Object surface coordinate point positioning device and method

Abstract

The invention discloses an object surface coordinate point positioning device and method, and belongs to the technical field of measurement and positioning, the device comprises a base, an X-axis driving mechanism, a Y-axis driving mechanism, a laser module and a control module, and the X-axis driving mechanism and the Y-axis driving mechanism are configured to enable two motor axes to be substantially vertical and intersect at a rotation center point. The method is based on a process of first self-calibration and then positioning, and comprises the following steps of: setting at least three non-collinear reference points with known coordinates on the surface of an object in a space coordinate system; after the device is arranged, laser is driven to sequentially aim at the datum points, and corresponding motor angles are recorded; the control module automatically calculates the precise position and attitude parameters of the device; during positioning, coordinates of a target point are input, and the control module inversely solves the required motor angle and drives the laser to aim at the point. According to the invention, rapid, high-precision and automatic coordinate point positioning without external calibration is realized, the operation is simple and convenient, and the adaptability is strong.

Description

Technical Field

[0001] This invention relates to the field of measurement and positioning technology, and more specifically, to a device and method for rapidly and accurately locating points with known three-dimensional coordinates on the surface of an object. Background Technology

[0002] In fields such as industrial surveying, building construction, large equipment installation, and stadium lighting, it is often necessary to accurately locate points with known design coordinates on the surface of objects (such as walls, roofs, floors, and large structural components). Traditional positioning methods mainly rely on large precision instruments such as total stations and laser trackers. While these instruments offer high accuracy, they typically require specialized operators to perform complex station setups, multiple measurements, manual calculations, and layouts. This results in problems such as expensive equipment, complex operation, high skill requirements for personnel, and low overall positioning efficiency. The traditional methods are particularly cumbersome in scenarios requiring rapid and frequent positioning of multiple points.

[0003] Furthermore, existing automated or semi-automated positioning devices often require pre-calibration of their precise spatial position and orientation (collectively referred to as "pose") using external measurement methods, or they must be fixed to a reference frame with known coordinates. This significantly limits the flexibility and application range of the devices. Once the device is moved or its orientation changes, a complex and time-consuming external calibration process must be performed again, resulting in poor deployment flexibility and making it difficult to meet the application requirements of rapid and frequent positioning.

[0004] Therefore, the industry urgently needs a positioning device and method that can automatically determine its own pose, has a compact structure, is easy to operate, and can quickly and automatically aim the laser at the target coordinate point. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a device and method for locating coordinate points on the surface of an object. This device can automatically calculate its precise position and orientation in a spatial coordinate system by aiming a laser at a few known coordinate reference points on the object's surface (even if the center of the laser spot coincides with the target point). Furthermore, it can automatically control the laser to aim at any input target point coordinate, achieving rapid, high-precision, and automated positioning.

[0006] To achieve the above objectives, in one aspect, the present invention provides a device for locating coordinate points on the surface of an object, characterized in that it comprises: Base; An X-axis drive mechanism, including an X-axis motor and an X-axis support, is used to drive the X-axis support to rotate around the axis of the X-axis motor. The Y-axis drive mechanism includes a Y-axis motor and a Y-axis bracket, which is used to drive the Y-axis bracket to rotate around the axis of the Y-axis motor. The X-axis drive mechanism and the Y-axis drive mechanism are configured such that the axis of the X-axis motor is substantially perpendicular to the axis of the Y-axis motor and intersects at a point, which constitutes the rotation center point of the device. The laser module, fixed on the Y-axis bracket, is used to emit a collimated visible laser beam; The control module is electrically connected to the X-axis motor, the Y-axis motor, and the laser module, and is used to control the motor rotation, record angle information, perform calculations, and control the laser switch.

[0007] Preferably, both the X-axis motor and the Y-axis motor are equipped with high-precision absolute encoders to provide real-time feedback on the absolute angular position of the motor rotor and drive the rotor to rotate precisely to the specified absolute angular position, thereby ensuring high repeatability and accuracy of laser pointing.

[0008] Preferably, the X-axis bracket has a rotor fixing surface for the X-axis motor and a stator fixing surface for the Y-axis motor that are perpendicular to each other, which are used to fix the rotor of the X-axis motor and the stator of the Y-axis motor respectively, thereby ensuring the perpendicular relationship between the axes of the two motors.

[0009] Preferably, the Y-axis bracket has a Y-axis motor rotor fixing surface and a laser module fixing surface that are perpendicular to each other, which are used to fix the rotor of the Y-axis motor and the laser module respectively, thereby ensuring that the center line of the laser beam is perpendicular to the axis of the Y-axis motor.

[0010] Preferably, the laser module is configured such that the center line of the laser beam intersects perpendicularly with the axis of the Y-axis motor, a design that simplifies the spatial geometric relationship model.

[0011] Secondly, the present invention provides a method for locating coordinate points on the surface of an object based on the above-mentioned device, characterized in that it adopts a two-stage process of "self-calibration first, then localization", including the following steps: S1. Calibration Preparation: In a predefined spatial rectangular coordinate system, set at least three non-collinear reference points with known three-dimensional coordinates on one or more object surfaces; S2. Device placement: Fix the positioning device in a suitable position in space, and ensure that the laser emitted by the laser module can illuminate all reference points and the target point area to be positioned by rotation. There are no precise requirements for the specific position and initial orientation of the device. S3. Self-calibration and pose calculation: Control the rotation of the X-axis and Y-axis motors to drive the laser beam to sequentially aim at all reference points. Input the coordinates of the reference points into the control module, and the control module records the absolute angle value Xθ of the X-axis motor corresponding to each aiming. n and the absolute angle value Yθ of the Y-axis motor n ; Based on a pre-stored spatial geometric relationship model that characterizes the coordinates of the device's rotation center point, structural constants related to the device's mechanical structure, and the relationship between the laser spot center coordinates and the absolute angle value of the motor, the control module calculates the three-dimensional coordinates (X0, Y0, Z0) of the device's rotation center point in the spatial rectangular coordinate system and the attitude parameters used to determine the device's spatial orientation. S4. Target Point Positioning: When it is necessary to position a target point on the surface of an object with known three-dimensional coordinates (X, Y, Z), the target point coordinates are input into the control module. The control module uses the spatial geometric relationship model to inversely calculate the target absolute angle values ​​Xθ of the X-axis motor and Yθ of the Y-axis motor required for the laser to aim at the target point based on the calculated device pose parameters. Then, the two motors are driven to rotate to the corresponding angles, so that the laser is aimed at the target point.

[0012] Furthermore, the spatial geometric relationship model is a deterministic mathematical model established based on the core structural constraint of the device, namely, the perpendicular intersection of the X-axis motor axis and the Y-axis motor axis, using the principle of spatial triangulation. This model is embedded in the control module as an algorithm program and possesses two core functions: (a) Forward calculation function: Based on the coordinates of at least three sets of non-collinear reference points and their corresponding absolute angle data of the motor, the position coordinates and attitude parameters of the device are calculated; (b) Reverse calculation function: Based on the position coordinates, attitude parameters and target point coordinates of the device, the absolute angle values ​​of the two motors required for the laser to aim at the target point are calculated.

[0013] The establishment of the mathematical model enables the device to perform self-positioning without external calibration, relying solely on internal angle measurement and calculation, which is the key to achieving "placing it in place and using it immediately".

[0014] Preferably, the attitude parameters calculated in step S3 are a set of parameters used to determine the orientation of the device in the spatial rectangular coordinate system. In one specific embodiment, this set of parameters includes: reference angles Xθ0 and Yθ0 and the horizontal projection angle β. Wherein, Xθ0 and Yθ0 are the absolute angle values ​​corresponding to the X-axis and Y-axis motors when they are in a specific reference direction (see specific embodiments for details); β defines the projection direction of the X-axis motor axis onto the xoy coordinate plane of the spatial rectangular coordinate system.

[0015] Preferably, the number of reference points can be more than three. When the number of reference points is greater than three, the control module can use optimization algorithms such as the least squares method to optimize and solve the mathematical relationship established based on the spatial geometric relationship model, so as to reduce the influence of random errors and obtain higher precision device pose parameters.

[0016] Preferably, the spatial rectangular coordinate system is defined arbitrarily, and its origin, coordinate axis positions, and positive coordinate axis directions can be flexibly set according to the actual application scenario. The coordinates of all reference points and target points can be under this unified coordinate system.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. Automation and high efficiency: The entire process from device self-calibration to target point aiming is automated, eliminating the need for repeated manual measurement and calculation, significantly improving positioning efficiency, and achieving the effect of "one-click positioning".

[0018] 2. High precision: The high-precision absolute encoder ensures the accuracy of angle measurement. Combined with a precise spatial geometric model and optional redundant reference point calibration optimization algorithm, it can achieve high final positioning accuracy.

[0019] 3. High flexibility and ease of use: The device has very relaxed requirements for its initial placement and posture. It can automatically complete the calibration as long as the laser can cover a few reference points and the surface area of ​​the object where the target point is located, realizing true "place and use" and greatly reducing the operation threshold and professional requirements.

[0020] 4. Compact structure and strong adaptability: The device has a clever mechanical design and a relatively small size, making it easy to apply to various complex environments such as industrial sites, construction sites, and sports stadiums.

[0021] 5. High cost-effectiveness: Compared with large equipment such as total stations, the device of this invention has significantly reduced costs while achieving similar automated positioning functions, resulting in higher cost-effectiveness. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 2 This is a side view of an embodiment of the present invention. Figure 3 This is a schematic diagram of the driving structure in an embodiment of the present invention; Figure 4 This is a schematic diagram of the X-axis support structure in an embodiment of the present invention; Figure 5 This is a schematic diagram of the Y-axis support structure in an embodiment of the present invention; Figure 6 This is a schematic diagram of the spatial geometric relationships involved in the positioning method of the present invention.

[0023] Explanation of the labels in the diagram: 1 - Base; 2 - X-axis bracket; 201 - X-axis motor rotor fixing surface; 202 - Y-axis motor stator fixing surface; 3 - Control module; 4 - X-axis motor; 5 - Y-axis motor; 6 - Y-axis bracket; 601 - Y-axis motor rotor fixing surface; 602 - Laser module fixing surface; 7 - Laser module; 8 - Laser beam; 9 - Laser spot; 1001 - Rotation center point; 1002 - X-axis motor axis; 1003 - Y-axis motor axis; 1004 - xoy coordinate plane; 1005 - Projection line of X-axis motor axis on xoy coordinate plane; 1006 - Forward marking line; 1007 - Forward marking line. Symbol Explanation

[0024] To make the description of the technical solution of this invention clearer and more concise, the meanings of the symbols used to represent serialized parameters such as coordinate points and motor angles are defined as follows: (X) n Y n Z n ): represents the three-dimensional coordinates of the nth reference point in a predefined spatial rectangular coordinate system; Xθ n : This represents the absolute angle value of the X-axis motor when the laser is aimed at the nth reference point; Yθ n : This represents the absolute angle value of the Y-axis motor when the laser is aimed at the nth reference point; (X0, Y0, Z0): Represents the three-dimensional coordinates of the rotation center point 1001 of the device in the spatial rectangular coordinate system; Xθ0, Yθ0: These represent the reference angles defined in the spatial geometric relationship model of this invention to characterize the attitude of the device, and are the absolute angle values ​​corresponding to the X-axis and Y-axis motors, respectively (see specific implementation details). (X, Y, Z): Represents the three-dimensional coordinates of a specific target point in the spatial rectangular coordinate system; Xθ, Yθ: Represents the absolute angle values ​​of the X-axis and Y-axis motors when the laser is aimed at a specific target point; D: Represents one of the inherent structural constants of the device, defined as the vertical distance from the rotation center point 1001 to the center line of the laser beam 8, which is measured at the factory and pre-stored in the control module 3; Yθ h : Represents one of the inherent structural constants of the device, defined as the absolute angle value of the Y-axis motor under a specific physical reference state calibrated at the factory (see detailed implementation), which is measured at the factory and pre-stored in the control module 3; β: Represents the projection direction of the X-axis motor axis 1002 onto the xoy coordinate plane 1004 of the spatial rectangular coordinate system, which is a parameter of the device attitude. α: Represents the derived parameter obtained from the solution, which is the tilt angle related to the X-axis motor axis (see the specific implementation method for details). Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0026] Device structure and core design features: Reference Figures 1 to 5 This embodiment provides a device for locating coordinate points on the surface of an object. The device includes a base 1, an X-axis support 2, a control module 3, an X-axis motor 4, a Y-axis motor 5, a Y-axis support 6, and a laser module 7. The base 1 serves as the mounting base for the entire device. The stator of the X-axis motor 4 is fixed on the base 1, and its rotor is connected to the X-axis motor rotor fixing surface 201 of the X-axis bracket 2. The stator of the Y-axis motor 5 is fixed on the Y-axis motor stator fixing surface 202 of the X-axis bracket 2, and its rotor is connected to the Y-axis motor rotor fixing surface 601 of the Y-axis bracket 6. The base 1 is etched or printed with a positive marking line 1006 and a forward marking line 1007. These two marking lines establish the directional reference in the device's own coordinate system. Through precision machining, the rotor fixing surface 201 of the X-axis motor and the stator fixing surface 202 of the Y-axis motor are ensured to be perpendicular, thereby configuring the X-axis drive mechanism and the Y-axis drive mechanism to "make the X-axis motor axis 1002 perpendicular to the Y-axis motor axis 1003". Furthermore, through calibration, the axes of the two motors intersect at a point, which is defined as the rotation center point 1001 of the device. Therefore, the core mechanical design feature of the device is that "the X-axis motor axis 1002 and the Y-axis motor axis 1003 are substantially perpendicular and intersect at the rotation center point 1001". The laser module 7 is fixed on the Y-axis bracket 6 and is used to generate a visible, fine collimated laser beam 8, which irradiates the surface of the object to produce a laser spot 9. Through precision machining, the Y-axis motor rotor fixing surface 601 and the laser module fixing surface 602 are ensured to be perpendicular, so that the laser module 7 is configured to "make the center line of the laser beam 8 perpendicular to the Y-axis motor axis 1003". Furthermore, through calibration, the two can be made to intersect at a point. This design feature of the center line of the laser beam 8 intersecting the Y-axis motor axis 1003 perpendicularly is beneficial to simplifying the spatial geometric relationship model.

[0027] Establishment of motor angle reference (zero-position calibration): Both the X-axis motor 4 and the Y-axis motor 5 have built-in high-precision absolute encoders. In order to make the angle values ​​(Xθ, Yθ) output by the encoder have clear physical meanings corresponding to the mechanical structure, absolute zero calibration is required before leaving the factory. On the precision-assembled device, special tooling is used to fix the X-axis bracket 2 and the Y-axis bracket 6 to a predefined mechanical reference position. At this time, the control module 3 reads the original values ​​of the two encoders and permanently defines and stores the position as the absolute angle of the X-axis motor 0° and the absolute angle of the Y-axis motor 0°. After that, in any posture of the device, the Xθ and Yθ values ​​read by the control module (3) are the absolute angles of the rotor relative to this "factory zero position". The "predefined mechanical reference position" can be aligned with the positive marking line 1006 and the forward marking line 1007 on the device housing, or it can be determined separately according to design requirements.

[0028] The structural constants (D, Yθ) of the device were obtained through precise factory calibration measurements. h ): D is defined as the vertical distance from the rotation center point 1001 to the center line of the laser beam 8; Yθ h The absolute angle value corresponding to the Y-axis motor 5 is defined as the value when the device simultaneously meets the following two conditions: (a) Geometric conditions: The center line of laser beam 8 is perpendicular to the axis 1002 of the X-axis motor; (b) Directional conditions: The Y-axis support 6 is near the position indicated by the arrow of the forward marker line 1007, and the irradiation direction of the laser beam 8 is close to the direction indicated by the arrow of the forward marker line 1006; By introducing a direction condition, it is ensured that among the possible positions satisfying the geometric conditions (with opposite laser directions), only one position is selected, thus obtaining the unique constant Yθ of this device. h ; The above structural constants (D, Yθ) h As a known constant characterizing the structural relationship of the device itself, it is stored in control module 3.

[0029] Control Module 3 Description: The control module 3 is the core processing unit, which integrates a microprocessor, motor driver, memory and communication interface. It is electrically connected to the X-axis motor 4, Y-axis motor 5 and laser module 7, and is responsible for motion control, angle acquisition, model calculation and laser switching. Its memory contains the control program for implementing the positioning method of the present invention and the calculation program for the spatial geometric relationship model.

[0030] Design features description: It should be noted that the "X-axis motor axis 1002 and Y-axis motor axis 1003 intersect perpendicularly at the rotation center point" and "the center line of the laser beam 8 intersects perpendicularly with the Y-axis motor axis 1003" described in the claims of this invention are the core mechanical design features and theoretical model basis of this device. In specific implementation, through precise machining, assembly and calibration, the spatial relationship of the actual product can be made infinitely close to this ideal geometric model. Those skilled in the art should understand that due to unavoidable minor manufacturing tolerances, there may be slight deviations in the actual physical axis. However, as long as such deviations are controlled within a range sufficient to ensure the positioning accuracy of this device, it should be considered that the "perpendicular intersection" design feature and technical effect described in this invention have been achieved.

[0031] Taking a specific application scenario—aiming and positioning of lighting fixtures in sports stadiums—as an example, the workflow of this invention will be explained in detail.

[0032] S1. Preparations: The design coordinate system for stadium lighting engineering is a spatial rectangular coordinate system, with its x and y axes on the playing field, the origin located at the center of the field, and the positive direction of the z-axis vertically upward. Using equipment such as a total station, at least three non-collinear reference points (P1, P2, P3…P ... n (where n is the reference point number), and record the three-dimensional coordinates (X, Y, Z) of the reference point. n Y n Z n ).

[0033] S2. Device placement: Fix this positioning device to the stadium walkway or a sturdy tripod; the operator only needs to make rough adjustments to the device and ensure that by rotating the laser, all reference points and the target area to be positioned can be illuminated. The precise position and orientation of the device do not require measurement or calibration.

[0034] S3. Automatic calibration (calculating its own pose): Operators can start the "calibration" program via a mobile app or other terminal connected to control module 3; On the APP interface, control the rotation of X-axis motor 4 and Y-axis motor 5 to drive laser scanning and make the laser accurately aim at each reference point in turn; At each target point, control module 3 reads and records the absolute angle value (Xθ) from the motor's absolute encoder. n ,Yθ n The operator inputs the known coordinates (X, Y, X) of the reference point into the APP. n Y n Z n ); The APP sends all reference point coordinate data to control module 3. Control module 3 calls the internally stored spatial geometric relationship model calculation program, which calculates multiple sets of data (reference point coordinates + corresponding motor absolute angle values) and device structural constants (D, Yθ). h ) as input; The model calculation program performs the calculation. When the number of reference points n = 3, it directly solves a system of six equations. When n > 3, it forms an overdetermined system of equations, and the program automatically uses the least squares method for optimization. The output of the calculation is the precise coordinates (X0, Y0, Z0) of the device's rotation center point 1001 in the design coordinate system, as well as the attitude parameters (Xθ0, Yθ0, β) used to define the device's spatial orientation; where Xθ0 and Yθ0 are the reference angle values ​​calculated by the model, and β is the direction angle of the projection line 1005 of the X-axis motor axis onto the xoy coordinate plane of the design coordinate system; at this point, the precise pose (position and orientation) of the device in the user coordinate system has been completely determined, and the self-calibration process is complete.

[0035] S4. Automatic positioning (aiming at the target point): Construction workers need to aim a set of lights at the designed coordinate points (X, Y, Z) on the surface of an object inside the venue; Construction workers input the coordinates of the target point into the APP and click "Locate"; After receiving the target coordinates, control module 3 compares them with its calculated pose parameters (X0, Y0, Z0, Xθ0, Yθ0, β) and structural constants (D, Yθ). h The values ​​are input together into the reverse calculation program of the spatial geometric relationship model; at this time, the program performs reverse calculation, and the equation contains only two unknowns: the absolute angle value Xθ of the target X-axis motor 4 and the absolute angle value Yθ of the target Y-axis motor 5; The control module 3 solves for Xθ and Yθ, and then drives the X-axis motor 4 and the Y-axis motor 5 to make their rotors rotate precisely to the Xθ and Yθ positions respectively; The laser emitted by the laser module 7 is then aimed at a point on the object surface with coordinates (X, Y, Z), forming a clear laser spot 9. Construction personnel can then use the center point of this spot to make the final aiming and installation of the lamp. Repeat this step to quickly and automatically locate the aiming points of all lights within the venue.

[0036] Preferred implementation: To improve calibration accuracy and system robustness, it is recommended to set up 4 or more reference points. During the calibration process, the device aims at all reference points to obtain more calibration data. The control module 3 uses the least squares method to fit and solve the problem, which can effectively offset the measurement error of a single reference point or the laser aiming error, and obtain more stable and accurate device pose parameters, thereby improving the positioning accuracy of all subsequent target points.

[0037] Explanation of the principles of spatial geometric relationship models The establishment and operation of the spatial geometric relationship model strictly depends on the core structural design of the aforementioned device, namely: the X-axis motor axis 1002 is perpendicular to and intersects the Y-axis motor axis 1003 at the rotation center point 1001, and the center line of the laser beam 8 intersects the Y-axis motor axis 1003 perpendicularly.

[0038] Model parameter definition Under the geometric constraints of this structure, the spatial pose (position and orientation) of the device in the user space Cartesian coordinate system can be determined by the position parameters and attitude parameters.

[0039] Position parameters: Coordinates of rotation center point 1001 (X0, Y0, Z0).

[0040] Attitude parameters: A set of angular parameters used to define the spatial orientation of the device. In this model, the following three parameters are used: Reference angles Xθ0, Yθ0: These are a set of associated motor angle values ​​defined in the model. They together establish a mathematical reference direction for the laser beam in space. This set of values ​​is an internal parameter that the model uniquely calculates by fitting all reference point aiming data, and is used to construct the entire geometric relationship. Horizontal projection angle β: This is defined as the direction angle of the projection line 1005 of the X-axis motor axis 1002 onto the xOy coordinate plane 1004. This parameter directly determines the overall rotational orientation of the device around the Z-axis of the coordinate system.

[0041] It should be noted that the reference angles Xθ0 and Yθ0 are internal mathematical parameters introduced by the model to describe the attitude. Their values ​​are uniquely determined by solving a system of equations during the self-calibration process, rather than directly corresponding to a single, unambiguous physical motor position.

[0042] The role of structural constants in the model The device has pre-stored structural constants D and Yθ h These are necessary input parameters for the spatial geometric relationship model and directly participate in the calculation.

[0043] In the mathematical expression of the model, to simplify the formula and clarify its geometric meaning, a derived parameter α is often introduced, which is defined as: α = Yθ0 - Yθh The parameter α has a clear physical meaning: it represents the actual tilt angle of the X-axis motor axis 1002 relative to the user coordinate system xOy coordinate plane 1004.

[0044] It is important to clarify that α is not an independent unknown in the model solution process. The unknowns directly solved by the model are the six pose parameters of the device (X0, Y0, Z0, Xθ0, Yθ0, β). α is defined as (Yθ0 - Yθ0) / β. h Yθ0 is used as the core equation of the model, substituted with known relationships, to relate Yθ0 to the known constant Yθ. h This simplifies the equation's form and reflects its geometric meaning. Therefore, introducing α does not increase the equation's complexity or the number of unknowns.

[0045] The solution principle of the model (forward) When the laser is aimed at a known coordinate point P(X, Y, Z) on the surface of an object, based on the rigid geometric constraints mentioned above, there is a definite mathematical relationship between the target point coordinates, the six pose parameters of the device (X0, Y0, Z0, Xθ0, Yθ0, β), and the two absolute angle values ​​of the motors (Xθ, Yθ) recorded at this time. This relationship can be expressed as two independent equations.

[0046] Therefore, by controlling the laser to sequentially aim at at least three non-collinear reference points, at least six independent equations can be obtained, thereby solving all six unknown pose parameters and completing the device's self-calibration. When the number of reference points is greater than three, an overdetermined system of equations is formed. Control module 3 will use optimization algorithms such as the least squares method to fit and solve the equations, obtaining a more robust and accurate solution.

[0047] The model's inverse solution function (localization) After the device's pose parameters are fully determined through self-calibration, for any given target point coordinates (X, Y, Z), the model can inversely calculate a unique set of motor target angle values ​​(Xθ, Yθ). Control module 3 drives the motor to rotate to this angle, thereby driving the laser beam to accurately aim at the target point and achieving automated positioning.

[0048] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A device for locating coordinate points on the surface of an object, characterized in that, include: Base (1); The X-axis drive mechanism includes an X-axis motor (4) and an X-axis bracket (2). The stator of the X-axis motor (4) is connected to the base (1), and its rotor is connected to the X-axis bracket (2) to drive the X-axis bracket (2) to rotate around the X-axis motor axis (1002). The Y-axis drive mechanism includes a Y-axis motor (5) and a Y-axis bracket (6). The stator of the Y-axis motor (5) is connected to the X-axis bracket (2), and its rotor is connected to the Y-axis bracket (6) to drive the Y-axis bracket (6) to rotate around the Y-axis motor axis (1003). The X-axis drive mechanism and the Y-axis drive mechanism are configured such that the X-axis motor axis (1002) and the Y-axis motor axis (1003) are substantially perpendicular and intersect at a point, which constitutes the rotation center point (1001) of the device. The laser module (7) is fixed on the Y-axis bracket (6) and is used to emit a collimated visible laser beam (8). The control module (3) is electrically connected to the X-axis motor (4), the Y-axis motor (5) and the laser module (7), and is used to control the rotation of the X-axis motor (4) and the Y-axis motor (5) and record their angle information, perform calculations based on the angle information, known reference points and target point coordinates, and control the switching of the laser module (7).

2. The apparatus according to claim 1, characterized in that, Both the X-axis motor (4) and the Y-axis motor (5) are equipped with absolute encoders.

3. The apparatus according to claim 1, characterized in that, The X-axis bracket (2) has mutually perpendicular X-axis motor rotor fixing surface (201) and Y-axis motor stator fixing surface (202).

4. The apparatus according to claim 1, characterized in that, The Y-axis bracket (6) has a Y-axis motor rotor fixing surface (601) and a laser module fixing surface (602) that are perpendicular to each other.

5. The apparatus according to claim 1, characterized in that, The laser module (7) is configured such that the center line of the laser beam (8) intersects substantially perpendicularly with the axis of the Y-axis motor (1003).

6. A method for locating coordinate points on the surface of an object based on the device according to any one of claims 1 to 5, characterized in that, Includes the following steps: S1. Calibration preparation: In a predefined spatial rectangular coordinate system, set at least three non-collinear reference points with known three-dimensional coordinates on one or more object surfaces; S2. Device placement: Fix the device in a spatial position and ensure that the laser emitted by the laser module (7) can illuminate all reference points and the target point area to be located; S3. Self-calibration and pose calculation: Control the rotation of the X-axis motor (4) and the Y-axis motor (5) to drive the laser to aim at all the reference points in sequence, and record the X-axis motor angle Xθ corresponding to each aiming. n and the Y-axis motor angle Yθ n ; The coordinates (X) of each reference point n Y n Z n ) and the corresponding motor angle (Xθ) n ,Yθ n Input the control module (3); the control module (3) calculates the three-dimensional coordinates (X0, Y0, Z0) and attitude parameters of the device rotation center point (1001) in the spatial rectangular coordinate system based on the pre-stored spatial geometric relationship model that characterizes the coordinates of the device rotation center point (1001), the structural constants related to the device mechanical structure, the relationship between the center coordinates of the laser spot (9) and the motor angle; S4. Target point positioning: When it is necessary to locate a target point on the surface of an object with known three-dimensional coordinates (X, Y, Z), the coordinates of the target point are input into the control module (3); the control module (3) calculates the target angle Xθ of the X-axis motor and the target angle Yθ of the Y-axis motor required for the laser to aim at the target point using the spatial geometric relationship model based on the device pose parameters calculated in step S3; the control module (3) controls the X-axis motor (4) and the Y-axis motor (5) to rotate to Xθ and Yθ respectively, so that the laser aims at the target point.

7. The method according to claim 6, characterized in that, The spatial geometric relationship model is a mathematical model established based on the structural constraints of the perpendicular intersection relationship between the X-axis motor axis (1002) and the Y-axis motor axis (1003) through the principle of spatial triangulation. This model is built into the control module (3) in the form of an algorithm. This model can: (a) Based on the coordinates of at least three sets of non-collinear reference points and their corresponding motor angle data, calculate the position coordinates and attitude parameters of the device; (b) Based on the position coordinates, attitude parameters and target point coordinates of the device, the motor target angle that enables the laser to aim at the target point is calculated by inverse solution.

8. The method according to claim 6 or 7, characterized in that, The attitude parameters calculated in step S3 include: reference angle Xθ0, reference angle Yθ0, and horizontal projection angle β; wherein, Xθ0 and Yθ0 together define a specific reference direction of the laser in the spatial rectangular coordinate system, and β defines the projection direction of the X-axis motor axis (1002) on the coordinate plane of the spatial rectangular coordinate system.

9. The method according to claim 6, characterized in that, In step S3, when the number of reference points is greater than three, the control module (3) uses the least squares method to optimize and solve the mathematical relationship established based on the spatial geometric relationship model in order to obtain the device pose parameters.

10. The method according to claim 6, characterized in that, In step S1, the definition of the spatial rectangular coordinate system is arbitrary, and its origin, coordinate axis positions, and positive coordinate axis directions are set according to the actual application scenario.

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