Multi-dimensional cooperative positioning device, method and medium with six degrees of freedom adjustment capability

Abstract

The application discloses a multi-dimensional cooperative positioning device, method and medium with six-degree-of-freedom adjustment capability, wherein the 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 being responsible 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 identifying XY plane pose and detecting Z-axis and inclination error; and the controller is used for realizing six-dimensional attitude closed-loop cooperative control based on double visual feedback and kinematics solution. Through organic combination of the multi-degree-of-freedom platform, the double visual system and the intelligent control algorithm, the application successfully solves the deficiencies of the traditional positioning system in six-dimensional attitude control, visual feedback, environmental adaptability and the like, has the characteristics of high precision, high flexibility and high intelligence, and is suitable for high-end manufacturing and precise assembly fields.

Description

Technical Field

[0001] This invention relates to the field of industrial manufacturing technology, and more specifically, to a multidimensional collaborative positioning device, method, and medium with six degrees of freedom adjustment capability. Background Technology

[0002] In the fields of high-precision industrial manufacturing and heavy-duty nuclear energy engineering, the machining and installation of complex components often rely on highly precise spatial positioning mechanisms. For example, in the maintenance of fuel bundles in nuclear power plants, the densely packed equipment and limited working space require the positioning mechanism to precisely adjust the workpiece's six-dimensional orientation in three-dimensional space: three translational degrees of freedom (X, Y, Z) and three rotational degrees of freedom (rotation around the X, Y, and Z axes: Roll, Pitch, Yaw). Similarly, in high-end machining, such as the clamping of turbine blades for aero-engines and irregularly shaped cavity structures, the positioning accuracy directly determines the final machining error and assembly consistency.

[0003] Traditional tooling fixtures or platform mechanisms typically possess unidirectional or two-dimensional adjustment capabilities, such as common XY slides and rotary platforms. However, they cannot achieve autonomous coupling adjustment and linkage feedback in six-dimensional space, severely limiting process flexibility. Furthermore, purely mechanical positioning mechanisms, relying on manual or single-channel coded feedback, lack the ability to autonomously identify the initial position of the workpiece and determine assembly deviations, making it difficult to adapt to dynamic changes in the size and structure of complex parts and environmental disturbances.

[0004] Although visual-assisted positioning schemes have injected "perception" capabilities into traditional rigid platforms, enabling them to perform functions such as target recognition, attitude estimation, and pose compensation, existing visually guided multi-degree-of-freedom platforms typically suffer from the following three shortcomings: (1) lack of a complete closed-loop collaborative control mechanism, resulting in a delayed feedback loop that is prone to overshooting and oscillation; (2) lack of an axial direction (Z-direction) adjustment unit, resulting in poor accuracy of spatial target lifting and lowering, making it difficult to control assembly pressure and vertical offset; (3) lack of a general attitude calculation and compensation algorithm model, which is highly dependent on the target structure and initial position, and has poor generalization ability. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-dimensional collaborative positioning device, method, and medium with six degrees of freedom adjustment capability. Specifically, it provides a novel positioning platform technology that integrates multi-degree-of-freedom linkage adjustment, real-time perception feedback, and micron-level precision control. Through a dual vision system, it achieves layered closed-loop control of coarse positioning and fine adjustment. Combined with laser light strips to assist in constraining the workpiece boundary features, it constructs an information coupling path between the fixture, platform, and vision system, realizing automatic perception and autonomous fine-tuning of the workpiece posture, ultimately achieving a positioning accuracy of ±0.1mm, and possessing good environmental robustness and control stability.

[0006] The first aspect of this invention provides a multidimensional cooperative positioning device with six degrees of freedom adjustment capability, comprising:

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

[0008] The multi-degree-of-freedom parallel mechanism platform is used to handle multi-degree-of-freedom Euler angle rotation;

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

[0010] The visual feedback subsystem is used to identify the XY plane pose and detect Z-axis and tilt angle errors;

[0011] The controller is used to realize six-dimensional attitude closed-loop collaborative control based on dual visual feedback and kinematic calculation.

[0012] In this solution, the visual feedback subsystem includes a higher-level vision system, a lateral vision system, and an LED light strip auxiliary lighting system. The higher-level vision system is used to identify the XY plane pose, the lateral vision system is used to detect Z-axis and tilt angle errors, and the LED light strip auxiliary lighting system is used to provide multi-band controllable lighting.

[0013] In this solution, the LED strips in the LED strip auxiliary lighting system are arranged at an angle to form dual-angle lighting, wherein the angle between the light source and the camera's line of sight forms a reflection control range θ∈[20°,40°].

[0014] In this scheme, the multi-degree-of-freedom parallel mechanism platform includes a drive unit and an end platform. By controlling multiple drive units to extend or shorten synchronously to push and pull the end platform together, linear movement in three-dimensional space can be achieved in the forward, backward, left, right, and up and down directions. Furthermore, by controlling multiple drive units to extend and retract differently, the end platform can tilt and deflect around the center of the end platform to rotate.

[0015] In this scheme, the independent Z-axis adjustment unit introduces an axial Z-lift adjustment mechanism and a multi-degree-of-freedom adjustment platform for coordinated control, and completes precise pose compensation in six-dimensional space through parallel drive.

[0016] In this solution, the controller is also used to automatically adjust the LED intensity of each band to equalize the lighting brightness.

[0017] A second aspect of the present invention provides a multidimensional cooperative localization method with six degrees of freedom adjustment capability, comprising the following steps:

[0018] The initial planar pose vector of the workpiece is calculated based on the workpiece image acquired by dual vision sensors, and the Z-axis direction error and rotation angle error are extracted.

[0019] Z-axis drive commands are output based on Z-axis direction error, and attitude adjustment commands are calculated based on the rotation angle error of the platform.

[0020] Based on the initial planar pose vector, the pose, Z-axis position and platform angle are fused with the target pose to obtain a six-dimensional pose error vector for fine-tuning.

[0021] Based on the six-dimensional attitude error vector, the joint driving force is calculated using a kinematic model to complete multi-dimensional cooperative positioning.

[0022] In this scheme, the method also includes adjusting the brightness of the LED light strip to provide multi-band controllable illumination, and calculating and outputting imaging window compensation instructions.

[0023] A third aspect of the present invention also provides a multidimensional cooperative localization system with six degrees of freedom adjustment capability, comprising a memory and a processor. The memory includes a multidimensional cooperative localization method program with six degrees of freedom adjustment capability. When the processor executes the multidimensional cooperative localization method program with six degrees of freedom adjustment capability, it performs the following steps:

[0024] The initial planar pose vector of the workpiece is calculated based on the workpiece image acquired by dual vision sensors, and the Z-axis direction error and rotation angle error are extracted.

[0025] Z-axis drive commands are output based on Z-axis direction error, and attitude adjustment commands are calculated based on the rotation angle error of the platform.

[0026] Based on the initial planar pose vector, the pose, Z-axis position and platform angle are fused with the target pose to obtain a six-dimensional pose error vector for fine-tuning.

[0027] Based on the six-dimensional attitude error vector, the joint driving force is calculated using a kinematic model to complete multi-dimensional cooperative positioning.

[0028] In this scheme, the method also includes adjusting the brightness of the LED light strip to provide multi-band controllable illumination, and calculating and outputting imaging window compensation instructions.

[0029] A fourth aspect of the present invention provides a computer-readable storage medium comprising a machine program for a multidimensional cooperative localization method with six degrees of freedom adjustable capability, wherein when the multidimensional cooperative localization method program with six degrees of freedom adjustable capability is executed by a processor, the multidimensional cooperative localization method program with six degrees of freedom adjustable capability implements the steps of the multidimensional cooperative localization method with six degrees of freedom adjustable capability as described in any of the preceding claims.

[0030] This invention discloses a multi-dimensional collaborative positioning device, method, and medium with six degrees of freedom adjustment capability. By organically combining a multi-degree-of-freedom platform, a dual vision system, and an intelligent control algorithm, it successfully solves the shortcomings of traditional positioning systems in six-dimensional attitude control, visual feedback, and environmental adaptability. It features high precision, high flexibility, and high intelligence, and is suitable for high-end manufacturing and precision assembly fields. Attached Figure Description

[0031] Figure 1 A diagram showing the composition of a multidimensional cooperative positioning device with six degrees of freedom adjustment capability according to the present invention is provided.

[0032] Figure 2 A flowchart of a multidimensional cooperative localization method with six degrees of freedom adjustment capability according to the present invention is shown;

[0033] Figure 3 A block diagram of a multidimensional cooperative positioning system with six degrees of freedom adjustment capability according to the present invention is shown. Detailed Implementation

[0034] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0035] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0036] Figure 1 A diagram illustrating the composition of a multidimensional cooperative positioning device with six degrees of freedom adjustment capability according to this application is shown.

[0037] like Figure 1 As shown, this application discloses a multidimensional cooperative positioning device with six degrees of freedom adjustment capability, comprising:

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

[0039] The multi-degree-of-freedom parallel mechanism platform is used to handle multi-degree-of-freedom Euler angle rotation;

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

[0041] The visual feedback subsystem is used to identify the XY plane pose and detect Z-axis and tilt angle errors;

[0042] The controller is used to realize six-dimensional attitude closed-loop collaborative control based on dual visual feedback and kinematic calculation.

[0043] It should be noted that, in this embodiment, the multi-dimensional collaborative positioning device with six degrees of freedom adjustment capability consists of the following three parts: a multi-degree-of-freedom parallel mechanism platform (including translation and rotation), an independent Z-axis adjustment unit, and a visual feedback subsystem consisting of a dual vision system and an LED light strip. The three parts form a closed-loop collaborative adjustment system through data fusion and error model iterative optimization algorithm, which is used to achieve precise posture adjustment of the workpiece in six-dimensional space.

[0044] Specifically, such as Figure 1 As shown, the visual feedback subsystem includes a higher-level vision system, a lateral vision system, and an LED light strip auxiliary lighting system. The higher-level vision system is used to identify the XY plane pose, the lateral vision system is used to detect Z-axis and tilt angle errors, and the LED light strip auxiliary lighting system is used to provide multi-band controllable lighting. In application, the controller is also used to automatically adjust the LED intensity of each band to equalize the lighting brightness.

[0045] Furthermore, in this embodiment, the LED strips in the LED strip auxiliary lighting system are arranged at an angle to form dual-angle lighting, wherein the angle between the light source and the camera's line of sight forms a reflection control range θ∈[20°,40°].

[0046] Furthermore, in this embodiment, the multi-degree-of-freedom parallel mechanism platform includes a drive unit and an end platform. By controlling multiple drive units to extend or shorten synchronously to push and pull the end platform together, linear movement in three-dimensional space can be achieved in the forward, backward, left, right, and up and down directions. By controlling multiple drive units to extend and retract differently, the end platform can tilt and deflect around the center of the end platform to rotate.

[0047] Furthermore, in this embodiment, the independent Z-axis adjustment unit introduces an axial Z-lift adjustment mechanism and a multi-degree-of-freedom adjustment platform for coordinated control, and completes precise pose compensation in six-dimensional space through parallel drive.

[0048] Specifically, in this embodiment, it is assumed that the target workpiece's posture is a six-dimensional state vector X = [x, y, z, α, β, γ] in the world coordinate system. T ,in Let X, Y, and Z represent spatial translational displacements, and α, β, γ ∈ [-π, π] represent Euler angle rotations about the X, Y, and Z axes (corresponding to Roll, Pitch, and Yaw). The ultimate goal in application is to make the workpiece orientation X align with the target orientation X. d Satisfying the error constraint, ||XX d||<∈,∈≤0.1 mm. Therefore, in order to achieve this goal, this embodiment is based on a two-layer control model.

[0049] Furthermore, in this embodiment, the first layer is the "coarse positioning" stage, in which a top-level vision system (top-down view, denoted as Camera-1) is used to acquire the initial contour features of the workpiece, and a two-dimensional geometric shape model G is constructed using an edge extraction method based on light strips. init (u,v), and then fit its planar pose X. xy = [x, y, γ], and let the camera projection model be:

[0050]

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

[0052] The second layer is the "precise positioning" stage, which uses a lateral vision system (Camera-2) to acquire the target's errors in the Z-axis and tilt direction, forming error feedback quantities Δz, Δα, and Δβ. This stage introduces an axial Z-axis lifting adjustment mechanism and a multi-degree-of-freedom adjustment platform for coordinated control. Through a parallel drive system, precise pose compensation in six-dimensional space is achieved. The Z-axis adjustment mechanism is set as a lifting platform, with a drive step size δ. z Adjustable, the adjustment response function is set as follows:

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

[0054] For the corresponding platform angle adjustment drive (Pitch, Roll), a PID compensation model is adopted:

[0055]

[0056] And minimize the six-dimensional attitude error objective function:

[0057]

[0058] Among them, w i These are the attitude error weighting factors for each dimension, which can be adaptively set according to the task scenario (e.g., the Z-axis weight is usually higher in assembly).

[0059] Furthermore, regarding the platform mechanism modeling, kinematics calculation of parallel mechanisms is adopted. Let the target pose of the end effector be T. d ∈SE(3), through the Jacobian matrix Establish the mapping between end-effector motion and joint input: ΔX = J·Δq, where q represents the input of each drive axis. The platform controller solves the reverse motion solution, ensuring that the drive input at each step satisfies the minimum norm error solution: Δq * =J + ·ΔX, where J + Representing the pseudo-inverse matrix, in summary, this invention realizes a complete attitude control path from visual recognition to drive compensation, and constructs a truly six-degree-of-freedom, multi-stage collaborative, autonomous feedback adjustment platform, which shows significant application prospects in multiple high-precision industrial scenarios.

[0060] Furthermore, in this embodiment, under high-speed production lines or unstable lighting environments, the LCTF imaging system is prone to problems such as reflection, dark lines, and insufficient uniformity if the illumination intensity and angle are not precisely controlled. Therefore, this embodiment introduces a linear LED light strip and an adjustable constant current drive system, proposing a light strip control model based on "band-illuminance coupling," where each band image I is denoted as... λ The brightness response is:

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

[0062] Among them, R λ (x,y) represents the reflectivity of the object at wavelength λ, L λ T represents the incident light intensity (controlled by the LED) in this wavelength band. λ Let L be the LCTF transmittance and ∈ be the photosensitive noise. To improve the signal-to-noise ratio (SNR), the controller automatically adjusts the LED intensity L in each band. λ To achieve a balanced overall brightness distribution, the following minimization problem needs to be solved:

[0063]

[0064] Where, μ target The global target brightness average is set and adjusted in real time by the PWM control module. Furthermore, because the LED strips are arranged at an angle to form dual-angle illumination, the angle between the light source and the camera's line of sight creates a reflection control range θ∈[20°, 40°]. Therefore, the non-uniformity of illumination can be minimized through an adjustable diffuser, ultimately achieving the standard deviation σ of image brightness across all wavelengths. I <10 (unit is 8-bit grayscale).

[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 ), in conjunction with the window compensation mechanism Achieving precise alignment without external triggering, possessing practicality and broad applicability, and employing an online quality control strategy combining frequency domain spectral entropy and spatial difference, specifically constructing a confidence factor by jointly using spectral entropy S(x) and spatial residuals. This is used to trigger dynamic retraining and re-acquisition of the model through a self-supervised feedback mechanism, and is the first time that a data-driven quality feedback loop has been constructed.

[0070] Figure 2 A flowchart of a multidimensional cooperative localization method with six degrees of freedom adjustment capability is shown in this application.

[0071] like Figure 2 As shown, this application discloses a multidimensional cooperative localization method with six degrees of freedom adjustment capability, applied to a multidimensional cooperative localization device with six degrees of freedom adjustment capability as described in any of the above claims, wherein the method includes the following steps:

[0072] S202, based on the workpiece image acquired by dual vision sensors, calculates the initial planar pose vector of the workpiece, and extracts the Z-axis direction error and rotation angle error;

[0073] S204, output Z-axis drive command based on Z-axis direction error, and calculate platform attitude adjustment command based on the rotation angle error;

[0074] S206, Based on the initial planar pose vector, the pose, Z-axis position and platform angle are fused with the target pose to perform pose fine-tuning judgment and obtain a six-dimensional pose error vector;

[0075] S208, based on the six-dimensional attitude error vector, the joint drive amount is calculated using a kinematic model to complete multi-dimensional cooperative positioning.

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

[0077] It should be noted that, since the multidimensional cooperative positioning with six degrees of freedom adjustment capability of the present invention is applied to the multidimensional cooperative positioning device with six degrees of freedom adjustment capability described in any of the above embodiments, the method execution process has been described in the above embodiments. Since the execution steps and processes are the same, they will not be repeated in this embodiment.

[0078] Figure 3 A block diagram of a multidimensional cooperative positioning system with six degrees of freedom adjustment capability according to the present invention is shown.

[0079] like Figure 3As shown, this invention discloses a multidimensional cooperative localization system with six degrees of freedom adjustment capability, including a memory and a processor. The memory includes a multidimensional cooperative localization method program with six degrees of freedom adjustment capability. When the processor executes the multidimensional cooperative localization method program with six degrees of freedom adjustment capability, it performs the following steps:

[0080] The initial planar pose vector of the workpiece is calculated based on the workpiece image acquired by dual vision sensors, and the Z-axis direction error and rotation angle error are extracted.

[0081] Z-axis drive commands are output based on Z-axis direction error, and attitude adjustment commands are calculated based on the rotation angle error of the platform.

[0082] Based on the initial planar pose vector, the pose, Z-axis position and platform angle are fused with the target pose to obtain a six-dimensional pose error vector for fine-tuning.

[0083] Based on the six-dimensional attitude error vector, the joint driving force is calculated using a kinematic model to complete multi-dimensional cooperative positioning.

[0084] It should be noted that, since the multidimensional cooperative positioning system with six degrees of freedom adjustment capability of the present invention corresponds to the multidimensional cooperative positioning method with six degrees of freedom adjustment capability described in any of the above embodiments, and since the execution steps and processes are consistent with the method embodiments, and the method execution process has been described in the above device embodiments, it will not be repeated in this embodiment.

[0085] A fourth aspect of the present invention provides a computer-readable storage medium comprising a multidimensional cooperative localization method program with six degrees of freedom adjustable capability. When executed by a processor, the multidimensional cooperative localization method program with six degrees of freedom adjustable capability implements the steps of the multidimensional cooperative localization method with six degrees of freedom adjustable capability as described in any of the preceding claims.

[0086] This invention discloses a multi-dimensional collaborative positioning device, method, and medium with six degrees of freedom adjustment capability. By organically combining a multi-degree-of-freedom platform, a dual vision system, and an intelligent control algorithm, it successfully solves the shortcomings of traditional positioning systems in six-dimensional attitude control, visual feedback, and environmental adaptability. It features high precision, high flexibility, and high intelligence, and is 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, include: The system comprises a multi-degree-of-freedom parallel mechanism platform, an independent Z-axis adjustment unit, a visual feedback subsystem, and a controller. The multi-degree-of-freedom parallel mechanism platform is used to handle multi-degree-of-freedom Euler angle rotation; The independent Z-axis adjustment unit is used for precise lifting and lowering in the vertical direction; The visual feedback subsystem is used to identify the XY plane pose and detect Z-axis and tilt angle errors; The controller is used to realize six-dimensional attitude closed-loop collaborative control based on dual visual feedback and kinematic calculation; The visual feedback subsystem includes a higher-level vision system, a lateral vision system, and an LED light strip auxiliary lighting system. The higher-level vision system is used to identify XY plane pose, the lateral vision system is used to detect Z-axis and tilt angle errors, and the LED light strip auxiliary lighting system is used to provide multi-band controllable lighting. The independent Z-axis adjustment unit introduces an axial Z-lift adjustment mechanism and a multi-degree-of-freedom adjustment platform for coordinated control, and completes precise pose compensation in six-dimensional space through parallel drive. The controller is also used to automatically adjust the LED intensity of each band to equalize the lighting brightness.

2. The multidimensional cooperative positioning device with six degrees of freedom adjustment capability according to claim 1, characterized in that, The LED strips in the LED strip auxiliary lighting system are arranged at an angle to form dual-angle lighting, wherein the angle between the light source and the camera's line of sight forms the reflection control range. .

3. A multi-dimensional cooperative positioning device with six degrees of freedom adjustment capability according to claim 1, characterized in that, The multi-degree-of-freedom parallel mechanism platform includes a drive unit and an end platform. By controlling multiple drive units to extend or shorten synchronously to push and pull the end platform together, linear movement in three-dimensional space can be achieved in the forward, backward, left, right, and up and down directions. By controlling multiple drive units to extend and retract differently, the end platform can tilt and deflect around the center of the end platform to rotate.

4. A multidimensional cooperative localization method with six degrees of freedom adjustment capability, characterized in that, The method is applied to a multidimensional cooperative positioning device with six degrees of freedom adjustment capability as described in any one of claims 1-3, wherein the method includes the following steps: The initial planar pose vector of the workpiece is calculated based on the workpiece image acquired by dual vision sensors, and the Z-axis direction error and rotation angle error are extracted. Z-axis drive commands are output based on Z-axis direction error, and attitude adjustment commands are calculated based on the rotation angle error of the platform. Based on the initial planar pose vector, the pose, Z-axis position and platform angle are fused with the target pose to obtain a six-dimensional pose error vector for fine-tuning. Based on the six-dimensional attitude error vector, the joint drive amount is calculated using a kinematic model to complete multi-dimensional cooperative positioning.

5. A multidimensional cooperative localization method with six degrees of freedom adjustment capability according to claim 4, characterized in that, The method also includes adjusting the brightness of the LED light strip to provide multi-band controllable illumination, and calculating and outputting imaging window compensation instructions.

6. A multidimensional cooperative positioning system with six degrees of freedom adjustment capability, used to execute the method of any one of claims 4 to 5, characterized in that, The system includes a memory and a processor. The memory contains a multidimensional cooperative localization method program with six degrees of freedom adjustment capability. When executed by the processor, the multidimensional cooperative localization method program with six degrees of freedom adjustment capability performs the following steps: The initial planar pose vector of the workpiece is calculated based on the workpiece image acquired by dual vision sensors, and the Z-axis direction error and rotation angle error are extracted. Z-axis drive commands are output based on Z-axis direction error, and attitude adjustment commands are calculated based on the rotation angle error of the platform. Based on the initial planar pose vector, the pose, Z-axis position and platform angle are fused with the target pose to obtain a six-dimensional pose error vector for fine-tuning. Based on the six-dimensional attitude error vector, the joint driving force is calculated using a kinematic model to complete multi-dimensional cooperative positioning.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a multidimensional cooperative localization method program with six degrees of freedom adjustment capability. When the multidimensional cooperative localization method program with six degrees of freedom adjustment capability is executed by a processor, it implements the steps of the multidimensional cooperative localization method with six degrees of freedom adjustment capability as described in any one of claims 4 to 5.

Images