The invention discloses an
adaptive method and
system for a normal
insertion attitude of a vibrating mechanical arm facing an inclined bin surface and a medium, and the method comprises the steps: collecting a
color image and a depth image through a depth camera carried at the
tail end of the vibrating mechanical arm, carrying out the
spatial reconstruction, and generating a
point cloud; generating a surface normal vector of a local
point cloud area by combining internal parameters of a camera, pixel coordinates of a vibrating point and depth information, uniformly reversing the surface normal vector downwards as an
insertion direction of a vibrating rod, mapping the normal vector to a base coordinate
system of the mechanical arm through coordinate transformation, solving a
tail end attitude angle, and obtaining a target
point cloud area; and posture self-adaptive adjustment and accurate
insertion of the vibrating rod in the normal direction of the local area of the
insertion point are achieved. According to the method, the problem that the insertion direction of the vibrating rod under the bin surface with any dip angle is inconsistent with the normal direction of the local area of the
insertion point is solved, the construction specification requirement that the vibrating rod needs to be vertically inserted in the normal direction of the bin surface in the vibrating operation is met, and the compactness, uniformity and intelligent level of concrete vibrating are remarkably improved; and the method has good robustness and
engineering adaptation value.