基于可供性推理的人机协作拆卸序列规划方法  

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

作　　者：喻惟刚 文思捷 李建军 李心雨 YU Weigang;WEN Sijie;LI Jianjun;LI Xinyu(College of Mechanical Engineering,Donghua University,Shanghai 201620)

机构地区：[1]东华大学机械工程学院,上海201620

出　　处：《机械工程学报》2024年第17期297-309,共13页Journal of Mechanical Engineering

基　　金：上海市科学技术委员会“科技创新行动计划”启明星计划扬帆专项(22YF1400200);中央高校基本科研业务费专项资金(2232023G-05-2)资助项目。

摘　　要：人机协作拆卸过程中存在多机争抢拆卸工具以及人为变动拆卸操作等扰动现象,致使当前工序所需工具缺失或被占用,缺乏灵活应对策略将使机器人长时间等待工具,降低人机协作拆卸效率。因此,提高机器人对当前拆卸场景的认知能力,识别出场景中可替代的工具,提供工具替代方案,对于增强人机协作拆卸抗干扰能力、提高拆卸效率,有着重要意义。对此,提出一种基于可供性推理的人机协作拆卸序列规划方法。利用产品结构数据以及操作工艺文档建立知识图谱,为人机协作拆卸任务提供操作信息以及序列信息;针对出现工具缺失的工序,提出面向人机协作拆卸视觉场景的可供性推理方法,为当前工序推荐可替代工具;提出基于可供性推理的人机协作拆卸序列规划方法,在工具有替换的情况下对原始序列进行优化,降低人机协作拆卸总时间。以新能源汽车动力电池人机协作拆卸作为实验场景,开展了可供性检测和拆卸序列优化实验。实验结果表明,所提出的方法能够在工具被占用的情况下准确提供工具替代方案,有效减少拆卸操作所需时间,从而提高了人机协作拆卸的抗干扰能力和效率。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.

关 键 词：人机协作拆卸 可供性推理 可供性检测 拆卸序列规划 知识图谱 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]