A robot positioning system, a positioning method and a composite robot

Abstract

The present application relates to a kind of robot positioning system, positioning method and composite robot, wherein the robot positioning system includes: positioning reference, positioning reference includes mutually perpendicular first reference surface, second reference surface and third reference surface, and form reference coordinate system;Sensor assembly, sensor assembly is installed at the execution end of robot and can move with execution end, sensor assembly includes first ranging sensor, second ranging sensor and third ranging sensor, the emission line of each emission point of first ranging sensor, second ranging sensor and third ranging sensor is parallel and the intersection point of first reference surface is not collinear, for ranging first reference surface.It is determined that the present application uses three ranging sensors to realize the pose relationship between first reference surface and second reference surface and execution coordinate system respectively, compared with the visual positioning technology in the prior art, the adaptability to working environment is strong, positioning efficiency is high, and the working efficiency of robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot positioning, in particular to a robot positioning system, a positioning method and a composite robot. BACKGROUND

[0002] In order to expand the working space of the robot, the robot is arranged on a mobile body in the prior art, so that the robot has a moving ability. The robot with the moving ability has strong operation adaptability and high practicability. After the mobile body moves, the robot needs to be accurately positioned to be able to perform operations such as grabbing, welding, spraying, polishing, stacking and assembling on a target.

[0003] In the prior art, visual positioning is usually used, but the visual technology has a high requirement on the surface quality of a calibration plate, and a camera lens cannot be applied to a working environment with water mist and droplet splashing, so that the robot cannot be applied to a special environment high-precision working scene. In addition, the visual positioning takes a long time, resulting in low robot operation efficiency and high visual positioning cost. SUMMARY

[0004] To solve the above technical problems, the first aspect of the present application provides a robot positioning system, which is used to solve the technical problems in the prior art that the robot uses visual positioning technology, has poor adaptability to the working environment, and the visual positioning takes a long time, resulting in low robot operation efficiency.

[0005] A robot positioning system comprises:

[0006] A positioning reference element, a reference coordinate system of the positioning reference element is fixed in position relative to a target object coordinate system of a robot; the positioning reference element comprises a first reference surface, a second reference surface and a third reference surface which are perpendicular to each other and form the reference coordinate system;

[0007] A sensor assembly is installed on an execution end of the robot, the sensor assembly comprises a first distance measuring sensor, a second distance measuring sensor and a third distance measuring sensor, emitting lines of respective emitting points of the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor are parallel to each other and the intersection points with the first reference surface are not collinear, for distance measurement of the first reference surface; the sensor assembly can rotate 90° along a first direction with the execution end, and at least two of the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor measure the distance of the second reference surface.

[0008] The robot positioning system provided by the application adopts three ranging sensors, the emitting lines of the emitting points of which are parallel to each other and do not share the same line of intersection with the first reference surface, realizes the ranging of the first reference surface, and determines the pose relationship between the first reference surface and the execution coordinate system; the three ranging sensors can move with the execution end, and then the second reference surface can be measured, and the pose relationship between the second reference surface and the execution coordinate system is determined, compared with the visual positioning technology in the prior art, the adaptability to the working environment is strong, the positioning efficiency is high, and the working efficiency of the robot is improved.

[0009] Further, the sensor assembly can be rotated by 90 degrees along the second direction with the execution end, and at least one of the first ranging sensor, the second ranging sensor and the third ranging sensor measures the third reference surface.

[0010] The robot positioning system provided by the application adopts three ranging sensors, through twice rotation of the execution end along two directions, the ranging of the first reference surface, the second reference surface and the third reference surface is realized, the pose relationship between the reference coordinate system and the execution coordinate system of the execution end is determined, compared with the visual positioning technology in the prior art, the adaptability to the working environment is strong, the positioning efficiency is high, and the working efficiency of the robot is improved.

[0011] Further, the sensor assembly further comprises a fourth ranging sensor, the emitting line of the emitting point of the fourth ranging sensor is perpendicular to the emitting line of the emitting point of the first ranging sensor, and the fourth ranging sensor is used for measuring the third reference surface.

[0012] The robot positioning system provided by the application adopts four ranging sensors, and the execution end only needs to rotate once to complete the ranging of the first reference surface, the second reference surface and the third reference surface, that is, to determine the pose relationship between the reference coordinate system and the execution coordinate system, and further improve the positioning efficiency of the robot.

[0013] Further, the end faces where the emitting points of the first ranging sensor, the second ranging sensor and the third ranging sensor are located are coplanar.

[0014] The robot positioning system provided by the application adopts four ranging sensors, and the execution end only needs to rotate once to complete the ranging of the first reference surface, the second reference surface and the third reference surface, that is, to determine the pose relationship between the reference coordinate system and the execution coordinate system, and further improve the positioning efficiency of the robot.

[0015] Further, the sensor assembly further comprises a connecting piece, the connecting piece is arranged on the execution end, and the first ranging sensor, the second ranging sensor and the third ranging sensor are arranged on the connecting piece.

[0016] Further, the connecting member comprises a first connecting member and a second connecting member arranged at the execution end, the first distance measuring sensor and the second distance measuring sensor are arranged at the first connecting member, and the third distance measuring sensor is arranged at the second connecting member.

[0017] Further, the connecting member further comprises a third connecting member arranged at the execution end, and the fourth distance measuring sensor is arranged at the third connecting member.

[0018] Further, the first distance measuring sensor is any one of a laser distance measuring sensor, an ultrasonic distance measuring sensor, a radar distance measuring sensor or an infrared distance measuring sensor, the second distance measuring sensor is any one of a laser distance measuring sensor, an ultrasonic distance measuring sensor, a radar distance measuring sensor or an infrared distance measuring sensor, the third distance measuring sensor is any one of a laser distance measuring sensor, an ultrasonic distance measuring sensor, a radar distance measuring sensor or an infrared distance measuring sensor, and the fourth distance measuring sensor is any one of a laser distance measuring sensor, an ultrasonic distance measuring sensor, a radar distance measuring sensor or an infrared distance measuring sensor.

[0019] The second aspect of the present application provides a robot positioning method applied to the robot positioning system, and the method comprises the following steps.

[0020] The execution end drives the sensor assembly to move to a first preset position, the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor measure the distance of the first reference surface to obtain first distance information, and the first pose relationship of the first reference surface relative to the execution coordinate system of the execution end is determined according to the first distance information.

[0021] The execution end is controlled to rotate 90° along a first direction, the execution end drives the sensor assembly to move to a second preset position, at least two of the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor measure the distance of the second reference surface to obtain second distance information, and the second pose relationship of the second reference surface relative to the execution coordinate system is determined according to the second distance information.

[0022] The execution end is controlled to rotate 90° along a second direction, the execution end drives the sensor assembly to move to a third preset position, at least one of the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor measures the distance of the third reference surface to obtain third distance information, and the third pose relationship of the third reference surface relative to the execution coordinate system is determined according to the third distance information, wherein the second direction is perpendicular to the first direction.

[0023] determine a fourth pose relationship between the reference coordinate system and the execution coordinate system based on the first pose relationship, the second pose relationship and the third pose relationship;

[0024] determine a pose relationship between the target object coordinate system and the execution coordinate system based on the fourth pose relationship and a preset pose relationship between the target object coordinate system and the reference coordinate system.

[0025] The robot positioning method provided by the application is based on three ranging sensors, and the three ranging sensors are driven to rotate 90 degrees along a first direction and a second direction by an execution end, three reference surfaces are measured, and a pose relationship between a reference coordinate system and an execution coordinate system is determined.

[0026] A third aspect of the application provides a robot positioning method applied to the robot positioning system described above, comprising the following steps:

[0027] The execution end drives the sensor assembly to move to a first preset position, the first ranging sensor, the second ranging sensor and the third ranging sensor measure the first reference surface to obtain fifth distance information, and a fifth pose relationship between the first reference surface and the execution coordinate system is determined according to the fifth distance information; and the fourth ranging sensor measures the third reference surface to obtain sixth distance information;

[0028] The execution end is controlled to rotate 90 degrees along a first direction, the execution end drives the sensor assembly to move to a second preset position, at least two of the first ranging sensor, the second ranging sensor and the third ranging sensor measure the second reference surface to obtain seventh distance information, and a seventh pose relationship between the second reference surface and the execution coordinate system is determined according to the seventh distance information;

[0029] A sixth pose relationship between the third reference surface and the execution coordinate system is determined based on the fifth pose relationship, the seventh pose relationship and the sixth distance information;

[0030] An eighth pose relationship between the reference coordinate system and the execution coordinate system is determined based on the fifth pose relationship, the sixth pose relationship and the seventh pose relationship;

[0031] A pose relationship between the target object coordinate system and the execution coordinate system is determined based on the eighth pose relationship and a preset pose relationship between the target object coordinate system and the reference coordinate system.

[0032] The robot positioning method provided by the application is based on four ranging sensors, three ranging sensors are driven by an end to rotate 90 degrees along a first direction to realize ranging of three reference surfaces and determine the pose relationship between a reference coordinate system and an execution coordinate system, compared with the visual positioning technology in the prior art, the adaptability to the working environment is high, the robot positioning efficiency is improved, and in addition, the coordinate transformation algorithm is the simplest.

[0033] The fourth aspect of the application provides a composite robot comprising a moving body and the robot positioning system described above, and the robot is arranged on the moving body. BRIEF DESCRIPTION OF DRAWINGS

[0034] Fig. 1 A local enlarged structure schematic view of a robot positioning system provided by the application at a first preset position;

[0035] Fig. 2 A local enlarged structure schematic view of a robot positioning system provided by the application at a second preset position;

[0036] Fig. 3 A whole structure schematic view of a composite robot provided by the application;

[0037] BRIEF DESCRIPTION OF DRAWINGS

[0038] 10-composite robot; 100-robot; 101-execution end;

[0039] 200-sensor assembly; 201-first ranging sensor; 202-second ranging sensor; 203-third ranging sensor; 204-fourth ranging sensor; 205-first connecting piece; 206-second connecting piece; 207-third connecting piece;

[0040] 300-positioning reference; 301-first reference surface; 302-second reference surface; 303-third reference surface;

[0041] 400-moving body; DETAILED DESCRIPTION

[0042] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the following will combine the attached drawings to Figs. 1-3 The specific embodiments of the application are described in detail.

[0043] Referring to the attached Figs. 1-3 A robot positioning system comprises:

[0044] A positioning reference 300 is provided, a reference coordinate system of the positioning reference 300 is fixed in position relative to a target object coordinate system of the robot 100; the positioning reference 300 comprises mutually perpendicular first, second and third reference planes 301, 302 and 303, and forms the reference coordinate system;

[0045] A sensor assembly 200 is provided, the sensor assembly 200 is mounted to the execution end 101 of the robot 100 and can move with the execution end 101, the sensor assembly 200 comprises first, second and third ranging sensors 201, 202 and 203, emitting lines of respective emitting points of the first, second and third ranging sensors 201, 202 and 203 are parallel to each other and not collinear at intersection points of the first reference plane 301, for ranging the first reference plane 301; the sensor assembly 200 can rotate 90° along a first direction with the execution end 101, at least two of the first, second and third ranging sensors 201, 202 and 203 range the second reference plane 302.

[0046] It should be noted that the execution end 101 has an execution coordinate system.

[0047] The positioning reference 300 is located within a measurement region of the sensor assembly 200.

[0048] The robot 100 positioning principle is based on a rectangular coordinate system, and uses a ranging sensor 6-point 321 positioning, wherein 3-point ranging determines a plane, 2-point ranging determines a straight line, and 1-point ranging determines a rectangular coordinate system origin.

[0049] In theory, 1 ranging sensor is provided on the execution end 101 to measure the first, second and third reference planes 301, 302 and 303 of the reference coordinate system 3 times, 2 times and 1 time respectively, which can also achieve the determination of the pose relationship between the reference coordinate system and the execution coordinate system, but using this way, the positioning efficiency of the robot 100 is low, which will affect the work rhythm of the robot 100; 6 ranging sensors are provided on the execution end 101, and the 6 ranging sensors are arranged in three mutually perpendicular planes, 1, 2 and 3 ranging sensors are respectively provided on the three planes, and the first, second and third reference planes 301, 302 and 303 of the reference coordinate system are measured once, which can also achieve the determination of the pose relationship between the reference coordinate system and the execution coordinate system, but using this way, due to the structure limitation of the actual application of the execution end 101, the arrangement of the 6 ranging sensors is difficult, and the cost is high.

[0050] Therefore, the robot positioning system provided by the application adopts the emitting lines of the emitting points of the three ranging sensors, which are parallel to each other and not collinear at the intersection with the first reference surface 301, realizes the ranging of the first reference surface 301, and determines the pose relationship between the first reference surface 301 and the execution coordinate system; the three ranging sensors can move with the execution end 101, and then the second reference surface 302 can be measured, and the pose relationship between the second reference surface 302 and the execution coordinate system is determined, which has strong adaptability to the working environment, high positioning efficiency, and improved working efficiency of the robot 100 compared with the visual positioning technology in the prior art.

[0051] Preferably, the sensor assembly 200 can rotate 90° along the second direction with the execution end 101, and at least one of the first ranging sensor 201, the second ranging sensor 202 and the third ranging sensor 203 ranges the third reference surface 303.

[0052] The robot positioning system provided by the application adopts three ranging sensors, realizes the ranging of the first reference surface 301, the second reference surface 302 and the third reference surface 303 through twice rotation of the execution end 101 along two directions, determines the pose relationship between the reference coordinate system and the execution coordinate system of the execution end, has strong adaptability to the working environment, high positioning efficiency, and improved working efficiency of the robot compared with the visual positioning technology in the prior art.

[0053] Preferably, the sensor assembly 200 further comprises a fourth ranging sensor 204, and the emitting line of the emitting point of the fourth ranging sensor 204 is perpendicular to the emitting line of the emitting point of the first ranging sensor 201, which is used for ranging the third reference surface 303.

[0054] It should be noted that arranging four ranging sensors, compared with three ranging sensors, the execution end 101 only needs to rotate once to realize the ranging of the first reference surface 301, the second reference surface 302 and the third reference surface 303, and then determine the pose relationship between the reference coordinate system and the execution coordinate system, which further improves the positioning efficiency of the robot 100 compared with three ranging sensors.

[0055] Therefore, the robot positioning system provided by the application adopts four ranging sensors, and the execution end 101 only needs to rotate once to complete the ranging of the first reference surface 301, the second reference surface 302 and the third reference surface 303, that is, to determine the pose relationship between the reference coordinate system and the execution coordinate system, which further improves the positioning efficiency of the robot 100.

[0056] Preferably, the end faces where the emitting points of the first ranging sensor 201, the second ranging sensor 202 and the third ranging sensor 203 are located are coplanar.

[0057] It should be noted that, preferably, the sensor assembly 200 further includes a connector, which is disposed at the execution end 101, and the first ranging sensor 201, the second ranging sensor 202 and the third ranging sensor 203 are disposed at the connector.

[0058] Preferably, the connector includes a first connector 205 and a second connector 206 disposed on the execution end 101, the first ranging sensor 201 and the second ranging sensor 202 are disposed on the first connector 205; and the third ranging sensor 203 is disposed on the second connector 206.

[0059] In one specific embodiment, the first connector 205 and the second connector 206 are plate-shaped structures, and the first connector 205 and the second connector 206 are disposed opposite to each other on the execution end 101.

[0060] Preferably, the connector further includes a third connector 207 disposed on the execution end 101, and the fourth ranging sensor 204 is disposed on the third connector 207.

[0061] In one specific embodiment, the third connector 207 is a plate-like structure.

[0062] Preferably, the first ranging sensor 201 is any one of a laser ranging sensor, an ultrasonic ranging sensor, a radar ranging sensor, or an infrared ranging sensor; the second ranging sensor 202 is any one of a laser ranging sensor, an ultrasonic ranging sensor, a radar ranging sensor, or an infrared ranging sensor; the third ranging sensor 203 is any one of a laser ranging sensor, an ultrasonic ranging sensor, a radar ranging sensor, or an infrared ranging sensor; and the fourth ranging sensor 204 is any one of a laser ranging sensor, an ultrasonic ranging sensor, a radar ranging sensor, or an infrared ranging sensor.

[0063] See appendix Figs. 1-3 A second aspect of the present invention provides a robot localization method applied to the robot localization system described above, the method comprising the following steps:

[0064] The execution end 101 is controlled to drive the sensor assembly 200 to a first preset position. The first distance sensor 201, the second distance sensor 202 and the third distance sensor 203 measure the distance to the first reference surface 301 to obtain the first distance information. Based on the first distance information, the first pose relationship of the first reference surface 301 relative to the execution coordinate system of the execution end 101 is determined.

[0065] The execution end 101 is controlled to rotate 90° along the first direction. The execution end 101 drives the sensor assembly 200 to move to the second preset position. At least two of the first ranging sensor 201, the second ranging sensor 202 and the third ranging sensor 203 measure the distance to the second reference surface 302 to obtain second distance information. Based on the second distance information, the second pose relationship of the second reference surface 302 relative to the execution coordinate system is determined.

[0066] The execution end 101 is controlled to rotate 90° along the second direction, and the execution end 101 drives the sensor assembly 200 to move to a third preset position. At least one of the first ranging sensor 201, the second ranging sensor 202, and the third ranging sensor 203 measures the distance to the third reference plane 303 to obtain third distance information. Based on the third distance information, a third pose relationship of the third reference plane 303 relative to the execution coordinate system is determined; wherein, the second direction is perpendicular to the first direction.

[0067] Based on the first pose relationship, the second pose relationship, and the third pose relationship, a fourth pose relationship between the reference coordinate system and the execution coordinate system is determined;

[0068] Based on the fourth pose relationship and the preset pose relationship between the target object coordinate system and the reference coordinate system, the pose relationship between the target object coordinate system and the execution coordinate system is determined.

[0069] It should be noted that the preset pose relationship between the target object coordinate system and the reference coordinate system is obtained through teaching.

[0070] In a specific application, the robot localization method is used for secondary localization of the composite robot 10, enabling the end effector 101 of the composite robot 10 to accurately operate the target object.

[0071] Therefore, the robot positioning method provided by the present invention is based on three ranging sensors. By driving the three ranging sensors to rotate 90° along the first and second directions through the execution end 101, the distance to the three reference planes is measured, and the pose relationship between the reference coordinate system and the execution coordinate system is determined. Compared with the visual positioning technology in the prior art, it has strong adaptability to the working environment and improves the positioning efficiency of the robot 100.

[0072] See appendix Figs. 1-3 A third aspect of the present invention provides a robot localization method applied to the robot localization system described above, comprising the following steps:

[0073] The execution end 101 is controlled to move the sensor assembly 200 to a first preset position. The first ranging sensor 201, the second ranging sensor 202, and the third ranging sensor 203 measure the distance to the first reference surface 301 to obtain fifth distance information. Based on the fifth distance information, the fifth pose relationship between the first reference surface 301 and the execution coordinate system is determined. The fourth ranging sensor 204 measures the distance to the third reference surface 303 to obtain sixth distance information.

[0074] The execution end 101 is controlled to rotate 90° along the first direction. The execution end 101 drives the sensor assembly 200 to move to the second preset position. At least two of the first ranging sensor 201, the second ranging sensor 202 and the third ranging sensor 203 measure the distance to the second reference surface 302 to obtain the seventh distance information. The seventh pose relationship between the second reference surface 302 and the execution coordinate system is determined based on the seventh distance information.

[0075] Based on the fifth pose relationship, the seventh pose relationship, and the sixth distance information, the sixth pose relationship between the third reference plane 303 and the execution coordinate system is determined;

[0076] Based on the fifth pose relationship, the sixth pose relationship, and the seventh pose relationship, the eighth pose relationship between the reference coordinate system and the execution coordinate system is determined;

[0077] Based on the eighth pose relationship and the preset pose relationship between the target object coordinate system and the reference coordinate system, the pose relationship between the target object coordinate system and the execution coordinate system is determined.

[0078] It should be noted that the preset pose relationship between the target object coordinate system and the reference coordinate system is obtained through teaching.

[0079] In a specific application, the robot localization method is used for secondary localization of the composite robot 10, enabling the end effector 101 of the composite robot 10 to accurately operate the target object.

[0080] Therefore, the robot positioning method provided by the present invention is based on four ranging sensors. By driving three ranging sensors to rotate 90° along the first direction through the execution end 101, the distance to three reference planes is measured, and the pose relationship between the reference coordinate system and the execution coordinate system is determined. Compared with the visual positioning technology in the prior art, it has strong adaptability to the working environment, improves the positioning efficiency of robot 100, and improves the working efficiency of robot 100. In addition, the coordinate transformation algorithm is the simplest.

[0081] See appendix Fig. 3A fourth aspect of the present invention provides a composite robot 10, including a mobile body 400 and the robot positioning system described above, wherein the robot 100 is disposed on the mobile body 400.

[0082] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A robot positioning system, characterized in that, include: A positioning reference component (300) is provided, wherein the relative position between the reference coordinate system of the positioning reference component (300) and the target object coordinate system of the robot (100) is fixed; the positioning reference component (300) includes a first reference surface (301), a second reference surface (302) and a third reference surface (303) that are perpendicular to each other, and forms the reference coordinate system; A sensor assembly (200) is mounted on the end effector (101) of the robot (100). The sensor assembly (200) includes a first ranging sensor (201), a second ranging sensor (202), and a third ranging sensor (203). The emission lines of each emission point of the first ranging sensor (201), the second ranging sensor (202), and the third ranging sensor (203) are parallel to each other and do not intersect with the first reference surface (301), and are used to measure the distance to the first reference surface (301). The sensor assembly (200) can rotate 90° along a first direction with the end effector (101). At least two of the first ranging sensor (201), the second ranging sensor (202), and the third ranging sensor (203) measure the distance to the second reference surface. The sensor assembly (200) is capable of rotating 90° along the second direction with the execution end (101), and at least one of the first ranging sensor (201), the second ranging sensor (201) and the third ranging sensor (201) measures the distance to the third reference surface (303); or, the sensor assembly (200) further includes a fourth ranging sensor (204), the emission line of the emission point of the fourth ranging sensor (204) is perpendicular to the emission line of the emission point of the first ranging sensor (201), and is used to measure the distance to the third reference surface (303).

2. The robot positioning system according to claim 1, characterized in that, The end faces of the emission points of the first ranging sensor (201), the second ranging sensor (202), and the third ranging sensor (203) are coplanar.

3. The robot positioning system according to claim 2, characterized in that, The sensor assembly (200) further includes a connector disposed at the execution end (101), wherein the first ranging sensor (201), the second ranging sensor (202) and the third ranging sensor (203) are disposed at the connector.

4. The robot positioning system according to claim 3, characterized in that, The connector includes a first connector (205) and a second connector (206) disposed at the execution end (101), the first distance sensor (201) and the second distance sensor (202) are disposed at the first connector (205); the third distance sensor (203) is disposed at the second connector (206).

5. The robot positioning system according to claim 3, characterized in that, The connector also includes a third connector (207) disposed at the execution end (101), and the fourth ranging sensor (204) is disposed at the third connector (207).

6. The robot positioning system according to claim 1, characterized in that, The first ranging sensor (201) is any one of a laser ranging sensor, an ultrasonic ranging sensor, a radar ranging sensor, or an infrared ranging sensor; the second ranging sensor (202) is any one of a laser ranging sensor, an ultrasonic ranging sensor, a radar ranging sensor, or an infrared ranging sensor; the third ranging sensor (203) is any one of a laser ranging sensor, an ultrasonic ranging sensor, a radar ranging sensor, or an infrared ranging sensor; and the fourth ranging sensor (204) is any one of a laser ranging sensor, an ultrasonic ranging sensor, a radar ranging sensor, or an infrared ranging sensor.

7. A robot localization method, characterized in that, The method, applied to the robot positioning system of claim 1, comprises the following steps: The execution end (101) is controlled to drive the sensor assembly (200) to move to a first preset position. The first distance sensor (201), the second distance sensor (202) and the third distance sensor (203) measure the distance to the first reference surface (301) to obtain the first distance information. Based on the first distance information, the first pose relationship of the first reference surface (301) relative to the execution coordinate system of the execution end (101) is determined. The execution end (101) is controlled to rotate 90° along the first direction. The execution end (101) drives the sensor assembly (200) to move to the second preset position. At least two of the first ranging sensor (201), the second ranging sensor (202) and the third ranging sensor (203) measure the distance to the second reference plane (302) to obtain the second distance information. The second pose relationship of the second reference plane (302) relative to the execution coordinate system is determined based on the second distance information. The execution end (101) is controlled to rotate 90° along the second direction, and the execution end (101) drives the sensor assembly (200) to move to the third preset position. At least one of the first ranging sensor (201), the second ranging sensor (202), and the third ranging sensor (203) measures the distance to the third reference plane (303) to obtain the third distance information. Based on the third distance information, the third pose relationship of the third reference plane (303) relative to the execution coordinate system is determined; wherein, the second direction is perpendicular to the first direction. Based on the first pose relationship, the second pose relationship, and the third pose relationship, a fourth pose relationship between the reference coordinate system and the execution coordinate system is determined; Based on the fourth pose relationship and the preset pose relationship between the target object coordinate system and the reference coordinate system, the pose relationship between the target object coordinate system and the execution coordinate system is determined.

8. A robot localization method, characterized in that, The robot positioning system applied to any one of claims 1-6 includes the following steps: The execution end (101) is controlled to move the sensor assembly (200) to a first preset position. The first ranging sensor (201), the second ranging sensor (202), and the third ranging sensor (203) measure the distance to the first reference surface (301) to obtain the fifth distance information. The fifth pose relationship between the first reference surface (301) and the execution coordinate system is determined based on the fifth distance information. The fourth ranging sensor (204) measures the distance to the third reference surface (303) to obtain the sixth distance information. The execution end (101) is controlled to rotate 90° along the first direction. The execution end (101) drives the sensor assembly (200) to move to the second preset position. At least two of the first ranging sensor (201), the second ranging sensor (202) and the third ranging sensor (203) measure the distance to the second reference plane (302) to obtain the seventh distance information. The seventh pose relationship between the second reference plane (302) and the execution coordinate system is determined based on the seventh distance information. Based on the fifth pose relationship, the seventh pose relationship, and the sixth distance information, the sixth pose relationship between the third reference plane (303) and the execution coordinate system is determined; Based on the fifth pose relationship, the sixth pose relationship, and the seventh pose relationship, the eighth pose relationship between the reference coordinate system and the execution coordinate system is determined; Based on the eighth pose relationship and the preset pose relationship between the target object coordinate system and the reference coordinate system, the pose relationship between the target object coordinate system and the execution coordinate system is determined.

9. A composite robot (10), characterized in that, The system includes a mobile body (400) and a robot positioning system according to any one of claims 1-6, wherein the robot (100) is disposed on the mobile body (400).

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