Coal gangue sorting robot multi-target multi-mechanical arm collaborative sorting system and coal gangue sorting robot multi-target multi-mechanical arm collaborative sorting strategy

Abstract

The invention discloses a coal gangue sorting robot multi-target multi-mechanical arm collaborative sorting system and a coal gangue sorting robot multi-target multi-mechanical arm collaborative sorting strategy, comprising the following steps: an identification locating subsystem acquires an information label of a gangue in a coal gangue flow, and sends the information label to a master control subsystem interface through an identification locating subsystem interface; an allocation strategy unit completes information pretreatment of a gangue label, and realizes task allocation of a pluralityof target gangues; mechanical arm dynamic trajectory planning is executed according to mechanical arm-target gangue task grouping information, trajectory information is sent to a multi-mechanical armcontrol subsystem through the master control subsystem interface, and each mechanical arm completes sorting of the target gangues according to the received trajectory information. The system and thestrategy provided by the invention are used to replace manual sorting, and in combination with a corresponding multi-mechanical arm collaboration strategy method, can greatly improve intelligent levelof a coal mine washing plant.

Description

technical field [0001] The invention relates to the technical field of sorting, in particular to a coal gangue sorting robot multi-target multi-manipulator collaborative sorting system and a sorting strategy. Background technique [0002] In the field of coal and gangue sorting, the multi-robot system is a special coal and gangue sorting equipment. The multi-robot system is divided into joint type, rectangular coordinate type, parallel type, etc. according to the different robot structures. It is mainly responsible for the detection of multiple dynamic targets in the coal and gangue sorting process The sorting work is mainly gangue washing. At present, there is a lack of fast, accurate and reliable multi-objective and multi-manipulator collaborative sorting strategies in the coal gangue sorting process. In the existing online identification, positioning and sorting process, the gangue sorting robot needs to assign tasks to each piece of gangue. When the roof is mined, the g...

AI Technical Summary

Problems solved by technology

In the existing online identification, positioning and sorting process, the gangue sorting robot needs to assign tasks to each piece of gangue. When the roof is mined, the gangue content of the raw coal flow becomes larger, and the gangue sorting robot system’s picking The gangue rate is relatively reduced, and it will also be reduced due to the increase in the speed of the belt conveyor

Images