Multi-dimensional cooperative positioning device with six-degree-of-freedom adjusting capability, method and medium

Abstract

The invention discloses a multi-dimensional cooperative positioning device with six-degree-of-freedom adjusting capability, a method and a medium, the device comprises a multi-degree-of-freedom parallel mechanism platform, an independent Z-axis adjusting unit, a visual feedback subsystem and a controller, the multi-degree-of-freedom parallel mechanism platform is used for being responsible for multi-degree-of-freedom Euler angle rotation; the independent Z-axis adjusting unit is used for precisely lifting in the vertical direction; the visual feedback subsystem is used for identifying an XY plane pose and detecting Z-axis and inclination angle errors; and the controller is used for realizing six-dimensional attitude closed-loop cooperative control based on dual-vision feedback and kinematics solution. Through organic combination of a multi-degree-of-freedom platform, a double-vision system and an intelligent control algorithm, the defects of a traditional positioning system in the aspects of six-dimensional attitude control, vision feedback, environmental adaptability and the like are successfully overcome, and the system has the characteristics of high precision, high flexibility and high intelligence and is suitable for the fields of high-end manufacturing and precise assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial manufacturing, and more particularly, to a multi-dimensional cooperative positioning device, method and medium with six-degree-of-freedom adjustment capability. BACKGROUND

[0002] In the field of high-precision industrial manufacturing and heavy-load nuclear energy engineering, the processing and installation of complex parts often rely on highly precise spatial positioning mechanisms. For example, in the maintenance of fuel bundles in nuclear power plants, the device structure is dense and the working space is limited, requiring the positioning mechanism to accurately adjust the six-dimensional attitude of the workpiece in three-dimensional space, i.e., three translational degrees of freedom (X, Y, Z) and three rotational degrees of freedom (rotation around X, Y, Z axes: Roll, Pitch, Yaw). Similarly, in the field of high-end machining, such as the clamping of turbine blades and special-shaped cavity structural parts of aircraft engines, the positioning accuracy directly determines the final machining error and assembly consistency.

[0003] Traditional tooling fixtures or platform mechanisms usually have one-way or two-dimensional adjustment capability, such as common XY sliding tables and rotary platforms, but cannot achieve autonomous coupled adjustment and linkage feedback in six-dimensional space, severely limiting process flexibility. In addition, pure mechanical positioning mechanisms, which rely on manual or single-channel coded feedback, do not have the ability to autonomously identify the initial pose of the workpiece and judge assembly deviations, making it difficult to adapt to dynamic changes in complex part sizes, structures, and environmental disturbances.

[0004] Although vision-assisted positioning schemes have injected "perception" capabilities into traditional rigid platforms, enabling them to have target recognition, attitude estimation, and pose compensation functions, existing vision-guided multi-degree-of-freedom platforms often have the following three shortcomings: (1) lack of complete closed-loop cooperative control mechanism, feedback lag, prone to overshoot oscillation; (2) lack of axial direction (Z direction) adjustment unit, poor spatial target lifting precision, difficult to control assembly pressure and vertical deviation; (3) lack of general attitude solving and compensation algorithm model, strong dependence on target structure and initial position, poor generalization ability. SUMMARY

[0005] The purpose of the present application is to provide a multi-dimensional cooperative positioning device, method and medium with six-degree-of-freedom adjustment capability, specifically to provide a new type of positioning platform technology that integrates multi-degree-of-freedom linkage adjustment, real-time perception feedback, and micron-level precision control. Through dual vision systems, hierarchical closed-loop control of coarse positioning and fine adjustment is achieved. Combined with laser light bar auxiliary constraint of workpiece boundary features, an information coupling path between fixture-platform-vision is constructed, realizing automatic perception and autonomous fine adjustment of workpiece attitude, ultimately achieving a positioning accuracy of ±0.1mm, and having good environmental robustness and control stability.

[0006] The application provides a multi-dimensional cooperative positioning device with six-degree-of-freedom adjustment capability, comprising:

[0007] a multi-degree-of-freedom parallel mechanism platform, an independent Z-axis adjustment unit, a visual feedback subsystem and a controller, wherein,

[0008] the multi-degree-of-freedom parallel mechanism platform is used for Euler angle rotation of multi-degree-of-freedom;

[0009] the independent Z-axis adjustment unit is used for precise lifting in the vertical direction;

[0010] the visual feedback subsystem is used for recognizing XY plane pose and detecting Z-axis and inclination errors;

[0011] the controller is used for realizing six-dimensional pose closed-loop cooperative control based on double visual feedback and kinematics solving.

[0012] In the scheme, the visual feedback subsystem comprises an upper visual system, a lateral visual system and an LED light bar auxiliary lighting system, wherein the upper visual system is used for recognizing XY plane pose, the lateral visual system is used for detecting Z-axis and inclination errors, and the LED light bar auxiliary lighting system is used for providing multi-waveband controllable lighting.

[0013] In the scheme, the LED light bar in the LED light bar auxiliary lighting system is arranged in an inclined manner to form double-angle lighting, wherein the light source and the camera visual line form a reflection control range θ∈[20°, 40°].

[0014] In the scheme, the multi-degree-of-freedom parallel mechanism platform comprises a driving unit and an end platform, wherein the multiple driving units are controlled to synchronously elongate or shorten to jointly push and pull the end platform to realize linear movement forward, backward, left, right and upward in three-dimensional space, and the multiple driving units are controlled to be differentially elongated or shortened to make the end platform tilt and deflect around the center of the end platform to rotate.

[0015] In the scheme, the independent Z-axis adjustment unit introduces an axial Z lifting adjustment mechanism to cooperatively control the multi-degree-of-freedom adjustment platform, and completes fine compensation of the pose in the six-dimensional space through parallel driving.

[0016] In the scheme, the controller is further used for automatically adjusting the LED intensity of each waveband to balance the lighting brightness.

[0017] The application provides a multi-dimensional cooperative positioning method with six-degree-of-freedom adjustment capability, comprising the following steps:

[0018] Based on double visual sensors, workpiece image is collected to solve a workpiece initial plane pose vector, and Z-axis direction error and rotation angle error are extracted.

[0019] output a Z-axis driving instruction based on the Z-axis direction error, and calculate a platform attitude adjustment instruction based on the rotation angle error;

[0020] based on the initial plane pose vector, fuse the pose, the Z-axis position and the platform angle, and combine a target pose to judge a fine adjustment of the pose to obtain a six-dimensional attitude error vector;

[0021] based on the six-dimensional attitude error vector, calculate a joint driving amount by using a kinematics model to complete the multi-dimensional cooperative positioning.

[0022] In the scheme, the method further comprises adjusting the brightness of the LED light bar to provide multi-band controllable illumination, and calculating and outputting an imaging window compensation instruction.

[0023] The third aspect of the present application further provides a multi-dimensional cooperative positioning system with six-degree-of-freedom adjustment capability, comprising a memory and a processor, wherein the memory comprises a multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability, and the multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability is executed by the processor to realize the following steps:

[0024] based on the double-vision sensor, acquire a workpiece initial plane pose vector, and extract a Z-axis direction error and a rotation angle error;

[0025] output a Z-axis driving instruction based on the Z-axis direction error, and calculate a platform attitude adjustment instruction based on the rotation angle error;

[0026] based on the initial plane pose vector, fuse the pose, the Z-axis position and the platform angle, and combine a target pose to judge a fine adjustment of the pose to obtain a six-dimensional attitude error vector;

[0027] based on the six-dimensional attitude error vector, calculate a joint driving amount by using a kinematics model to complete the multi-dimensional cooperative positioning.

[0028] In the scheme, the method further comprises adjusting the brightness of the LED light bar to provide multi-band controllable illumination, and calculating and outputting an imaging window compensation instruction.

[0029] The fourth aspect of the present application provides a computer readable storage medium, wherein the computer readable storage medium comprises a multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability of a machine, and the multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability is executed by a processor to realize the steps of the multi-dimensional cooperative positioning method with six-degree-of-freedom adjustment capability according to any one of the above aspects.

[0030] The application discloses a multi-dimensional cooperative positioning device with six-degree-of-freedom adjustment capability, a method and a medium. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 A composition diagram of the multi-dimensional cooperative positioning device with six-degree-of-freedom adjustment capability is shown.

[0032] Figure 2 A flow chart of the multi-dimensional cooperative positioning method with six-degree-of-freedom adjustment capability is shown.

[0033] Figure 3 A block diagram of the multi-dimensional cooperative positioning system with six-degree-of-freedom adjustment capability is shown. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above objectives, features and advantages of the present application, the application will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0035] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can be practiced in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0036] Figure 1 A composition diagram of the multi-dimensional cooperative positioning device with six-degree-of-freedom adjustment capability is shown.

[0037] As Figure 1 shown, the application discloses a multi-dimensional cooperative positioning device with six-degree-of-freedom adjustment capability, comprising:

[0038] A multi-degree-of-freedom parallel mechanism platform, an independent Z-axis adjustment unit, a visual feedback subsystem and a controller, wherein,

[0039] The multi-degree-of-freedom parallel mechanism platform is used for responsible for the Euler angle rotation of multi-degree-of-freedom;

[0040] The independent Z-axis adjustment unit is used for precise lifting in the vertical direction;

[0041] The visual feedback subsystem is used for identifying the XY plane pose and detecting the Z-axis and inclination error;

[0042] The controller is used for realizing six-dimensional pose closed-loop cooperative control based on dual vision feedback and kinematics solution.

[0043] It should be noted that in the embodiment, the multi-dimensional cooperative positioning device with six-degree-of-freedom adjustment capability is composed of three parts, which are a multi-degree-of-freedom parallel mechanism platform (including translation + rotation), an independent Z-axis adjustment unit and a vision feedback subsystem composed of a dual vision system and an LED light bar, wherein the three parts constitute a closed-loop cooperative adjustment system through data fusion and error model iterative optimization algorithm, and are used for realizing accurate pose adjustment of a workpiece in a six-dimensional space.

[0044] Specifically, as shown in Figure 1 The vision feedback subsystem includes an upper vision system, a lateral vision system and an LED light bar auxiliary lighting system, wherein the upper vision system is used for identifying XY plane pose, the lateral vision system is used for detecting Z-axis and inclination error, and the LED light bar auxiliary lighting system is used for providing multi-band controllable lighting. In application, the controller is further used for automatically adjusting the LED intensity of each band to balance the lighting brightness.

[0045] Further, in the embodiment, the LED light bar in the LED light bar auxiliary lighting system is arranged obliquely to form double-angle lighting, wherein the angle between the light source and the camera sight forms a reflection control range θ ∈ [20°, 40°].

[0046] Further, in the embodiment, the multi-degree-of-freedom parallel mechanism platform includes a driving unit and an end platform, wherein the multiple driving units are controlled to be synchronously elongated or shortened to jointly push and pull the end platform to realize linear movement forward, backward, left, right, up and down in three-dimensional space, and the multiple driving units are controlled to be differentially elongated or shortened to make the end platform tilt and deflect around the center of the end platform to realize rotary movement.

[0047] Further, in the embodiment, the independent Z-axis adjustment unit introduces an axial Z lifting adjustment mechanism to cooperatively control the multi-degree-of-freedom adjustment platform, and completes fine compensation of the pose in the six-dimensional space through parallel driving.

[0048] Specifically, in the embodiment, it is assumed that the target workpiece pose in the world coordinate system is a six-dimensional state vector X = [x, y, z, α, β, γ] T , wherein x, y, z respectively represent spatial translation displacement, α, β, γ ∈ [-π, π] respectively represent Euler angle rotation around X, Y, Z axes (corresponding to Roll, Pitch, Yaw), and the final target in application is to make the workpiece pose X and the target set pose X d satisfy the error constraint ||X-X d||<∈,∈≤0.1 millimeter. Therefore, in order to achieve this goal, the processing in the embodiment is based on a double-layer control model.

[0049] Further, in the embodiment, the first layer is a "rough positioning" stage, and an upper visual system (overhead vision, set as Camera-1) is used to obtain the initial contour features of the workpiece. A two-dimensional geometric shape model G init (u,v) is constructed by using a light bar-based edge extraction method, and then the plane pose X xy =[x,y,γ] of the geometric shape model is fitted, and the camera projection model is:

[0050]

[0051] where K is the camera intrinsic matrix, R and t are the rotation and translation relative to the workpiece pose, u and v are the geometric shape model parameters, X, Y and Z are the fitted plane pose.

[0052] The second layer is a "fine positioning" stage, and a lateral visual system (Camera-2) is used to obtain the errors of the target in the Z direction and the inclination direction, forming error feedback quantities Δz, Δα and Δβ. This stage introduces an axial Z adjustment mechanism and a multi-degree-of-freedom adjustment platform for collaborative control, and completes fine compensation of the pose in six-dimensional space through a parallel driving system. The Z-axis adjustment mechanism is set as a lifting platform, and the driving step δ z is adjustable, and the adjustment response function is set as:

[0053] z(t+1)=z(t)+k z ·Δz(t),0<k z ≤1;

[0054] The driving of the platform angle adjustment (Pitch, Roll) adopts a PID compensation model:

[0055]

[0056] and minimizes the six-dimensional pose error objective function:

[0057]

[0058] where w i is the weight factor of each dimension of the pose error, which can be adaptively set according to the task scene (for example, the weight of the Z-axis is usually higher in assembly).

[0059] Further, regarding the modeling of the platform mechanism, the kinematics of the parallel mechanism is used. Let the target pose of the end effector be T d ∈SE(3), and the Jacobian matrix A mapping between the end motion and joint input is established: Delta X = J * Delta q, wherein q represents each driving shaft input, the platform controller solves the inverse kinematic solution, and each step driving input satisfies the minimum norm error solution: Delta q = J * + · Delta X, wherein J + represents a pseudo-inverse matrix, and the complete posture control path from visual recognition to driving compensation is realized, a six-degree-of-freedom, multi-link cooperative and autonomous feedback regulation platform is constructed, and the platform has a significant application prospect in multiple industrial high-precision scenes.

[0060] Further, in the embodiment, under the high-speed pipeline or unstable lighting environment, if the LCTF imaging system does not accurately control the light intensity and angle, problems such as reflection, dark lines and insufficient uniformity are prone to occur, therefore, the embodiment introduces a linear array LED light bar and an adjustable constant current driving system, and proposes a light bar control model based on "band-illumination coupling", and the brightness response of each band image I λ is:

[0061] I λ (x,y) = R λ (x,y) * L λ * T λ + epsilon;

[0062] Wherein, R λ (x,y) is the reflectivity of the object at wavelength lambda, L λ is the incident light intensity (controlled by the LED) under the band, T λ is the LCTF transmittance, and epsilon is the photosensitive noise, in order to improve the signal-to-noise ratio SNR, the controller automatically adjusts the LED intensity L λ of each band to balance the overall brightness distribution, that is, to solve the following minimization problem:

[0063]

[0064] Wherein, mu target is the set global target brightness mean, and the adjustment is completed by the PWM control module in real time, in addition, since the LED light bar is arranged in an inclined manner to form double-angle illumination, the angle between the light source and the camera line of sight can form a reflection control range theta epsilon [20°, 40°], therefore, the illumination non-uniformity can be minimized by the adjustable scattering cover, and finally the image brightness standard deviation sigma I <10 (unit: 8-bit gray scale) under each band is achieved.

[0065] ​Furthermore, in this embodiment, in a high-speed assembly line scenario, the product is transported at high speed via a fixture, and its motion state (speed, jitter, posture) directly affects the spatial stability of the imaging window. This invention proposes a fixture visual synchronization mechanism, employing an infrared encoder and a shutter sensor to collect fixture trajectory data, combined with an image window prediction algorithm, to ensure multi-frame band alignment. Here, the fixture motion trajectory is denoted as p(t) = [x(t), y(t)], and the spatial position of the camera exposure window at time t is Ω(t). The objective is to maximize window consistency among all sampled band images.

[0066]

[0067] In practice, image frame matching and registration is used to determine the translation amount Δp between multi-band images. ij Satisfying Δp ij =p j (t j )-p i (t i ),|Δp ij |<δ, when offset δ>δ max At this time, the motion compensation module will be triggered, and the camera imaging area prediction window will be readjusted to: This enables multi-band image frame-level alignment without the need for external mechanical synchronization, ensuring the consistency of input to the band reconstruction network.

[0068] Furthermore, in another embodiment of the invention, taking a border inspection system as an example, this device is used to detect camouflage identification under high-risk materials (such as dangerous chemicals, camouflage coating materials). Traditional RGB or near-infrared band images are difficult to distinguish the physical differences between the coating and the background, while multispectral images can analyze abnormal areas through reflectance spectrum at specific wavelengths. The corresponding deployment scheme is as follows: the acquisition band is 6 frames of real-shot band (interval of 150nm between 400-1000nm), 12 frames are reconstructed, the average detection frame rate is 105fps, the detection algorithm is based on the fusion of spectral angle mapping (SAM) and neural network classifier, the recognition accuracy is improved to "97.8%", and the abnormal target labeling can be completed within 3ms.

[0069] Specifically, in this embodiment, in addition to the content described above, a multi-band brightness normalization method for joint modeling is proposed to innovate the LED strip lighting coupling model. Specifically, this is achieved through... To achieve cross-band illumination balance and ensure consistent reconstruction input quality, traditional spectral imaging systems currently lack fine-grained illumination coupling models and visual window prediction algorithms without mechanical synchronization. Specifically, this is achieved through fixture motion modeling and inter-frame displacement estimation Δp. ij =p j (t j )-p i(t i ), cooperate window compensation mechanism Realize accurate alignment under the condition of no external trigger, have practicality and wide adaptability, and joint frequency domain spectrum entropy + spatial difference online quality control strategy, specifically, construct confidence factor by combining spectrum entropy S(x) and spatial residual For self-supervised feedback mechanism trigger model dynamic retraining and reacquisition, first construct data-driven quality feedback loop.

[0070] Figure 2 A flow chart of a multi-dimensional cooperative positioning method with six-degree-of-freedom adjustment capability of the application is shown.

[0071] As Figure 2 shown, the application discloses a multi-dimensional cooperative positioning method with six-degree-of-freedom adjustment capability, applied to any one of the multi-dimensional cooperative positioning devices with six-degree-of-freedom adjustment capability, wherein the method comprises the following steps:

[0072] S202, based on the double-vision sensor, acquiring the workpiece image to solve the initial plane pose vector of the workpiece, and extracting the Z-axis direction error and the rotation angle error;

[0073] S204, outputting the Z-axis driving instruction based on the Z-axis direction error, and calculating the platform posture adjustment instruction based on the rotation angle error;

[0074] S206, based on the initial plane pose vector, fusing the pose, the Z-axis position and the platform angle to judge the pose fine adjustment combined with the target pose to obtain a six-dimensional pose error vector;

[0075] S208, based on the six-dimensional pose error vector, calculating the joint driving amount by using the kinematics model to complete the multi-dimensional cooperative positioning.

[0076] It should be noted that in the embodiment, the method further comprises adjusting the brightness of the LED light bar to provide multi-band controllable illumination, and calculating and outputting the imaging window compensation instruction.

[0077] It should be noted that the multi-dimensional cooperative positioning with six-degree-of-freedom adjustment capability of the application is applied to any one of the multi-dimensional cooperative positioning devices with six-degree-of-freedom adjustment capability, wherein the method execution process has been described in the above embodiment, and since the execution steps and processes are consistent, in this embodiment, the description will not be repeated.

[0078] Figure 3 A block diagram of a multi-dimensional cooperative positioning system with six-degree-of-freedom adjustment capability of the application is shown.

[0079] As Figure 3As shown, the present application discloses a multi-dimensional cooperative positioning system with six-degree-of-freedom adjustment capability, comprising a memory and a processor, the memory comprising a multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability, the multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability is executed by the processor to realize the following steps:

[0080] Based on the double vision sensor, the initial plane pose vector of the workpiece is calculated and the Z-axis direction error and the rotation angle error are extracted;

[0081] Based on the Z-axis direction error, the Z-axis driving instruction is output, and based on the rotation angle error, the platform attitude adjustment instruction is calculated;

[0082] Based on the initial plane pose vector, the six-dimensional pose error vector is obtained by fusing the pose, the Z-axis position and the platform angle combined with the target pose for fine adjustment;

[0083] Based on the six-dimensional pose error vector, the kinematic model is used to calculate the joint driving amount to complete the multi-dimensional cooperative positioning.

[0084] It should be noted that the multi-dimensional cooperative positioning system with six-degree-of-freedom adjustment capability of the present application corresponds to any one of the above-mentioned multi-dimensional cooperative positioning methods with six-degree-of-freedom adjustment capability, wherein the execution steps and processes are consistent with the method embodiments, and the method execution process has been described in the above-mentioned device embodiments, therefore, in this embodiment, it will not be repeated.

[0085] The fourth aspect of the present application provides a computer readable storage medium, the computer readable storage medium comprises a multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability, the multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability is executed by the processor to realize the steps of the multi-dimensional cooperative positioning method with six-degree-of-freedom adjustment capability as described in any one of the above.

[0086] The multi-dimensional cooperative positioning device, method and medium with six-degree-of-freedom adjustment capability disclosed by the present application successfully solve the deficiencies of the traditional positioning system in six-dimensional pose control, visual feedback, environmental adaptability and the like through the organic combination of multi-degree-of-freedom platform, double vision system and intelligent control algorithm, and have the characteristics of high precision, high flexibility and high intelligence, and are suitable for high-end manufacturing and precision assembly fields.

[0087] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0088] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0089] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0090] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0091] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A multi-dimensional cooperative positioning device with six degrees of freedom adjustment capability, characterized in that, The application relates to a multi-dimensional cooperative positioning device with six-degree-of-freedom adjustment capability, and a multi-dimensional cooperative positioning method. The multi-dimensional cooperative positioning device comprises a multi-degree-of-freedom parallel mechanism platform, an independent Z-axis adjustment unit, a visual feedback subsystem and a controller, wherein The multi-degree-of-freedom parallel mechanism platform is used for Euler angle rotation of multi-degree-of-freedom; The independent Z-axis adjustment unit is used for precise lifting in the vertical direction; The visual feedback subsystem is used for recognizing the XY plane pose and detecting the Z-axis and inclination errors; The controller is used for realizing six-dimensional pose closed-loop cooperative control based on double visual feedback and kinematics calculation.

2. The multi-dimensional cooperative positioning device with six degrees of freedom adjustment capability according to claim 1, wherein, The visual feedback subsystem comprises an upper visual system, a lateral visual system and an LED light bar auxiliary lighting system, wherein the upper visual system is used for recognizing the XY plane pose, the lateral visual system is used for detecting the Z-axis and inclination errors, and the LED light bar auxiliary lighting system is used for providing multi-waveband controllable lighting.

3. The multi-dimensional cooperative positioning device with six degrees of freedom adjustment capability according to claim 2, wherein, The LED light bar in the LED light bar auxiliary lighting system adopts an inclined arrangement to form double-angle lighting, wherein the light source and the camera visual line form a reflection control range .

4. The multi-dimensional cooperative positioning device with six degrees of freedom adjustment capability according to claim 1, wherein, The multi-degree-of-freedom parallel mechanism platform comprises a driving unit and a terminal platform, wherein the terminal platform is pushed and pulled by controlling multiple driving units to realize linear movement in the front-back, left-right and up-down directions in the three-dimensional space, and the terminal platform is rotated by controlling the multiple driving units to realize tilting and deflection around the center of the terminal platform.

5. The multi-dimensional cooperative positioning device with six degrees of freedom adjustment capability according to claim 1, wherein, The independent Z-axis adjustment unit introduces an axial Z lifting adjustment mechanism and cooperates with the multi-degree-of-freedom adjustment platform to complete fine compensation of the pose in the six-dimensional space through parallel driving.

6. The multi-dimensional cooperative positioning device with six degrees of freedom adjustment capability of claim 1, wherein, The controller is also used for automatically adjusting the LED intensity of each waveband to balance the lighting brightness.

7. A multi-dimensional cooperative positioning method with six degrees of freedom adjustment capability, characterized in that, The application relates to a multi-dimensional cooperative positioning device with six-degree-of-freedom adjustment capability, and a multi-dimensional cooperative positioning method. The method comprises the following steps: Based on the double visual sensor, workpiece image is collected to calculate the initial plane pose vector of the workpiece, and Z-axis direction error and rotation angle error are extracted; Based on the Z-axis direction error, Z-axis driving instructions are output, and platform attitude adjustment instructions are calculated based on the rotation angle error; Based on the initial plane pose vector, six-dimensional pose error vectors are obtained by combining the target pose with the pose, Z-axis position and platform angle for fine adjustment of the pose; 8. The multi-dimensional cooperative positioning method with six degrees of freedom adjustment capability according to claim 7, wherein, Based on the six-dimensional pose error vectors, joint driving amount is calculated by using a kinematics model to complete multi-dimensional cooperative positioning.

9. A multi-dimensional cooperative positioning system with six degrees of freedom adjustment capability, characterized in that, The method also comprises adjusting the brightness of the LED light bar to provide multi-waveband controllable lighting, and calculating and outputting imaging window compensation instructions. The application relates to a multi-dimensional cooperative positioning device with six-degree-of-freedom adjustment capability, and a multi-dimensional cooperative positioning method. The method comprises the following steps: Based on the double visual sensor, workpiece image is collected to calculate the initial plane pose vector of the workpiece, and Z-axis direction error and rotation angle error are extracted; Based on the Z-axis direction error, Z-axis driving instructions are output, and platform attitude adjustment instructions are calculated based on the rotation angle error; Based on the initial plane pose vector, six-dimensional pose error vectors are obtained by combining the target pose with the pose, Z-axis position and platform angle for fine adjustment of the pose; Based on the six-dimensional pose error vectors, joint driving amount is calculated by using a kinematics model to complete multi-dimensional cooperative positioning.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability, and the multi-dimensional cooperative positioning method program with six-degree-of-freedom adjustment capability is executed by the processor to realize the steps of the multi-dimensional cooperative positioning method with six-degree-of-freedom adjustment capability in any one of claims 7 to 8.

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