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 multimodal information description, can solve problems such as target occlusion, image modal information cannot fully express the dynamic process of assembly operations, etc., and achieve the effect of solving low labor efficiency.

Active Publication Date: 2020-09-25
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, which includes: quickly positioning the manipulator near the target position through visual guidance when the parts at the end of the manipulator are not in contact with the parts to be assembled, so as to realize the vision Guide rough positioning; when the parts at the end of the manipulator are in contact with the parts to be assembled, use the force sense information and the parameters of the manipulator itself to form a multi-mode information description of the assembly state, and adjust the attitude based on the deep reinforcement learning method to achieve assembly zero. Force-sensing posture adjustment of components. The implementation example of the present disclosure effectively solves the problem of low labor efficiency; the manipulator actively adapts to changes in the environment; multi-mode information such as visual images, force / torque information, and manipulator parameters is used to fully 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 Patents(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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