Depth Image Based Robotic Disassembly Approach For End Of Life Lead Batteries

The recycling of waste products is a key means for developing a society with circular economy,it also helps for alleviating resource shortages.Otherwise,the non-reasonable treatment of used products will result in environmental pollution.Compared with crushing and recycling,it is more conducive to protecting the environment and saving resources by dismantling and recycling the parts and materials of waste products.However,due to the high labor cost and low disassembly efficiency,the economic efficiency of the dismantling process is not very well.The automation technology in the dismantling waste products can not only reduce the labor costs,improve disassembly efficiency,but also help reduce the labor intensity of workers.However,due to the uncertainty of the state of the waste products and the obvious differences between individuals,there are many technical difficulties for automated disassembly.In this paper,the image recognition and positioning function of machine vision is used.Based on the C#background development,ABB robot is used as the motion execution unit for dismantling the used battery products to solve the path planning problem of automatic disassembly of used batteries.In the paper,the depth image obtained by Kinect is extracted with MATLAB to extract the feature edges and the coordinate points on the sidelines.The depth value is output by Kinect,and the three-dimensional coordinates are rectangularly fitted by the weighted least squares fitting algorithm.Finally,using Robot-Studio to simulate the external contour of the fitted waste battery,verify the accuracy of the three-dimensional battery profile based on Kinect’s feature recognition and extraction depth image fitting and the efficiency of the robot to disassemble the waste battery product.The effectiveness and practicability of the robot path planning method are verified by simulation experiments.The research in this paper also provides a feasible solution for the field of automated disassembly.In this paper,a preliminary study on battery disassembly based on industrial robots is carried out,and the general problem of robot disassembly of waste products is analyzed.Then a general method based on depth image processing and real-time trajectory planning and control is proposed,which is for waste products.The automatic disassembly and recycling is of great significance.