原煤流的过煤量和含矸率随时间变化，导致多机械臂煤矸分拣机器人机械臂利用率低、拣矸率和拣矸质量比失衡。针对该问题，本文通过构建一种多机械臂多任务分配模型，实现时变原煤流下多机械臂煤矸分拣机器人多任务最优分配。论文的主要研究工作如下：

针对原煤含矸率时变导致拣矸率和拣矸质量比失衡问题，对煤矸分拣机器人多任务分配问题进行了描述与分析，给出该问题的任务类型，得到固定过矸量和时变过矸量的两种原煤流特性规律。综合考虑矸石质量、识别置信度、机械臂分拣时间等因素，通过给定假设条件、约束条件、输入参数及评价指标，构建基于效益矩阵的多机械臂多任务分配模型。为后文求解不同过矸量特征的多任务分配问题奠定基础。

针对固定原煤流的最优分配问题，提出基于最大效益优先的多机械臂多任务分配策略。分析矸石质量、识别置信度、机械臂分拣时间之间的相互关系，利用熵权法求解效益矩阵的参量权重。在不同过矸量模式下，对FCFS、SJF和MBP策略进行对比分析，得到分配策略与过矸量模式间的匹配关系。最终确定MBP策略为最优策略。

针对时变原煤流的最优分配问题，提出基于阈值的多机械臂多任务自适应分配方法。该方法首先通过分配策略与过矸量模式间的匹配关系设定过矸量阈值，根据阈值选择效益矩阵权重。采用贪婪算法对时变原煤流进行权重寻优，得到符合时变原煤流工况的MBP策略最优权重解，最终获得多机械臂多任务分配最优结果。最后，进行时变原煤流下多机械臂多任务分配实验，验证了自适应分配策略能有效提高拣矸率及拣矸质量比。

为了提高多机械臂煤矸分拣机器人分拣效率，提出了基于效益矩阵的多机械臂多任务分配模型，并对不同原煤流分配策略进行求解和优化。实验结果表明，本文提出的自适应分配策略能够适应固定原煤流、时变原煤流的任务分配，并提高了拣矸率和拣矸质量比，具有一定的应用价值。

The coal passing quantity and gangue rate of raw coal flow change with time, resulting in low utilization rate of multi-manipulator  coal-gangue sorting robot, and imbalance of gangue sorting rate and gangue sorting quality ratio. To solve this problem, this paper constructed a multi-manipulator arms multi-task allocation model to achieve the optimal multi-task assignment of coal-gangue sorting robot under time-varying raw coal flow. The main research work of this paper is as follows:

Aiming at the problem of the imbalance between the sorting rate and the quality ratio caused by the time-varying raw coal gangue rate, this paper describes and analyzes the multi-task assignment problem of the coal -gangue sorting robot, gives the task type of this problem, and gets two kinds of raw coal flow characteristics of fixed gangue quantity and time-varying gangue quantity. Considering the quality of gangue, recognition confidence, arms sorting time and other factors comprehensively, a multi-manipulator arm multi-task allocation model based on efficiency matrix was established by given assumptions, constraints, input parameters and evaluation indexes. It lays a foundation for solving the multi-task assignmentallocation problem with different characteristics of gangue quantity in the following paper.

Aiming at the problem of optimal allocation of fixed raw coal flow, a multi-manipulator multi-task allocation strategy based on maximum benefit priority was proposed. The correlation among gangue quality, recognition confidence and sorting time of manipulator arm was analyzed, and the parameter weights of efficiency matrix were solved by entropy weight method. FCFS, SJF and MBP strategies were compared and analyzed under different models of excess gangue quantity, and the matching relationship between allocation strategy and excess gangue quantity pattern was obtained. Finally, the MBP strategy is determined as the optimal strategy.

Aiming at the optimal allocation of time-varying raw coal flow, a threshold-based multi-manipulator multi-task adaptive allocation method is proposed.Firstly, the value of excess gangue quantity threshold is set through the matching relationship between allocation strategy and excess gangue quantity mode, and the weight of benefit matrix is selected according to the threshold value. The greedy algorithm was used to optimize the weight of time-varying raw coal flow, and the optimal weight solution of MBP strategy was obtained in accordance with the condition of time-varying raw coal flow. Finally, the optimal result of multi-manipulator multi-task allocation was obtained. Finally, the multi-manipulator multi-task assignment experiment of time-varying raw coal flow is carried out to verify that the adaptive allocation strategy can effectively improve the rate of gangue sorting and the quality ratio of gangue sorting.

In order to improve the sorting efficiency of multi-arm coal and gangue sorting robot, a multi-manipulator multi-task allocation model based on benefit matrix was proposed, and different raw coal flow allocation strategies were solved and optimized. The experimental results show that the adaptive allocation strategy proposed in this paper can adapt to the task allocation of fixed raw coal flow and time-varying raw coal flow, and improve the rate and quality ratio of sorting gangue, which has certain application value.

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