CN107127757B - Dynamic task allocation method for multi-robot cooperation flexible cable driven gangue picking equipment - Google Patents
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Abstract
The invention discloses a dynamic task allocation method for a multi-robot cooperation flexible cable driven gangue-picking device, which comprises the following steps: describing the current task state of each gangue-picking robot by adopting a task state characteristic function; describing the size membership degree of the target gangue by adopting a triangular membership function in a fuzzy control theory, and defining the task execution degree of each gangue-selecting robot according to the weighted summation of the size membership degree function of the target gangue and the current task state characteristic function of each gangue-selecting robot, wherein the task execution degree is a closed interval [0,1]The number of the above is expressed by a letter Σ, and the task execution degree Σ = ω of the robot 1 μ(d)+ω 2 Phi (t); and finally outputting the serial number of the robot for executing the current target gangue sorting task by comparing the task execution degrees of three robots in the flexible cable driving gangue picking equipment, and completing the grading sorting work of the target gangue by a robot sub-controller through robot kinematics inverse solution analysis according to the current gangue position and pose information.
Description
Technical Field
The invention relates to the technical field of waste rock picking, in particular to a dynamic task allocation method of a multi-robot cooperation flexible cable driven waste rock picking device.
Background
At present, relevant work for sorting the coal gangue mainly focuses on the problem of identifying the coal gangue and coal blocks, the work for sorting the gangue after identification is generally completed manually, and the design, application and other aspects of gangue sorting actuating mechanisms are rarely reported. Therefore, there is a need to develop a mechanism which is more efficient, flexible and capable of bearing heavy load to perform the underground coal and gangue sorting work, and the mechanism is also an important component for realizing the automatic process of coal mine production.
In view of this, this patent aims at filling up the deficiency and vacancy in the aspect of picking gangue actuating mechanism design and analysis, proposes a multirobot cooperation flexible cable drive of having big bearing capacity, strong flexible fault-tolerance and mobility flexibility and chooses the cash equipment, can provide a comparatively perfect solution for the separation problem of coal and gangue that faces in the colliery generation process at present. The multi-machine cooperation gangue-picking equipment is characterized in that the upper computer controls the main controller to complete multi-robot task allocation under a complex dynamic environment through wireless communication, the gangue-picking task is allocated to the sub-controller of the appointed gangue-picking robot, and then the accurate positioning of the tail-end grab bucket is completed through inverse kinematics solution and a stable motion track of the gangue-picking robot, so that the grading sorting work of target gangue is realized.
Three flexible cables are adopted to drive the parallel robot to finish the gangue sorting work, and the two reasons are mainly as follows: on the one hand, through field examination of manual gangue picking in the coal mine industry, at least four persons are commonly used to complete the gangue picking task beside one belt conveyor (two persons on both sides of the belt conveyor). This means that the gangue content on the belt conveyor is relatively high, and the gangue sorting task is difficult to accomplish by means of only a single robot. On the other hand, in the gangue sorting process, more than one gangue may exist in a small area of the belt conveyor, and a single robot has difficulty in excellently completing the gangue sorting task. Meanwhile, compared with a single-robot system, the multi-robot system has the advantages that the multi-robot system is strong in environment adapting capability, and can be adjusted by self when the environment changes; the multi-robot system has better data redundancy and robustness; the space distribution is wide, and the time distribution is good. Through the cooperative cooperation among multiple robots, the multi-robot system can reliably complete complex tasks which cannot be completed by a single robot. In view of this, this patent is planned to adopt three flexible cable drive to choose waste rock robot to cooperate jointly, accomplishes the waste rock letter sorting work on a belt conveyor. The general structure of the control system of the multi-robot cooperation flexible cable driven waste rock picking equipment is shown in the figures 1-2, three intelligent body flexible cable driven robots are remotely scheduled and controlled by a main control computer through a wireless communication technology, comprehensive coordination management is carried out, a plurality of intelligent waste rock picking robots are uniformly assigned to carry out waste rock picking simultaneously, the work is coordinated, meanwhile, a main computer can remotely monitor the current task state of each intelligent body waste rock picking robot in real time, and a foundation is provided for task allocation of multi-robot cooperation waste rock picking.
The multi-robot cooperative flexible cable driven gangue-picking equipment provided by the invention adopts three gangue-picking robots with different bearing capacities to complete the gangue-picking task, and the reasons are as follows. (1) Through practical investigation of an applicant on the coal mine production process, the size distribution of the gangue is found to be wide and is not equal to 80mm-300 mm. Therefore, the single-type grab bucket is difficult to excellently complete the gangue sorting task; (2) In the actual gangue-picking process, the phenomenon that the gangue is distributed more densely can appear in a large quantity. Therefore, only one gangue-picking robot can not completely complete the gangue sorting work. In view of this, inspired by a multi-person cooperation gangue-picking strategy, a plurality of gangue-picking robots are required to cooperate to complete the gangue-picking task. Comprehensively considering the environment, the cost and the waste rock picking process of a waste rock picking site, dividing the waste rock from the dimension size, and adopting three flexible cable-driven waste rock picking robots with different bearing capacities to sort the waste rock so as to more excellently complete the work of waste rock sorting. Because the multi-robot cooperative flexible cable driven waste rock picking equipment system comprises three waste rock picking robots with different bearing capacities, task allocation and autonomous cooperation among the robots become problems to be solved firstly.
Disclosure of Invention
In order to solve the problems, the invention provides a dynamic task allocation method of a multi-robot cooperation flexible cable driven gangue-picking device.
In order to achieve the purpose, the invention adopts the technical scheme that:
a dynamic task allocation method of a multi-robot cooperation flexible cable driven gangue-picking device adopts three gangue-picking robots with different bearing capacities to complete gangue-picking tasks; the method specifically comprises the following steps:
s1, inputting size information d of target gangue and the time that each gangue-picking robot finishes the current target gangue-picking task by a task distributor of a gangue-picking equipment driven by a flexible cable under the cooperation of multiple robots as t; according to the fuzzy theory, the domain of the size information d of the input variable target gangue is A: [ d min ，d max ](the size of the gangue in the project is 80mm-300 mm), and the gangue is blurred as follows: [ B, M, S ]]Wherein B (large), M (medium), and S (small) are triangular membership functions μ (d) with a value range of [0,1](ii) a Gangue size membership function mu B (d)、μ M (d) And mu S (d) Fuzzy sets B, M and S for the sizes of the waste rocks are respectively set, namely the fuzzy sets respectively correspond to three waste rock picking robots 1#, 2#, and 3#;
s2, expanding the task state of each gangue-picking robot from an absolute two-state task execution state and a standby state (respectively represented by 1 and 0) to a closed interval [0,1 ] by using a fuzzy theory]The certain number is defined as a robot task state characteristic function and is represented by phi (t), the degree of the gangue-picking robot for completing the current task is represented, and the probability that the robot can complete the next task is reflected; assuming that the total time from the receiving of the command sent by the controller to the completion of the gangue sorting work of a certain gangue-sorting robot is t a If the time that the robot has passed for the performed gangue sorting task is t, the task state characteristic function of the gangue sorting robot is t
S3, according to the size membership function of the target gangue and the current task state characteristic function of each intelligent gangue-picking robot, performing weighted summation to define the task execution degree of each gangue-picking robot as a closed interval [0,1 ]]The number of the above is expressed by a letter Σ, and the task execution degree Σ = ω of the robot 1 μ(d)+ω 2 Phi (t); by comparing threeAnd finally outputting the serial number of the gangue-picking robot (the gangue-picking robot corresponding to the maximum value of the task execution degree) for executing the current gangue-sorting task by the task execution degree of the platform robot, and finishing gangue-sorting work by a sub-controller of the gangue-picking robot according to the position and posture information of the gangue.
Preferably, the number of the gangue picking robot executing the current gangue sorting task is output through the following process:
when the upper computer detects the position and size information of the target gangue and the time t elapsed for each gangue-picking robot to execute the last target gangue-sorting task, determining gangue size influence factors and robot task state influence factors corresponding to the three gangue-picking robots, and calculating task execution degrees sigma corresponding to the three gangue-picking robots 1 、Σ 2 Sum-sigma 3 And determining the robot number for executing the current target gangue sorting task according to the task execution degree of each robot.
Preferably, the waste rock picking robot comprises a waste rock picking robot main control machine, a communication circuit, motors, a belt conveyor, a tail end grab bucket, a frame, a waste rock placing bin and a frame, wherein the belt conveyor is arranged on the frame, two groups of motors are symmetrically arranged on two sides of the frame, the four motors are respectively connected with the tail end grab bucket through flexible ropes, one end of each flexible rope penetrates through a pulley to be connected with the tail end grab bucket, the other end of each flexible rope is connected with a rotating shaft end of the corresponding motor, the pulleys are symmetrically arranged on four corners of the frame, a belt transverse boundary is arranged in the center of the belt conveyor, an area A and an area B are arranged on two sides of the belt transverse boundary, the waste rock placing bin is arranged outside the area A and the area B, the industrial camera transmits the position and the size information of detected coal gangue to the waste rock picking robot main control machine, and the waste rock picking robot main control machine 1 is connected with the motors and the tail end grab bucket through the communication circuit.
Preferably, the area A and the area B are both coal gangue grabbing belts.
Preferably, the two sides of the belt conveyor are provided with winding drums which are sleeved at the rotating shaft end of the motor and used for accommodating the flexible rope.
The invention has the following beneficial effects:
the invention adopts three flexible cable driven gangue-sorting robots with different bearing capacities to sort gangue in grades, and realizes dynamic task allocation and autonomous cooperation among a plurality of robots, thereby completing the gangue-sorting work more excellently, and having wide application value and application prospect.
Drawings
Fig. 1 is a general structure of a multi-robot cooperation flexible cable driving gangue-picking equipment control system in the embodiment of the invention.
Fig. 2 is a schematic diagram of the working principle of a control system of a multi-robot cooperative flexible cable driven gangue-picking device in the embodiment of the invention.
Fig. 3 is a schematic diagram illustrating allocation of a multi-robot cooperation gangue picking task in the embodiment of the invention.
Fig. 4 is a schematic diagram of the working principle of the multi-robot cooperation gangue-picking task allocation in the embodiment of the invention.
Fig. 5 is a schematic structural diagram of a gangue-picking robot in the embodiment of the invention.
Fig. 6 is a schematic diagram of a coal gangue placement mode in the embodiment of the invention.
Fig. 7 is a schematic view of a refuse zone in an embodiment of the invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described in detail below with reference to examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 3-4, an embodiment of the invention provides a dynamic task allocation method for a multi-robot cooperative flexible cable driven gangue picking device, which adopts three gangue picking robots with different bearing capacities to complete the task of gangue grading sorting; the method specifically comprises the following steps:
s1, inputting size information d of target waste rocks and the time spent by each waste rock picking robot for completing the current target waste rock picking task to be t by a multi-robot cooperation flexible cable driving waste rock picking equipment task distributor; according to the fuzzy theory, the argument domain of the size information d of the input variable target gangue is A: [ d ] min ，d max ](the size of the gangue in the project is 80mm-300 mm),it is blurred as: [ B, M, S ]]Wherein B is large, M is medium, S is small, the membership function is a triangular membership function mu (d) with a value range of [0,1 ]](ii) a Gangue size membership function mu B (d)、μ M (d) And mu S (d) Fuzzy sets B, M and S for the sizes of the waste rocks are respectively set, namely the fuzzy sets respectively correspond to three waste rock picking robots 1#, 2#, and 3#;
s2, expanding the task state of each intelligent gangue-picking robot from an absolute two-state task execution state and a standby state (respectively represented by 1 and 0) to a closed interval [0,1 ] by using a fuzzy theory]A certain number is defined as a task state characteristic function of the robot and is expressed by phi (t), and the total time from the receiving of the command sent by the controller to the completion of the gangue sorting work of a certain gangue picking robot is assumed to be t a If the time that the robot has passed for the performed gangue sorting task is t, the task state characteristic function of the gangue sorting robot is t
S3, according to the size membership function of the target gangue and the weighted summation of the current task state characteristic functions of the intelligent gangue-picking robots, the task degree of each gangue-picking robot can be defined and is a closed interval [0,1 ]]The number of the above is expressed by a letter Σ, and the task execution degree Σ = ω of the robot 1 μ(d)+ω 2 Phi (t); and finally outputting the serial number of the waste rock picking robot (the waste rock picking robot corresponding to the maximum value of the task execution degree) for executing the current waste rock sorting task by comparing the task execution degrees of the three robots, and finishing the waste rock sorting work by the sub-controller of the waste rock picking robot according to the position and posture information of the waste rock.
Outputting the serial number of the gangue-picking robot for executing the current gangue sorting task through the following processes:
when the upper computer detects the position and size information of the target gangue and the time t elapsed for each gangue-picking robot to execute the last target gangue-sorting task, determining gangue size influence factors and robot task state influence factors corresponding to the three gangue-picking robots, and calculating gangue size influence factors and robot task state influence factors corresponding to the three gangue-picking robotsHuman task degree sigma 1 、Σ 2 Sum-sigma 3 And determining the serial number of the robot for executing the current target gangue sorting task according to the task execution degree of the robot.
As shown in fig. 5-7, the waste rock picking robot comprises a main control machine 1 of a waste rock picking robot, a communication line 2, motors 3, a belt conveyer 4, a tail-end grab bucket 5, a frame 6, a waste rock placing bin 7 and a frame 8, wherein the frame 8 is provided with the belt conveyer 4, two groups of motors 3 are symmetrically installed on two sides of the frame 8, the four motors 3 are respectively connected with the tail-end grab bucket 5 through flexible ropes, one end of each flexible rope penetrates through a pulley to be connected with the tail-end grab bucket 5, the other end of each flexible rope is connected with a rotating shaft end of each motor 3, the pulleys are symmetrically installed on four corners of the frame 6, a transverse belt boundary 9 is arranged in the center of the belt conveyer 4, two sides of the transverse belt boundary 9 are an area a and an area B, the waste rock placing bin 7 is arranged on the outer sides of the area a and the area B, an industrial camera transmits the position and size information of detected coal gangue to the main control machine 1 of the waste rock picking robot, and the main control machine 1 of the waste rock picking robot is connected with the motors 3 and the tail-end grab bucket 5 through the communication line 2. And the area A and the area B are coal gangue grabbing belts. And winding drums 10 are arranged on two sides of the belt conveyor 4, and the winding drums 10 are sleeved at the rotating shaft end of the motor 3 and used for accommodating flexible ropes.
The current task state of each intelligent robot is described by adopting a task state characteristic function, the degree of the gangue-picking robot for completing the current task is represented, and the probability that the robot can complete the next task is reflected; the target gangue size membership degree is described by a triangular membership degree function in a fuzzy control theory; the membership function represents the degree of the size of the target gangue belonging to each fuzzy subset, and the membership function substantially reflects the degree of the target gangue sorting task completed by the ith (i =1,2, 3) station gangue picking robot.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (5)
1. A dynamic task allocation method for a multi-robot cooperation flexible cable driven gangue-picking device is characterized in that three gangue-picking robots with different bearing capacities are adopted to complete gangue grading sorting tasks; the method specifically comprises the following steps:
s1, inputting size information d of target gangue and the time that each gangue-picking robot finishes the current target gangue-picking task by a task distributor of a gangue-picking equipment driven by a flexible cable under the cooperation of multiple robots as t; according to the fuzzy theory, the argument domain of the size information d of the input variable target gangue is A: [ d ] min ，d max ]It is blurred as: [ B, M, S ]]Wherein B is large, M is medium, S is small, the membership function is a triangular membership function mu (d) having a range of [0,1 ]](ii) a Membership function mu of gangue size B (d)、μ M (d) And mu S (d) Fuzzy sets B, M and S for the sizes of the waste rocks are respectively set, namely the fuzzy sets respectively correspond to three waste rock picking robots 1#, 2#, and 3#;
s2, expanding the task state of each gangue-picking robot from an absolute two-state task execution state and a standby state (respectively represented by 1 and 0) to a closed interval [0,1 ] by using a fuzzy theory]A certain real number in the above is defined as a robot task state characteristic function and is expressed by phi (t); assuming that the total time from the receiving of the command sent by the controller to the completion of the gangue sorting work of a certain gangue-sorting robot is t a If the time that the robot has passed for the performed gangue sorting task is t, the task state characteristic function of the gangue sorting robot is t
S3, defining the execution degree of the gangue-picking task of each gangue-picking robot according to the weighted summation of the size membership function of the target gangue and the current task state characteristic function of each gangue-picking robot, wherein the execution degree is a closed interval [0,1 ]]The number is expressed by the letter sigma, and the task execution degree sigma of each gangue-picking robot is sigma = omega 1 μ(d)+ω 2 Phi (t); finally outputting the serial number of the gangue-sorting robot for executing the current gangue-sorting task by comparing the task execution degrees of the three gangue-sorting robotsAnd the gangue-sorting robot sub-controller reversely calculates the expansion amount of each flexible cable by driving the robot position inverse solution through the flexible cables according to the current gangue position and pose information, and then drives the tail grab bucket to move to the position of the target gangue, thereby finishing gangue sorting work.
2. The method for dynamically allocating tasks to the multi-robot cooperative flexible cable driven gangue-picking equipment as claimed in claim 1, wherein the gangue-picking robot number for executing the current target gangue-picking task is output through the following process:
obtaining the position and size information of the target gangue through an upper computer, determining gangue size influence factors and robot task state influence factors corresponding to the three gangue picking robots by using each gangue picking robot to execute the time t elapsed from the execution of the last target gangue picking task, and respectively calculating the task execution degrees sigma of the three gangue picking robots 1 、∑ 2 Sum Σ 3 And determining the robot number for executing the current target gangue sorting task according to the task execution degree of each gangue sorting robot.
3. The dynamic task allocation method for the multi-robot cooperative flexible cable driven gangue picking equipment is characterized in that the gangue picking robot comprises a main control machine (1) of the gangue picking robot, a communication line (2), motors (3), a belt conveyor (4), a tail-end grab bucket (5), a gangue picking robot frame (6), a gangue placing bin (7) and a rack (8), the belt conveyor (4) is arranged on the rack (8), two groups of motors (3) are symmetrically arranged on two sides of the rack (8), the four motors (3) are respectively connected with the tail-end grab bucket (5) through flexible ropes, one end of each flexible rope penetrates through a pulley to be connected with the tail-end grab bucket (5), the other end of each flexible rope is connected with a rotating shaft end of each motor (3), the pulleys are symmetrically arranged on four corners of the frame (6), a transverse belt dividing line (9) is arranged in the center of the belt conveyor (4), two sides of the transverse belt dividing line (9) are an area A and an area B, a gangue camera placing bin (7) is arranged outside the area A and the area B, the industrial waste gangue information and the size of the gangue detected information are transmitted to the main control machine (1) and the tail-end grab bucket (1) through the communication line (2).
4. The dynamic task allocation method for the multi-robot cooperative flexible cable driven gangue picking equipment as claimed in claim 3, wherein the area A and the area B are both gangue grabbing belts.
5. The dynamic task allocation method for the multi-robot cooperation flexible cable driving gangue-picking equipment as claimed in claim 3, wherein two sides of the belt conveyor (4) are provided with winding drums (10), and the winding drums (10) are sleeved at the rotating shaft end of the motor (3) and used for accommodating flexible ropes.
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| CN107813342A (en) * | 2017-10-31 | 2018-03-20 | 西安科技大学 | A kind of wire saws parallel robot Trinity structural stability evaluation method |
| CN108910508B (en) * | 2018-05-08 | 2020-12-04 | 清华大学 | Multi-machine cooperation rule and device in high-speed sorting task |
| CN111036576B (en) * | 2019-12-10 | 2021-06-22 | 清远职业技术学院 | Gangue identification and sorting method based on gangue-free image filtering and BLOB analysis |
| CN114211488B (en) * | 2021-12-07 | 2024-03-01 | 哈尔滨工业大学 | Flexible robot control method based on fuzzy control algorithm |
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