Affordance Reasoning-based Sequence Planning Manner for Human-robot Collaborative Disassembly

被引：0
|
作者：
Yu, Weigang [1 ]
Wen, Sijie [1 ]
Li, Jianjun [1 ]
Li, Xinyu [1 ]
机构：
[1] College of Mechanical Engineering, Donghua University, Shanghai,201620, China
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2024年 / 60卷 / 17期
关键词：
Due to the disturbance in human-robot collaborative disassembly (HRCD); such as scrambling disassembly tools by multiple robots and adjusting disassembly processes by humans; tools are often lacked or occupied for the current disassembly process and long waiting time is wasted if lack of flexible tool scheduling strategy; which impairs the efficiency of the HRCD process. Therefore; improving the ability of the robot for cognizing the current disassembly circumstance and recognizing the replaceable tools to generate the alternative solutions; counts for tackling the disturbance scenarios in HRCD. To this end; an affordance reasoning-based sequence planning manner for HRCD is proposed; which comprises three phases. Firstly; a knowledge graph is established with the structural data of products and process operating documents; so as to provide the operation and sequence information for HRCD tasks. Then; concerning a process that lacks essential tools; an affordance reasoning manner is proposed for the visual scenes of HRCD to offer the replaceable tools for this process. After that; an affordance reasoning-based sequence planning manner is designed to optimize the original disassembly sequence if tools have been replaced; trying to reduce the total disassembly time. Taking the HRCD of aging batteries in new energy vehicles as the experimental case to validate the performance of affordance-based detection and disassembly sequence planning. The results demonstrate that the proposed manner could provide accurate alternative solutions for tool replacement when essential tools are occupied; and could effectively reduce the time cost for the whole disassembly process; which enhances resilience and efficacy in HRCD. © 2024 Chinese Mechanical Engineering Society. All rights reserved;
D O I：
10.3901/JME.2024.17.297
中图分类号：
学科分类号：
摘要：
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页码：297 / 309
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