基于多机械臂协同的动态矸石流分选策略  

Dynamic sorting strategy of gangue flow based on multi-arm coordination

作　　者：陈凯云 陈少伟 韩龙 刘远洋 Chen Kaiyun;Chen Shaowei;Han Long;Liu Yuanyang(School of Mechanical Engineering,Heilongjiang University of Science&Technology,Harbin 150022,China;School of Electrical&Control Engineering,Heilongjiang University of Science&Technology,Harbin 150022,China)

机构地区：[1]黑龙江科技大学机械工程学院,哈尔滨150022 [2]黑龙江科技大学电气与控制工程学院,哈尔滨150022

出　　处：《黑龙江科技大学学报》2025年第2期218-224,231,共8页Journal of Heilongjiang University of Science And Technology

基　　金：黑龙江省重点研发计划项目(GA23A910);新一轮黑龙江省“双一流”学科协同创新成果项目(LJGXCG2023-012)。

摘　　要：针对煤矸分选机器人在分选动态矸石流过程中,因缺乏多机械臂的有效策略规划而导致分选效率低下的问题,提出了一种基于多机械臂协同的矸石流分选策略。对于矸石位置随带式输送机运动变化的特性,给出一种矸石时变坐标求解方法,实现矸石位置动态跟踪;根据矸石粒径和矸石与机械臂工作区域的距离,建立基于模糊逻辑推理的矸石分选优先级模型,煤矸分选机器人依据该优先级模型可动态调整分选顺序;通过求解矸石时变坐标和矸石分选优先级模型,给出基于多机械臂协同的矸石流分选策略。结果表明,煤矸分选机器人可实现矸石流任务的在线分选,文中提出的多机械臂协同分选策略相比传统的先来先服务调度策略,分选出的矸石总质量更大,分选率更高。This paper aims to address the low sorting efficiency caused by the lack of effective strategy of the multi robotic arms in sorting process of gangue flow by the robot,and proposes a sorting strategy of gangue flow based on mutil-arm coordination.The study involves define a time-varying coordinate solution to realize dynamic tracking of the gangue position according to the characteristics of motion changes of the gangue position along with the movement of the belt conveyor;based on gangue particle size and the distance between the gangue and the working area of the manipulator arm,developing a gangue sorting priority model on fuzzy logic reasoning,by which the coal gangue sorting robot can dynamically adjust the sorting orders;and constructing sorting strategy for gangue flow with the multi-arm coordination based on the time-varying coordinates of the gangue and the priority model.The experimental results show that the coal gangue sorting robot can effectively perform online sorting of gangue flow tasks.Compared with the traditional first-come-first-served scheduling strategy,the proposed multi-arm coordination sorting strategy gains better total mass and higher sorting rate of gangue.

关 键 词：煤矸分选机器人 矸石位置 多机械臂协同 分选策略 

分 类 号：TD67[矿业工程—矿山机电]