The wp_insert_attachment() reference includes
wp_insert_attachment( $attachment, $filename, $parent_post_id );
and you need to specify $parent_post_id. This means that you have to insert something into the posts table beforehand to specify the post_id for that record.
However, if you want to register new image information, but there is no linked post yet, there is no post_id, so I looked into what to do.
I followed the WP source and actually tried it,
wp_insert_attachment( $attachment, $filename, 0 );
$parent_post_id = 0 to insert a new one.
By the way, $attachment has
$wp_filetype = wp_check_filetype(basename($filename), null );
$wp_upload_dir = wp_upload_dir();
$attachment = array(
'guid' => $wp_upload_dir['url'] . '/' . basename( $filename ),
'post_mime_type' => $wp_filetype['type'],
'post_title' => preg_replace('/\.[ ^.] +$/', '', basename($filename)),
'post_content' => '',
'post_status' => 'inherit'
);
Just put in the image information of the image you uploaded in advance.
Now, you can register new image information one after another.