

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

[0094] The yaw angle θ determination process is as follows:

[0095] S2.1, establish the excavator coordinate system as O0X0Y0Z0, and the theodolite coordinate system as O1X1Y1Z1;

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

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

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

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

[0100] Specifically, the Z axes of the theodolite 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 theodolite coordinate system are arbitrary, there is a translation and a rotation around the Z axis between the two coordinate systems, which produces the yaw angle θ;

[0101] In the established three-dimensional space calibration coordinate system, the spatial three-dimensional coordinates of the set points on the side plane of the excavator are measured using the theodolite; these coordinate points will play a key role in the subsequent rotation and translation calculations;

[0102] S3, as shown in the figure, the rotation relationship between the theodolite and the excavator coordinate systems is obtained by solving the yaw angle θ; Figure 6

[0103] ​​Solve the rotation relationship between total station and excavator coordinate system by measuring the set points on the excavator side plane;

[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, so two points on the intersection line are taken as set points A and B, as shown in Figure 7 The coordinates of the two set points are measured by the total station; the specific steps are as follows:

[0106] S3.1.1, find an arbitrary point on the excavator side plane, and set this point as point A, mark point A on the excavator side plane, and measure and record the coordinates of point A (x A1 ,y A1 ,z A1 );

[0107] S3.1.2, horizontally rotate the total station, find an arbitrary point on the excavator side plane other than point A, and set this point as point B, and measure and record the coordinates of point B (x B1 ,y B1 ,z B1 );

[0108] S3.2, A and B points are in the total station horizontal plane, according to the coordinates of A and B points, the vector At the same time, take an arbitrary point C on the X1 axis of the total station coordinate system, then the vector

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

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

[0111]

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

[0113] In this embodiment, the yaw angle θ is 176.53°, which is used to obtain the rotational relationship between the two coordinate systems;

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

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

[0116] S4.2. Based on the measured coordinates of n points E, establish n equations of the circle of revolution. Solve the n equations of the circle of revolution using the least squares method to obtain the coordinates of the center O0 of the circle of revolution. Solve for the precise center coordinates and finally obtain the translation relationship between the two coordinate systems.

[0117] The equation of a circle of revolution is expressed as follows:

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

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

[0120] The solution steps are as follows:

[0121] S4.2.1, measure point E i (x Ei ,y Ei Substituting (i∈[1,n]) into the equation of the circle of revolution, we get:

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

[0123] Further revised to:

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

[0125] For n measurement points, a linear equation group is obtained:

[0126]

[0127] S4.2.2, the obtained linear equation group is written as:

[0128]

[0129] In the formula,

[0130] The to-be-determined parameters are solved by the least square method:

[0131]

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

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

[0134]

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

[0136] S4.2.4, after obtaining from the characteristics of the horizontal plane of the total station, it can be known that Finally, the spatial coordinates of the rotation center in the total station coordinate system are obtained

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

[0138] S5, by the rotation angle and the translation relationship, the position of the hammer tip of the unmanned crushing excavator is measured; specifically as follows:

[0139] S5.1, according to the rotation angle and the translation relationship between the total station and the excavator coordinate system, the coordinate system transformation matrix is obtained, and the relative pose relationship calibration between the excavator coordinate system and the total station coordinate system is completed;

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

[0141]

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

[0143] In the embodiment, n is 4, and 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) are measured by experiments, and the unit is meter; since the points E1, E2, E3 and E4 are all in the horizontal plane of the total station, the horizontal plane coordinates of the points are taken for calculation, and O0 (9.844, 8.715) is obtained; since the two coordinate systems have the same height, finally, O0 (9.844, 8.715, 0.003) is obtained;

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

[0145]

[0146] S5.2, the position of the hammer tip D of the breaking hammer is measured by the total station;

[0147] Specifically, the laser beam of the total station does not need to be kept horizontal, but the total station does not need to be moved; the coordinates of the hammer tip D of the breaking hammer in the coordinate system of the total station are measured by using the total station, the coordinates in the coordinate system of the excavator are converted by using the transformation matrix, and thus the accurate position of the hammer tip of the unmanned breaking excavator is obtained.

[0148] In the embodiment, the coordinates in the coordinate system of the total station are measured as D1 (9.830, 3.793, -0.009), and based on the coordinate conversion relationship in the previous step, the coordinates in the coordinate system of the excavator are further converted as D0 (-0.197, 5.525, -0.009).

[0149] The present application is based on the accurate measurement of the position of the hammer tip of the breaking hammer by the total station, a calibration method for the relative pose of the coordinate system of the excavator and the coordinate system of the total station is designed, high-precision measurement of the position of the hammer tip can be realized, human intervention is reduced, the control effect of the unmanned breaking excavator is improved, the operation efficiency and safety are improved, and the application and implementation of the unmanned breaking excavator are accelerated.

[0150] The present application is based on the accurate measurement of the position of the hammer tip of the breaking hammer by the total station, a calibration method for the relative pose of the excavator and the coordinate system of the total station is designed, high-precision measurement of the position of the hammer tip can be realized, human intervention is reduced, the control effect of the unmanned breaking excavator is improved, the operation efficiency and safety are improved, and the application and implementation of the unmanned breaking excavator are accelerated.

[0151] The specific embodiment ensures the operability and reproducibility of the application through detailed description of the adjustment of the layout and measurement mode of the total station, the establishment of the three-dimensional space calibration coordinate system, the calibration of the relative position and posture relationship between the excavator coordinate system and the total station coordinate system and the measurement of the hammer tip position and the like.

[0152] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely divergences of the principles and spirit of the application and that numerous modifications, changes, replacements, and variations can be made thereto by those of ordinary skill in the art without departing from the principles and spirit of the application, and the scope of the application is defined by the appended claims and their equivalents.

Claims

1. A method of measuring the position of a tip of a hammer of an unmanned percussive excavator, characterized by, Comprise the following steps: S1, adjust the layout and measurement mode of total station, simplify the calibration of excavator coordinate system; The calibration of the excavator coordinate system comprises: 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; The steps are as follows: S1.1, after the excavator is turned off, it is parked on a plane at will, and its stability is ensured; Select an arbitrary position in front of the left side of the excavator, and place the total station; The horizontal distance between the total station and the excavator should be 8m~25m; S1.2, find a flat plane on the side of the excavator body perpendicular to the ground and define it as a side plane, and the side plane is consistent with the forward direction of the excavator; S1.3, the total station laser is shot to the side plane, the objective lens angle is adjusted to keep the laser horizontal, the objective lens is fixed and measurement is carried out; S1.4, horizontally rotate the objective lens, and shoot the laser beam to the side plane; S2, after adjustment, determine the yaw angle through three-dimensional space calibration coordinate system; The three-dimensional space calibration coordinate system comprises: the excavator coordinate system and the total station coordinate system; S3, the rotation relationship between the total station and the excavator coordinate system is obtained 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; The steps are as follows: S4.1, mark a point on the excavator side plane E , start the excavator, rotate the slewing platform, and ensure that the point can be measured by the total station during rotation E ; make the slewing platform rotate around the slewing center O 0 arbitrary rotation n times ，n ∈(1, N ); N is a natural positive integer, and after each rotation, measure the coordinates of point E in the total station horizontal plane, denoted as , ; S4.2, Based on the measured n indivual E Point coordinate establishment n The equation of a circle of revolution is obtained by applying the least squares method. n Solve the equation of the circle of revolution to obtain the center of the circle of revolution. O 0 By finding the coordinates of the center of the circle, we can obtain the translation relationship between the two coordinate systems. S5, through the rotation angle and the translation relationship, the position of the hammer tip of the unmanned crushing excavator is measured to obtain the result; The steps are as follows: S5.1, according to the rotation angle and the translation relationship between the total station and the excavator coordinate system, the two coordinate system transformation matrix is obtained, and the relative pose relationship calibration of the excavator coordinate system and the total station coordinate system is completed; S5.2, measure the position of the hammer tip D of the crushing hammer through the total station.

2. The method of claim 1, wherein, The yaw angle determination process is as follows: S2.1, establish the excavator coordinate system as O 0 X 0 Y 0 Z 0 total station coordinate system as O 1 X 1 Y 1 Z 1 ; S2.2, determine the yaw angle through the total station coordinate system and the excavator coordinate system.

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