Automated target pose detection system

Abstract

The application discloses an automatic target pose detection system, which comprises a space positioning device, a laser ranging device, a target assembly and a control device, wherein the laser ranging device is arranged on the space positioning device, and the target assembly is arranged on a target to be detected; the target to be detected is located within the range of the laser ranging device; the control device is in communication connection with the space positioning device, the laser ranging device and the target assembly; the control device is used for driving the space positioning device; when laser emitted by the laser ranging device irradiates on the target assembly, the laser rotation matrix of the original point of the original coordinate system of the laser ranging device relative to the space to be detected and the distance of the laser ranging device relative to the target assembly are acquired, and the space coordinate of the target to be detected is calculated. The application can realize automatic detection of the space pose, and can improve the accuracy and repeatability of the space pose detection.

Description

Technical Field

[0001] This invention relates to the field of spatial pose detection technology, and in particular to an automated target pose detection system. Background Technology

[0002] Spatial pose describes the position (X / Y / Z) and orientation angles (Roll / Pitch / Yaw) of an object in a specified three-dimensional coordinate system. Spatial pose detection, as a crucial step, is widely used in many fields such as robot control and industrial manufacturing. Sensors, with their diverse types and functions, are important tools for acquiring information about the external environment. In industrial manufacturing scenarios requiring precise target positioning, pose detection using information provided by sensors plays an increasingly important role in eliminating errors in workstation equipment.

[0003] However, a significant portion of pose detection and error elimination still relies on manual labor. Take the sensor calibration scenario for automotive assembly lines as an example: sensor calibration requires the calibration target to be in a specified pose at the workstation; currently, most practices use large calibration templates or laser trackers / total stations to perform target pose calibration. However, these methods all depend on manual operation, visual recognition, and calculation, theoretically reducing the reliability of pose detection and thus the reliability of the calibration workstation. Furthermore, while laser trackers offer high repeatability accuracy, their high cost limits their adoption; most inspection workstations cannot be equipped with this equipment and must rely on large calibration templates that require extensive manual intervention and are difficult to operate to complete the target pose calibration work. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automated target pose detection system that can achieve reliable automated target pose detection.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: an automated target pose detection system, comprising a spatial positioning device, a laser ranging device, a target assembly, and a control device, wherein the laser ranging device is disposed on the spatial positioning device, and the target assembly is disposed on the target to be measured; the target to be measured is located within the range of the laser ranging device; and the control device is communicatively connected to the spatial positioning device, the laser ranging device, and the target assembly respectively.

[0006] The laser ranging device is used to emit laser light and measure distance;

[0007] The target component is used to determine whether the laser emitted by the laser ranging device shines on itself;

[0008] The spatial positioning device is used to drive the laser ranging device to move and rotate in the space to be measured;

[0009] The control device is used to drive the spatial positioning device so that the laser emitted by the laser ranging device illuminates the target assembly.

[0010] The control device is further configured to, when the laser emitted by the laser ranging device illuminates the target assembly, acquire the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the distance of the laser ranging device relative to the target assembly, and calculate the spatial coordinates of the target based on the laser rotation matrix and the distance.

[0011] The beneficial effects of this invention are as follows: it can realize fully automated pose detection, avoid manual intervention in the pose recognition and calculation process, improve the overall detection accuracy and repeatability, and allow the entire workstation to perform quantitative detection of all targets to be tested in a short time; at the same time, the equipment cost is low, which can increase the equipment popularization rate, thereby improving the automation level of the workstation and the accuracy of detection repeatability. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the automated target pose detection system according to Embodiment 1 of the present invention;

[0013] Figure 2 This is a schematic diagram of the automated target pose detection system according to Embodiment 2 of the present invention.

[0014] Label Explanation:

[0015] 1. Spatial positioning device; 2. Laser rangefinder; 3. Target assembly; 4. Attitude angle sensor;

[0016] 31. Camera device; 32. Target;

[0017] 321. Feature points. Detailed Implementation

[0018] To explain the technical content, objectives, and effects of the present invention in detail, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0019] Please see Figure 1 An automated target pose detection system includes a spatial positioning device, a laser ranging device, a target assembly, and a control device. The laser ranging device is mounted on the spatial positioning device, and the target assembly is mounted on the target to be measured. The target to be measured is located within the range of the laser ranging device. The control device is communicatively connected to the spatial positioning device, the laser ranging device, and the target assembly.

[0020] The laser ranging device is used to emit laser light and measure distance;

[0021] The target component is used to determine whether the laser emitted by the laser ranging device shines on itself;

[0022] The spatial positioning device is used to drive the laser ranging device to move and rotate in the space to be measured;

[0023] The control device is used to drive the spatial positioning device so that the laser emitted by the laser ranging device illuminates the target assembly.

[0024] The control device is further configured to, when the laser emitted by the laser ranging device illuminates the target assembly, acquire the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the distance of the laser ranging device relative to the target assembly, and calculate the spatial coordinates of the target based on the laser rotation matrix and the distance.

[0025] As can be seen from the above description, the beneficial effects of the present invention are: it can realize the automatic detection of spatial pose, and can improve the accuracy and repeatability of spatial pose detection.

[0026] Furthermore, the control device is specifically used for:

[0027] When the laser emitted by the laser ranging device illuminates the target assembly, the system acquires a first rotation matrix of the base of the spatial positioning device relative to the origin of the original coordinate system of the space to be measured, a second rotation matrix of the mounting point of the laser ranging device on the spatial positioning device relative to the base of the spatial positioning device, and a third rotation matrix of the laser ranging device relative to the mounting point of the laser ranging device on the spatial positioning device.

[0028] Based on the first rotation matrix, the second rotation matrix, and the third rotation matrix, calculate the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured;

[0029] Obtain the distance between the laser ranging device and the target assembly, as output by the laser ranging device, and obtain the translation matrix based on the distance;

[0030] The spatial coordinates of the target under test are calculated based on the laser rotation matrix and the translation matrix.

[0031] As described above, the laser rotation matrix can be decomposed into a first rotation matrix of the base of the spatial positioning device relative to the origin, a second rotation matrix of the mounting point of the laser rangefinder on the spatial positioning device relative to the base of the spatial positioning device, and a third rotation matrix of the laser rangefinder relative to the mounting point. By cross-multiplying the above three rotation matrices, the laser rotation matrix of the laser rangefinder relative to the origin can be obtained. By cross-multiplying the translation matrix output by the laser rangefinder, the spatial coordinates of the target to be measured can be determined.

[0032] Furthermore, the target assembly is provided with feature points; the target assembly is also used to collect the laser point illuminating itself when the laser emitted by the laser ranging device illuminates itself, and to calculate the coordinate relationship between the laser point and the feature point.

[0033] The control device is specifically used for:

[0034] The spatial positioning device is driven to perform coarse positioning so that the laser emitted by the laser ranging device illuminates the target assembly.

[0035] When the laser emitted by the laser ranging device illuminates the target assembly, the spatial positioning device is driven to perform precise positioning according to the coordinate relationship, so that the laser emitted by the laser ranging device illuminates the feature point.

[0036] When the laser emitted by the laser ranging device illuminates a feature point on the target assembly, the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the distance of the laser ranging device relative to the target are obtained, and the spatial coordinates of the target are calculated based on the laser rotation matrix and the distance.

[0037] As described above, by setting feature points, the laser ranging matrix can accurately illuminate the target component; by performing coarse positioning first and then precise positioning, the efficiency of laser aiming at feature points can be improved.

[0038] Furthermore, the target assembly is provided with a feature point; it also includes an attitude angle sensor, which is disposed on the target to be tested; the attitude angle sensor is used to acquire the attitude angle of the target to be tested.

[0039] Furthermore, the attitude angle sensor is a multi-dimensional tilt meter.

[0040] As described above, by setting a feature point, the spatial coordinates of the target can be determined by aiming the laser rangefinder at the feature point; by setting an attitude angle sensor, the attitude angle of the target can be directly obtained.

[0041] Furthermore, the target assembly is provided with at least three feature points, the at least three feature points including a first feature point, a second feature point and a third feature point, wherein the first feature point, the second feature point and the third feature point are not on the same straight line;

[0042] The control device is used for:

[0043] Drive the spatial positioning device so that the laser emitted by the laser ranging device sequentially illuminates the first feature point, the second feature point, and the third feature point on the target assembly;

[0044] When the laser emitted by the laser ranging device illuminates the first feature point on the target assembly, the first laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the first distance of the laser ranging device relative to the target assembly are obtained, and the first spatial coordinates of the target are calculated based on the first laser rotation matrix and the first distance.

[0045] When the laser emitted by the laser ranging device illuminates the second feature point on the target assembly, the second laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the second distance of the laser ranging device relative to the target assembly are obtained, and the second spatial coordinates of the target are calculated based on the second laser rotation matrix and the second distance.

[0046] When the laser emitted by the laser ranging device illuminates the third feature point on the target assembly, the third laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the third distance of the laser ranging device relative to the target assembly are obtained, and the third spatial coordinates of the target are calculated based on the third laser rotation matrix and the third distance.

[0047] Based on the first spatial coordinates, the second spatial coordinates, and the third spatial coordinates, a spatial plane equation is fitted, and the normal vector of the plane corresponding to the spatial plane equation is calculated to obtain the attitude angle of the target to be measured.

[0048] As described above, by setting three feature points and obtaining the normal vector of the plane containing the three feature points, the attitude angle of the target can be obtained without setting up an additional attitude angle sensor, thus further saving equipment costs.

[0049] Furthermore, the target assembly includes a camera device and a target, the target being disposed on the target to be tested and located within the field of view of the camera device; the camera device is communicatively connected to the control device;

[0050] The camera device is used to capture images of the target in real time and determine whether the laser emitted by the laser rangefinder has illuminated the target.

[0051] Furthermore, the camera device is mounted on the spatial positioning device.

[0052] As described above, the camera device can capture images of the target in real time. By analyzing the captured images, it can determine whether the laser emitted by the laser rangefinder has illuminated the target. When the laser emitted by the laser rangefinder illuminates the target, it can collect the laser point on the target illuminated by the laser rangefinder and calculate the coordinate relationship between the laser point and the feature point.

[0053] Furthermore, the target component is a PSD sensor.

[0054] As can be seen from the above description, the PSD sensor itself can detect laser points, so there is no need for a camera device.

[0055] Furthermore, the spatial positioning device includes a robotic arm; the laser ranging device is a laser rangefinder.

[0056] Example 1

[0057] Please refer to Figure 1 Embodiment 1 of the present invention is: an automated target pose detection system, which can be applied to scenarios that require precise positioning of the target to be detected.

[0058] like Figure 1 As shown, it includes a spatial positioning device 1, a laser ranging device 2, a target assembly 3, and a control device (not shown in the figure). The laser ranging device 2 is mounted on the spatial positioning device 1, and the target assembly 3 is mounted on the target to be measured. The target to be measured is located within the range of the laser ranging device 2. The control device is communicatively connected to the spatial positioning device 1, the laser ranging device 2, and the target assembly 3.

[0059] Among them, the spatial positioning device is a high-precision spatial positioning device, which refers to a device that can use automated control to accurately position and position a mounted object in space, including but not limited to a combination of a high-precision three-axis robotic arm and a high-precision gimbal, a six-axis industrial robot, and a six-axis collaborative robot.

[0060] A laser rangefinder is a device that uses visible laser light to determine the distance to a target from which the laser is pointing, including but not limited to laser rangefinders.

[0061] A target assembly refers to a device or sensor that can capture and output the planar coordinates of a laser spot illuminating it; including but not limited to combinations of industrial cameras and targets with visual characteristics, photosensitive sensors (PSDs), etc.; target assemblies are used to ensure that spatial positioning devices and laser rangefinders can measure it at the same specified location each time.

[0062] In this embodiment, the spatial positioning device 1 is a robotic arm, and the laser ranging device 2 is located at the end of the robotic arm (i.e., the end away from the base of the robotic arm, that is, at the flange at the end of the wrist joint of the robotic arm). The spatial positioning device 1 can drive the laser ranging device 2 to move and rotate in the space to be measured, and the laser ranging device 2 can emit laser light and measure distance.

[0063] The target assembly 3 includes a camera device 31 and a target 32. The target 32 ​​is disposed on the target to be measured, and the camera device 31 can be deployed at any position within its effective working field of view, that is, the target 32 ​​is located within the field of view of the camera device 31. Preferably, the camera device 31 is also disposed at the end of the spatial positioning device 1 (i.e., the robotic arm); the control device is communicatively connected to the camera device 31 in the target assembly 3.

[0064] Furthermore, the target 32 ​​is provided with feature points 321, and the camera device 31 can capture images of the side of the target 32 ​​with feature points 321. Preferably, the target is provided with visual feature patterns, such as a black and white checkerboard pattern, a cross mark, etc., and then feature points are determined in the visual feature patterns, for example, the center point of the visual feature pattern is used as the feature point. The shape of the target can be a plane, or it can be a sphere or other shapes.

[0065] The camera device 31 can capture images of the target in real time. By analyzing the captured images, it can determine whether the laser emitted by the laser rangefinder 2 has illuminated the target 32. When the laser emitted by the laser rangefinder 2 illuminates the target 32, it can collect the laser point on the target 32 ​​illuminated by the laser rangefinder 2 and calculate the coordinate relationship between the laser point and the feature point.

[0066] The control device can drive the spatial positioning device 1 to illuminate the feature point 321 of the target 32 ​​with the laser emitted by the laser ranging device 2. The process of driving the spatial positioning device by the control device can be divided into two steps: coarse positioning and precise positioning. Specifically, the control device first drives the spatial positioning device to perform coarse positioning so that the laser emitted by the laser ranging device illuminates the target. In this embodiment, the coarse positioning process includes, but is not limited to, program-controlled path point movement, linear movement, or joint movement. When the laser illuminates the target, the camera device captures the laser point on the target illuminated by the laser ranging device, calculates the coordinate relationship between the laser point and the feature point, and outputs the coordinate relationship to the control device. The control device can then drive the spatial positioning device to perform precise positioning based on this coordinate relationship so that the laser emitted by the laser ranging device illuminates the feature point. In this embodiment, the precise positioning process includes, but is not limited to, direct positioning based on the coordinate relationship or PID control positioning.

[0067] When the laser emitted by the laser ranging device 2 illuminates the feature point 321 on the target 32, the control device can obtain the laser rotation matrix of the laser ranging device 2 relative to the origin of the original coordinate system of the space to be measured, as well as the distance of the laser ranging device 2 relative to the target 32. Based on the laser rotation matrix and the distance, the spatial coordinates (X / Y / Z) of the target to be measured are calculated. In the original coordinate system of the space to be measured, the X and Y axes are parallel to the horizontal plane, and the Z axis is perpendicular to the horizontal plane.

[0068] Specifically, when the laser emitted by the laser ranging device illuminates a feature point on the target, the first rotation matrix H of the base of the spatial positioning device relative to the origin of the original coordinate system of the space to be measured is obtained. world-base The second rotation matrix H of the laser ranging device's mounting point on the spatial positioning device (i.e., the end of the robotic arm) relative to the base of the spatial positioning device. base-end And the third rotation matrix H of the laser rangefinder relative to its mounting point on the spatial positioning device. end-laser ; where the first rotation matrix H world-base and the third rotation matrix H end-laser This can be determined using standard tools, including but not limited to coordinate measuring machines (such as laser trackers, total stations, etc.) and calibration fixtures; the second rotation matrix H base-end It is obtained from the data output by the spatial positioning device.

[0069] Then, the first, second, and third rotation matrices are cross-multiplied to obtain the laser rotation matrix H of the laser ranging device relative to the origin of the original coordinate system of the space to be measured, i.e., H = H world-base ×H base-end ×H end-laser .

[0070] Simultaneously, the distance between the laser rangefinder and the target is obtained from the output of the laser rangefinder, and this distance is represented by a matrix to obtain the translation matrix P. laser Then, the laser rotation matrix and translation matrix are cross-multiplied to obtain the spatial coordinates of the target, i.e., P. world =H world-base ×H base-end ×H end-laser ×P laser .

[0071] In this embodiment, the number of feature points 321 on the target 32 ​​is one. As described above, the spatial coordinates of the target can be obtained, but the attitude angle of the target cannot be obtained. Therefore, the automated target pose detection system of this embodiment also includes an attitude angle sensor 4, which is disposed on the target. The attitude angle sensor 4 can directly acquire the attitude angle (Roll / Pitch / Yaw) of the target. The attitude angle sensor 4 includes, but is not limited to, a multi-dimensional tiltmeter.

[0072] This embodiment enables fully automated pose detection, eliminating the need for manual intervention in pose recognition and calculation, thus improving the overall accuracy and repeatability of the detection. It also allows the entire workstation to perform quantitative detection on all targets within a short timeframe. Furthermore, the equipment has low cost, increasing its adoption rate and thereby improving the automation level and repeatability of the workstation. Further, if the target is mounted on a flexible system (e.g., a six-axis industrial robot), the quantitative detection results of this embodiment can be used as correction parameters input into the flexible system, enabling workstation self-calibration.

[0073] Example 2

[0074] Please refer to Figure 2 This embodiment is another implementation of the automated target pose detection system in the above embodiments. The similarities will not be repeated, but the differences lie in... Figure 2 As shown, in this embodiment, the target assembly includes at least three targets 32, each target having at least one feature point 321, thus providing at least three feature points 321 on the target assembly. In another optional embodiment, the target assembly may also include only one target with at least three feature points. The at least three feature points 321 include a first feature point, a second feature point, and a third feature point. The first, second, and third feature points are not on the same straight line. Since these three feature points are not on a straight line, a plane can be determined based on these three feature points (depending on the target's setting position, this plane can also represent any plane on the target to be measured), and the normal vector of the plane is the attitude angle of the target to be measured.

[0075] Specifically, the spatial positioning device is driven so that the laser emitted by the laser ranging device sequentially illuminates the first feature point, the second feature point, and the third feature point on the target.

[0076] When the laser emitted by the laser ranging device illuminates the first feature point on the target, the first laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the first distance of the laser ranging device relative to the target are obtained, and the first spatial coordinates of the target are calculated based on the first laser rotation matrix and the first distance.

[0077] When the laser emitted by the laser ranging device illuminates the second feature point on the target, the second laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the second distance of the laser ranging device relative to the target are obtained. Based on the second laser rotation matrix and the second distance, the second spatial coordinates of the target to be measured are calculated.

[0078] When the laser emitted by the laser ranging device illuminates the third feature point on the target, the third laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the third distance of the laser ranging device relative to the target are obtained. Based on the third laser rotation matrix and the third distance, the third spatial coordinates of the target are calculated.

[0079] In the above process, when driving the spatial positioning device, coarse positioning can be performed first, followed by precise positioning, as described in Embodiment 1. The specific process for calculating the spatial coordinates of the target to be measured can also be referred to Embodiment 1.

[0080] Finally, based on the first, second, and third spatial coordinates, a spatial plane equation is fitted, and the normal vector of the plane corresponding to the spatial plane equation is calculated to obtain the attitude angle of the target. The spatial coordinates of the target can be obtained by acquiring the spatial coordinates of any point on the plane corresponding to the plane equation.

[0081] This embodiment sets three feature points and obtains the attitude angle of the target by calculating the normal vector of the plane containing the three feature points. This eliminates the need for an additional attitude angle sensor, further saving equipment costs.

[0082] Example 3

[0083] This embodiment is another implementation of the automated target pose detection system described in the above embodiments. The similarities will not be repeated. The difference lies in that, in this embodiment, the target component is a PSD sensor (Position Sensitive Detector), which is mounted on the target and communicates with the control device. In this case, there is no need for a camera device; the PSD sensor itself can detect whether the laser emitted by the laser rangefinder is illuminating it, collect the laser point illuminating it, calculate the coordinate relationship between the laser point and the feature point, and finally output the coordinate relationship to the control device.

[0084] In summary, the automated target pose detection system provided by this invention enables fully automated pose detection, avoiding manual intervention in pose recognition and calculation, improving the overall accuracy and repeatability of the detection, and allowing the entire workstation to quantitatively detect all targets within a short time. Simultaneously, the equipment cost is low, increasing equipment adoption and thus improving the automation level and repeatability accuracy of the workstation. Furthermore, if the target is mounted on a flexible system (e.g., a six-axis industrial robot), the quantitative detection results of this embodiment can be used as correction parameters input into the flexible system, thereby achieving workstation self-calibration. This invention can address scenarios requiring precise target positioning by using automated methods to quantitatively determine the target pose information, achieving reliable and highly repeatable target pose detection.

[0085] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automated target pose detection system, characterized in that, The device includes a spatial positioning device, a laser ranging device, a target assembly, and a control device. The laser ranging device is mounted on the spatial positioning device, and the target assembly is mounted on the target to be measured. The target to be measured is located within the range of the laser ranging device. The control device is communicatively connected to the spatial positioning device, the laser ranging device, and the target assembly. The laser ranging device is used to emit laser light and measure distance; The target component is used to determine whether the laser emitted by the laser ranging device shines on itself; The spatial positioning device is used to drive the laser ranging device to move and rotate in the space to be measured; The control device is used to drive the spatial positioning device so that the laser emitted by the laser ranging device illuminates the target assembly. The control device is further configured to, when the laser emitted by the laser ranging device illuminates the target assembly, acquire the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the distance of the laser ranging device relative to the target assembly, and calculate the spatial coordinates of the target based on the laser rotation matrix and the distance. The control device is specifically used for: When the laser emitted by the laser ranging device illuminates the target assembly, the system acquires a first rotation matrix of the base of the spatial positioning device relative to the origin of the original coordinate system of the space to be measured, a second rotation matrix of the mounting point of the laser ranging device on the spatial positioning device relative to the base of the spatial positioning device, and a third rotation matrix of the laser ranging device relative to the mounting point of the laser ranging device on the spatial positioning device. Based on the first rotation matrix, the second rotation matrix, and the third rotation matrix, calculate the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured; Obtain the distance between the laser ranging device and the target assembly, as output by the laser ranging device, and obtain the translation matrix based on the distance; Calculate the spatial coordinates of the target under test based on the laser rotation matrix and the translation matrix; The target assembly is provided with feature points; the target assembly is also used to collect the laser points illuminating itself when the laser emitted by the laser ranging device illuminates itself, and to calculate the coordinate relationship between the laser points and the feature points. The control device is specifically used for: The spatial positioning device is driven to perform coarse positioning so that the laser emitted by the laser ranging device illuminates the target assembly. When the laser emitted by the laser ranging device illuminates the target assembly, the spatial positioning device is driven to perform precise positioning according to the coordinate relationship, so that the laser emitted by the laser ranging device illuminates the feature point. The precise positioning includes PID control positioning based on the coordinate relationship; When the laser emitted by the laser ranging device illuminates a feature point on the target assembly, the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the distance of the laser ranging device relative to the target are obtained, and the spatial coordinates of the target are calculated based on the laser rotation matrix and the distance. The spatial positioning device includes a robotic arm; the laser ranging device is a laser rangefinder.

2. The automated target pose detection system according to claim 1, characterized in that, The target assembly has a feature point; it also includes an attitude angle sensor, which is disposed on the target to be measured; the attitude angle sensor is used to collect the attitude angle of the target to be measured.

3. The automated target pose detection system according to claim 2, characterized in that, The attitude angle sensor is a multi-dimensional tilt meter.

4. The automated target pose detection system according to claim 1, characterized in that, The target assembly has at least three feature points, including a first feature point, a second feature point, and a third feature point, wherein the first feature point, the second feature point, and the third feature point are not on the same straight line; The control device is used for: Drive the spatial positioning device so that the laser emitted by the laser ranging device sequentially illuminates the first feature point, the second feature point, and the third feature point on the target assembly; When the laser emitted by the laser ranging device illuminates the first feature point on the target assembly, the first laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the first distance of the laser ranging device relative to the target assembly are obtained, and the first spatial coordinates of the target are calculated based on the first laser rotation matrix and the first distance. When the laser emitted by the laser ranging device illuminates the second feature point on the target assembly, the second laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the second distance of the laser ranging device relative to the target assembly are obtained, and the second spatial coordinates of the target are calculated based on the second laser rotation matrix and the second distance. When the laser emitted by the laser ranging device illuminates the third feature point on the target assembly, the third laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the third distance of the laser ranging device relative to the target assembly are obtained, and the third spatial coordinates of the target are calculated based on the third laser rotation matrix and the third distance. Based on the first spatial coordinates, the second spatial coordinates, and the third spatial coordinates, a spatial plane equation is fitted, and the normal vector of the plane corresponding to the spatial plane equation is calculated to obtain the attitude angle of the target to be measured.

5. The automated target pose detection system according to any one of claims 1-4, characterized in that, The target component is a PSD sensor.

6. A method for automated target pose detection, characterized in that, The device includes a spatial positioning device, a laser ranging device, a target assembly, and a control device. The laser ranging device is mounted on the spatial positioning device, and the target assembly is mounted on the target to be measured. The target to be measured is located within the range of the laser ranging device. The control device is communicatively connected to the spatial positioning device, the laser ranging device, and the target assembly. The laser ranging device is used to emit laser light and measure distance; The target component is used to determine whether the laser emitted by the laser ranging device shines on itself; The spatial positioning device is used to drive the laser ranging device to move and rotate in the space to be measured; The control device is used to drive the spatial positioning device so that the laser emitted by the laser ranging device illuminates the target assembly. The control device is further configured to, when the laser emitted by the laser ranging device illuminates the target assembly, acquire the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the distance of the laser ranging device relative to the target assembly, and calculate the spatial coordinates of the target based on the laser rotation matrix and the distance. The control device is specifically used for: When the laser emitted by the laser ranging device illuminates the target assembly, the system acquires a first rotation matrix of the base of the spatial positioning device relative to the origin of the original coordinate system of the space to be measured, a second rotation matrix of the mounting point of the laser ranging device on the spatial positioning device relative to the base of the spatial positioning device, and a third rotation matrix of the laser ranging device relative to the mounting point of the laser ranging device on the spatial positioning device. Based on the first rotation matrix, the second rotation matrix, and the third rotation matrix, calculate the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured; Obtain the distance between the laser ranging device and the target assembly, as output by the laser ranging device, and obtain the translation matrix based on the distance; Calculate the spatial coordinates of the target under test based on the laser rotation matrix and the translation matrix; The target assembly is provided with feature points; the target assembly is also used to collect the laser points illuminating itself when the laser emitted by the laser ranging device illuminates itself, and to calculate the coordinate relationship between the laser points and the feature points. The control device is specifically used for: The spatial positioning device is driven to perform coarse positioning so that the laser emitted by the laser ranging device illuminates the target assembly. When the laser emitted by the laser ranging device illuminates the target assembly, the spatial positioning device is driven to perform precise positioning according to the coordinate relationship, so that the laser emitted by the laser ranging device illuminates the feature point. The precise positioning includes PID control positioning based on the coordinate relationship; When the laser emitted by the laser ranging device illuminates a feature point on the target assembly, the laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and the distance of the laser ranging device relative to the target are obtained, and the spatial coordinates of the target are calculated based on the laser rotation matrix and the distance. The spatial positioning device includes a robotic arm; the laser ranging device is a laser rangefinder.

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