Study On Optimization Method Of Coal And Gangue Sorting Strategy With Multi-manipulator Under Time-varying Raw Coal Flow

The coal passing quantity and gangue rate of raw coal flow change with time,resulting in low utilization rate of multi-manipulator coal-gangue sorting robot,and imbalance of gangue sorting rate and gangue sorting quality ratio.To solve this problem,this paper constructed a multi-manipulator arms multi-task allocation model to achieve the optimal multi-task assignment of coal-gangue sorting robot under time-varying raw coal flow.The main research work of this paper is as follows:Aiming at the problem of the imbalance between the sorting rate and the quality ratio caused by the time-varying raw coal gangue rate,this paper describes and analyzes the multi-task assignment problem of the coal-gangue sorting robot,gives the task type of this problem,and gets two kinds of raw coal flow characteristics of fixed gangue quantity and time-varying gangue quantity.Considering the quality of gangue,recognition confidence,arms sorting time and other factors comprehensively,a multi-manipulator arm multi-task allocation model based on efficiency matrix was established by given assumptions,constraints,input parameters and evaluation indexes.It lays a foundation for solving the multi-task assignmentallocation problem with different characteristics of gangue quantity in the following paper.Aiming at the problem of optimal allocation of fixed raw coal flow,a multi-manipulator multi-task allocation strategy based on maximum benefit priority was proposed.The correlation among gangue quality,recognition confidence and sorting time of manipulator arm was analyzed,and the parameter weights of efficiency matrix were solved by entropy weight method.FCFS,SJF and MBP strategies were compared and analyzed under different models of excess gangue quantity,and the matching relationship between allocation strategy and excess gangue quantity pattern was obtained.Finally,the MBP strategy is determined as the optimal strategy.Aiming at the optimal allocation of time-varying raw coal flow,a threshold-based multi-manipulator multi-task adaptive allocation method is proposed.Firstly,the value of excess gangue quantity threshold is set through the matching relationship between allocation strategy and excess gangue quantity mode,and the weight of benefit matrix is selected according to the threshold value.The greedy algorithm was used to optimize the weight of time-varying raw coal flow,and the optimal weight solution of MBP strategy was obtained in accordance with the condition of time-varying raw coal flow.Finally,the optimal result of multi-manipulator multi-task allocation was obtained.Finally,the multi-manipulator multi-task assignment experiment of time-varying raw coal flow is carried out to verify that the adaptive allocation strategy can effectively improve the rate of gangue sorting and the quality ratio of gangue sorting.In order to improve the sorting efficiency of multi-arm coal and gangue sorting robot,a multi-manipulator multi-task allocation model based on benefit matrix was proposed,and different raw coal flow allocation strategies were solved and optimized.The experimental results show that the adaptive allocation strategy proposed in this paper can adapt to the task allocation of fixed raw coal flow and time-varying raw coal flow,and improve the rate and quality ratio of sorting gangue,which has certain application value.