一种插机方法及插机设备技术

本发明专利技术提供一种插机方法及插机设备。所述插机方法包括：根据获取的包括引脚的第一图像，获取引脚相对机械手在第一坐标系下的相对位姿(S110)；根据获取的机械手各关节的当前信息，获取所述机械手在所述第一坐标系下的第一当前位姿(S120)；根据包括目标插孔的第二图像或第二当前图像，获取目标插孔在所述第一坐标系下的第三位姿或第三当前位姿(S130)；根据所述第一当前位姿、所述相对位姿、以及所述第三位姿或第三当前位姿，基于预先经过训练的NN模型计算机械手需实施的当前运动量(S140)；判断所述机械手是否满足插机条件(S150)；若满足，控制所述机械手带动所述引脚插入所述目标插孔(S160)；若不满足，控制机械手实施所述当前运动量(S170)。通过基于机器学习的方法进行的插机，能够提高各种复杂的环境下插机的准确率和效率。

A method and equipment of inserting machine

The invention provides a plugging method and a plugging device. The inserting method includes: acquiring the relative pose of the pin relative to the manipulator in the first coordinate system according to the acquired first image including the pin (S110); acquiring the first current pose of the manipulator in the first coordinate system according to the acquired current information of each joint of the manipulator (S120); acquiring the target according to the second image or the second current image including the target jack The third position or the third current position (S130) of the jack in the first coordinate system; according to the first current position, the relative position, and the third position or the third current position, the current movement momentum to be implemented by the manipulator is calculated based on the NN model that has been trained in advance (S140); whether the manipulator meets the insertion conditions (S150) is judged; if so, the manipulator is controlled The manipulator drives the pin to insert into the target Jack (S160); if not, the manipulator is controlled to perform the current movement amount (S170). By using machine learning method, the accuracy and efficiency of machine insertion can be improved in various complex environments.

【技术实现步骤摘要】
【国外来华专利技术】PCT国内申请，说明书已公开。

【技术保护点】
PCT国内申请，权利要求书已公开。/n

【技术特征摘要】
【国外来华专利技术】20180402...

【专利技术属性】
技术研发人员：何德裕，朱文飞，彭显明，
申请(专利权)人：鲁班嫡系机器人深圳有限公司，
类型：发明
国别省市：广东;44