工矿自动化2025，Vol.51Issue(4)：64-73,139,11.DOI:10.13272/j.issn.1671-251x.2025010038
贪心策略与调度规则融合的煤矸分拣机器人多任务分配方法
A multi-task allocation method for coal gangue sorting robots based on the integration of greedy strategy and scheduling rules
摘要
Abstract
The complex raw coal mining process and the variation in the raw coal gangue content result in nonlinear changes in the arrival time,position coordinates,and particle size of the gangue on the belt conveyor,which affects the overall benefits of coal gangue sorting.Based on a comprehensive consideration of the gangue queue characteristics and queuing theory scheduling rules,a multi-task allocation method for coal gangue sorting robots,integrating a greedy strategy and scheduling rules,was proposed.A basic framework for multi-task allocation of multi-arm coal gangue sorting robots was constructed,including a matching matrix,benefit function matrix,and environmental state matrix.The characteristics of each dimension of the gangue queue information and the mechanisms of some scheduling rules were analyzed.The combination methods of different scheduling rules were studied,and a scheduling rule combination set was established.Through the greedy strategy,the overall benefits of different scheduling rules within different time windows were compared,with the sorting rate and task completion success rate in the coal gangue sorting process serving as the overall benefit rate.The scheduling rule that maximized the overall benefit was selected for multi-task allocation.A time-varying raw coal flow simulation environment with different maximum coal throughput was set up for multi-robot coal gangue sorting task allocation simulation experiments.The results showed that for time-varying raw coal flow samples with maximum coal throughput of 120 and 150 kg/s,the coal gangue sorting rates were 97.69％and 89.10％,respectively,when using the proposed multi-task allocation method with a greedy strategy and scheduling rules,which was an improvement of 6.82％and 5.67％,respectively,compared to the single scheduling rule method.The task completion success rates were 95.64％and 86.46％,respectively,showing improvements of 3.02％and 2.13％,respectively.The standard deviation of robot arm utilization was lower,indicating that the method reduced the impact of the time-varying raw coal flow on the overall benefits of coal gangue sorting.关键词
煤矸分拣机器人/多机械臂/时变原煤流/多任务分配/贪心策略/调度规则组合Key words
coal gangue sorting robot/multi-robotic arms/time-varying raw coal flow/multi-task allocation/greedy strategy/scheduling rule combination分类
矿业与冶金引用本文复制引用
曹现刚,丁文韬,吴旭东,王鹏,藏家松,刘依哲..贪心策略与调度规则融合的煤矸分拣机器人多任务分配方法[J].工矿自动化,2025,51(4):64-73,139,11.基金项目
陕西省自然科学基础研究计划项目(2023-JC-YB-362) （2023-JC-YB-362）
陕西省教育厅自然科学研究项目(23JK0548) （23JK0548）
陕西省重点研发计划项目(2024GX-YBXM-524). （2024GX-YBXM-524）
