Robotic Task Oriented Knowledge Graph for Human-Robot Collaboration in Disassembly
Robotic Task Oriented Knowledge Graph for Human-Robot Collaboration in Disassembly
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DOI：
10.1016/j.procir.2019.03.121
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Ding Yiwen;Wenjun Xu;Zhihao Liu;Zude Zhou;D. Pham
中科院分区：
文献类型：
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作者：
Ding Yiwen;Wenjun Xu;Zhihao Liu;Zude Zhou;D. Pham
传统的拆解方式，如人工拆解、机器人拆解等，已经不能胜任拆解产品复杂程度的要求。因此，可以引入人机协作概念来实现新型拆卸系统，以提高其灵活性和适应性。为了促进人机协作拆解工作高效、顺畅，需要使拆解系统更加智能化。本文提出了一种机器人知识图谱，为那些缺乏相关知识的人完成拆解任务提供帮助。本文通过自然语言处理方法，从反汇编数据中提取实体和关系，以知识图谱的形式构建知识库。结合基于图的知识表示，开发了一个供人类获取、分析和管理拆解知识的原型系统。最后，案例研究表明，所提出的机器人知识图谱可以节省拆卸时间、空闲时间和人力工作量，并且可以通过为人类和机器人提供各种所需知识来辅助人类操作员进行拆卸。
Traditional disassembly methods, such as manual and robotic disassembly, are no longer competent for the requirement of the complexity of the disassembly product. Therefore, the human-robot collaboration concept can be introduced to realize a novel disassembly system, towards increasing the flexibility and adaptability of them. In order to facilitate the efficient and smooth human-robot collaboration in disassembly, it is necessary to make the disassembly system more intelligent. In this paper, a robotic knowledge graph is proposed to provide an assistant for those who lack the relevant knowledge to complete the disassembly task. By natural language processing method, this paper extracts entities and relationships from the disassembly data to build a knowledge base in the form of knowledge graph. Combining graph-based knowledge representation, a prototype system is developed for human to acquire, analyze and manage the disassembly knowledge. Finally, a case study demonstrates that the proposed robotic knowledge graph has savings in terms of disassembly time, idle time and human workload, and it can be applied to assist human operator in disassembly by providing human and robots with various kinds of the needed knowledge.