考虑含矸率时变性的多臂协同策略优化方法  

A Multi-manipulator Cooperative Strategy Optimization Method with Time-varying Gangue Rate Considered

作　　者：曹现刚[1,2] 乔欢乐 吴旭东 王鹏 范智海 CAO Xiangang;QIAO Huanle;WU Xudong;WANG Peng;FAN Zhihai(School of Mechanical Engineering,Xi'an University of Science and Technology,Xi'an 710054,China;Shaanxi Provincial Key Laboratory of Intelligent Testing of Mine Mechanical and Electrical Equipment,Xi'an 710054,China;Shaanxi Tongchuan Mining Co.,Ltd.,Tongchuan 727000,Shaanxi,China)

机构地区：[1]西安科技大学机械工程学院,西安710054 [2]陕西省矿山机电装备智能检测重点实验室,西安710054 [3]陕西铜川矿业有限公司,陕西铜川727000

出　　处：《机械科学与技术》2023年第11期1887-1894,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金面上项目(51975468);陕西省重点研发计划项目(2018GY-160);陕西省教育厅科学研究计划项目(18JC022)。

摘　　要：针对煤炭生产过程中,原煤含矸率时变性引起分拣效率低的问题,本文综合考虑矸石质量、矸石识别置信度、机械臂分拣时间等因素,通过一种多因素融合效益矩阵的方法,优化时变含矸率条件下的多机械臂煤矸分拣策略。提出了一种基于效益矩阵的多机械臂协同策略模型,以分拣效益和拣矸率共同作为策略的评价标准。通过采用相似性原理,构建小样本矸石流模型;利用熵权法量化效益矩阵的元素参量;最后,采用FCFS策略方法及本文策略方法进行多组对比实验,实验结果表明,通过效益矩阵优化的多臂协同策略能够有效解决过矸量大时的矸石任务分配问题,相对FCFS策略方法,提高拣矸率的同时,有效提高了选煤质量。In the process of coal production,the time varying of raw coal gangue rate causes low sorting efficiency.With the factors such as gangue quality,gangue recognition and manipulator sorting time considered,this paper uses the multi-factor fusion benefit matrix to optimize the multi-manipulator gangue sorting strategy under the condition of time-varying gangue rate.A multimanipulator cooperative strategy model based on the benefit matrix was proposed.The sorting efficiency and the sorting gangue rate were used as evaluation criteria.A small sample gangue flow model is constructed by using the similarity principle.The element parameters of the benefit matrix are quantified with the entropy weight method.The experimental results show that the multi-manipulator cooperative strategy optimization method can effectively solve the gangue task allocation problem when the number of gangues is large.The gangue sorting rate and the sorted coal quality are effectively improved.

关 键 词：煤矸分选 多机械臂协同 多任务分配 效益矩阵 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]