Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning

The invention provides an indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning. A laser transmitting station is arranged on a mobile robot, at least three receivers for receiving light signals emitted from a laser transmitting station are arranged around the laser transmitting station, at least one signal processor which is connected to the receivers for processing signals received by the receivers and determining accurate coordinates of the laser transmitting station within the measurement space in a coordinate system, and a terminal computer connected to the signal processor for determining a gesture angle and a position of the mobile robot by determining distances between the laser transmitting station and each receiver. Multiple emission base stations are not needed to be arranged in the space during measurement by the operator, tedious global orientation is not needed, multiple guiding beacons composed of the photoelectric receivers and a high speed laser scanning turntable fixed on the mobile robot body are used for realizing real time measurement of three-dimension positions and gestures of the indoor mobile robot.