论文标题
自动驾驶电动汽车电池基于神经符号计算
Autonomous Electric Vehicle Battery Disassembly Based on NeuroSymbolic Computing
论文作者
论文摘要
电动汽车的蓬勃发展需要有效的电池拆卸，以使回收环境友好。由于非结构化的环境和高度不确定性，电池拆卸仍然主要由人类完成，可能是在机器人的帮助下。设计自动解决方案以提高工作效率并降低人类风险在高压和有毒环境中是非常需要的。本文提出了一个新颖的框架，即神经符号任务和运动计划方法，以自动使用机器人在非结构化的环境中拆卸电池。它使机器人能够在有或没有障碍物的情况下独立定位和拆卸电池螺栓。这项研究不仅为智能拆卸电池电池提供了解决方案，而且还通过一组测试结果来验证其可行性，该机器人在复杂而动态的环境中完成了拆卸任务。
The booming of electric vehicles demands efficient battery disassembly for recycling to be environment-friendly. Due to the unstructured environment and high uncertainties, battery disassembly is still primarily done by humans, probably assisted by robots. It is highly desirable to design autonomous solutions to improve work efficiency and lower human risks in high voltage and toxic environments. This paper proposes a novel framework of the NeuroSymbolic task and motion planning method to disassemble batteries in an unstructured environment using robots automatically. It enables robots to independently locate and disassemble battery bolts, with or without obstacles. This study not only provides a solution for intelligently disassembling electric vehicle batteries but also verifies its feasibility through a set of test results with the robot accomplishing the disassembly tasks in a complex and dynamic environment.
