Study on task allocation for multiple manipulators of coal gangue sorting
Aiming at the problems in the coal gangue sorting process such as low sorting rate and poor sorting effect of large gangue,by considering the gangue particle size,sorting time,gangue and sorting area boundary distance and other factors,the gangue priority model was constructed;taking the non-reset way of the manipulators after placing gangue,a coal gangue sorting multi manipulators task allocation strategy was proposed,and the sorting rate was taken as the evaluation standard;finally,the proposed allocation strategy and the conventional allocation strategy was compared in simulation.The results show that:the proposed strategy works better than the traditional strategy,which improves the sorting rate by 7%to 10%,reduce the missed picking number of large particle size gangue;when the gangue spacing is constant,the gangue number changes on the sorting rate has less impact,the sorting rate fluctuations around 3%,which verifies the effectiveness of the proposed strategy;gangue spacing has a greater impact on the sorting rate and the number of sorting manipulators,when the spacing of gangue increases,the sorting rate increases;when the gangue spacing is above 250 mm,the sorting rate is maintained at a high level with three sorting manipulators.
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