Six degrees of freedom positioning system and positioning method based on large-scale three-dimensional space

Abstract

The invention discloses a six-degree-of-freedom positioning system and a positioning method based on a large-scale three-dimensional space, wherein the system includes: a three-dimensional space global positioning reference and a measured module; the three-dimensional space global positioning reference is used to pass multiple laser surfaces The intersection point determines the target positioning point; the module under test is installed on the device under test and moves in the three-dimensional space determined by the global positioning reference in three-dimensional space, and is used to measure the six-degree-of-freedom pose difference between the module under test and the target positioning point. The position and attitude of the device under test can be compensated according to the difference in pose and posture, and the device under test can be positioned in three-dimensional space. The system can realize six-degree-of-freedom precise positioning of mobile robots and mechanical arms in the case of non-contact measurement in a large-scale three-dimensional space. The system has a simple structure and a wide range of uses.

Description

technical field [0001] The invention relates to the technical field of spatial positioning, in particular to a six-degree-of-freedom positioning system and positioning method based on a large-scale three-dimensional space. Background technique [0002] With the emergence of social problems such as aging population and rising labor costs, the manufacturing industry is demanding equipment that can move and position freely in large-scale three-dimensional spaces (such as factories and warehouses), such as robots, robotic arms, AGVs, etc. demand has risen sharply. It is not difficult to see that one of the key technical difficulties in realizing the above functions is how to accurately position the positioned device globally in a large-scale three-dimensional space. Otherwise, it is difficult to realize the accurate operation of the above-mentioned equipment in the space without guaranteeing the accuracy. However, considering (1) the size of the three-dimensional space referen...

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Problems solved by technology

[0004] For this reason, an object of the present invention is to propose a six-degree-of-freedom positioning system based on a large-scale three-dimensional space, which can solve the six-degree-of-freedom precise positioning problem of mobile robots, mechanical arms, etc. Simple structure, non-contact measurement, wide range of applications, etc.

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