The invention discloses a three dimensional positioning method, a system and a device. The three dimensional positioning method comprises the following steps of: determining a first rotation angle ofa first laser beam plane signal, wherein, the first laser beam plane signal rotates around the first rotation axis, the first rotation angle is the angle that the first laser beam plane signal relative to the plane determined by the first rotation axis and a second rotation axis when the photoelectric sensor detects the first laser beam plane signal; determining a second rotation angle of the second laser beam plane signal, wherein, the second laser beam plane signal rotates around the second rotation axis, the second rotation angle is the angle that the second laser beam plane signal relatives to the plane determined by the first rotation axis and the second rotation axis when the photoelectric sensor detects the second laser beam plane signal; determining a distance from the signal transmitting device to the photoelectric sensor; and determining, according to the first rotation angle, the second rotation angle and the distance, the three dimensional coordinate of the photoelectric sensor. According to the three dimensional positioning method, the accuracy of positioning calculation is improved, and the calculation complexity is reduced.