A flexible assembly system and method based on multi-mode information description

A flexible assembly and network model technology, applied in the field of flexible assembly systems based on multi-modal information description, can solve the problems of target occlusion, image modal information cannot fully express the dynamic process of assembly operations, etc., and achieve the effect of low labor efficiency

Active Publication Date: 2019-03-29
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the robot assembly process, a single image modality information cannot fully express the dynamic process of the assembly operation, and when the assembly objects touch each other, the target occlusion problem occurs

Method used

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  • A flexible assembly system and method based on multi-mode information description
  • A flexible assembly system and method based on multi-mode information description
  • A flexible assembly system and method based on multi-mode information description

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Embodiment Construction

[0063] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0064] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0065] In a typical implementation of the present application, such as figure 1 As shown, a flexible assembly ...

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Abstract

The invention discloses a flexible assembly system and method based on multi-mode information description. The flexible assembly method comprise the following steps: in the non-contact stage between the end parts of the manipulator and the parts to be assembled, the manipulator is rapidly positioned near the target position by visual guidance, and the visual guidance rough positioning is realized;When the end parts of the manipulator contact with the parts to be assembled, the multi-mode information description of the assembly state is formed by the force information and the parameters of themanipulator itself, and the posture adjustment is carried out based on the depth reinforcement learning method, so as to realize the precise assembly of the force sense and posture adjustment of theassembled parts. An embodiment of the present disclosure effectively solves the problem of low labor efficiency; The manipulator adapts to the change of environment actively; Visual images, force / moment information and manipulator parameters are used to describe the assembly process.

Description

technical field [0001] The present disclosure relates to the technical field of machine assembly, in particular to a flexible assembly system and method based on multi-mode information description. Background technique [0002] In the complex operation process of industrial production, the assembly process is relatively complicated. Human vision, touch and other senses are guided by the wisdom of the brain and fully utilized in the assembly process. In the robot assembly process, a single image modality information cannot fully express the dynamic process of the assembly operation, and when the assembly objects touch each other, the target occlusion problem occurs. [0003] Aiming at the problem that the single modal information is insufficient to express the assembly process, it is urgent to build an intelligent flexible assembly system combining vision, force sense and the parameter information of the manipulator itself. Contents of the invention [0004] In order to so...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06N3/04G06N3/08B23P21/00B23P19/00
CPCG06N3/084B23P19/00B23P21/00G06N3/048
Inventor 宋锐李凤鸣李贻斌邹永显权威张思思魏猛
Owner SHANDONG UNIV
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