A knowledge transfer method for human-robot collaborative disassembly of end-of-life power batteries based on augmented reality

Abstract

Abstract The disassembly of power batteries poses significant challenges due to their complex sources, diverse types, variations in design and manufacturing processes, and diverse service conditions. Human memory capacity and robot cognitive and understanding capabilities are limited when faced with different dismantling tasks for end-of-life power batteries. Insufficient human-computer interaction capabilities greatly hinder the efficiency of human-robot collaboration (HRC) operations. The existing HRC relies heavily on the experience of operators, while the existing disassembly system fails to update new disassembly strategies in real time when facing new battery varieties. Therefore, this paper proposes an augmented reality-assisted human-robot collaboration (AR-HRC) power battery dismantling system based on transfer learning. It consists of three modules: AR-HRC knowledge modeling, dismantling subgraph similarity assessment, and strategy transfer update. The AR-HRC knowledge modeling module aims to establish an intelligent mapping from tasks to collaborative strategies based on part features. Based on the evaluation of task similarity, the mobility assessment model divides subtasks into similar and dissimilar classes. For similar subtasks, the original dismantling strategy can be applied to the current task. However, for different subtasks, operators can issue instructions to the AR-HRC system through the human-computer interaction function of AR and develop new collaborative strategies based on actual conditions. Finally, a case study of power battery dismantling is conducted, and the results show that compared to traditional pre-programmed assembly, this system can improve dismantling efficiency and reduce cognitive burden.