電池解体を革新する：電池解体自律移動マニピュレータロボット（BEAM-1）の設計と実装

原文アブストラクト

The efficient disassembly of end-of-life electric vehicle batteries(EOL-EVBs) is crucial for green manufacturing and sustainable development. The current pre-programmed disassembly conducted by the Autonomous Mobile Manipulator Robot(AMMR) struggles to meet the disassembly requirements in dynamic environments, complex scenarios, and unstructured processes. In this paper, we propose a Battery Disassembly AMMR(BEAM-1) system based on NeuralSymbolic AI. It detects the environmental state by leveraging a combination of multi-sensors and neural predicates and then translates this information into a quasi-symbolic space. In real-time, it identifies the optimal sequence of action primitives through LLM-heuristic tree search, ensuring high-precision execution of these primitives. Additionally, it employs positional speculative sampling using intuitive networks and achieves the disassembly of various bolt types with a meticulously designed end-effector. Importantly, BEAM-1 is a continuously learning embodied intelligence system capable of subjective reasoning like a human, and possessing intuition. A large number of real scene experiments have proved that it can autonomously perceive, decide, and execute to complete the continuous disassembly of bolts in multiple, multi-category, and complex situations, with a success rate of 98.78%. This research attempts to use NeuroSymbolic AI to give robots real autonomous reasoning, planning, and learning capabilities. BEAM-1 realizes the revolution of battery disassembly. Its framework can be easily ported to any robotic system to realize different application scenarios, which provides a ground-breaking idea for the design and implementation of future embodied intelligent robotic systems.