黑龙江科技大学学报2025，Vol.35Issue(2)：218-224,231,8.DOI:10.3969/j.issn.2095-7262.2025.02.008
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
摘要
Abstract
This paper aims to address the low sorting efficiency caused by the lack of effective strate-gy 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 solu-tion 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Key words
coal gangue sorting robot/gangue location/multi-arm coordination/sorting strategy分类
矿业与冶金引用本文复制引用
陈凯云,陈少伟,韩龙,刘远洋..基于多机械臂协同的动态矸石流分选策略[J].黑龙江科技大学学报,2025,35(2):218-224,231,8.基金项目
黑龙江省重点研发计划项目(GA23A910) （GA23A910）
新一轮黑龙江省"双一流"学科协同创新成果项目(LJGXCG2023-012) （LJGXCG2023-012）
