Abstract
The steel cord conveyor belt surface is prone to damage in mining. The worn belt surface has acceleration characteristics, so timely and rapid repair is very necessary. To quickly and automatically repair the worn belt surface is a core design objective of the gluing robot (GR). Based on this objective, a new variant Traveling Salesman Problem (TSP) is put forward: after the worn segments are divided according to the worn information and GR’s workspace, path optimization of the gluing robot (POGR) problem is presented at a certain worn segment; then the POGR is simplified into a “double vertices” TSP problem by Hamilton graph, and the mathematical model is built. An improved genetic algorithm (IGA) is proposed to handle the POGR problem, which is called IGA-POGR. The main benefit of the proposed IGA-POGR is the ability to solve POGR of different scales in different ways. The performance of the IGA-POGR is illustrated on four well-known TSP problems. Numerical results show that IGA-POGR does not give any deviation (0%) from the optimal solution. Compared with discrete particle swarm optimization (DPSO), IGA-POGR has better performance in terms of the solving quality and time consumption when solving four idealized POGR problems.
Highlights
China has abundant coal resources, but the coal mining environment is harsh
For the verification of the performance of the improved genetic algorithm (IGA)-path optimization of gluing robot (POGR) algorithm, well-known Traveling Salesman Problem (TSP) instances are employed from TPSLIB library [50]
In burma14 and dantzig 42, the IGA-POGR converged at generation 21 and 145 respectively, where there is no more improvement made after this generation
Summary
With the development of the intelligent mine [1,2,3,4], new intelligent inspective devices and coal mine robots are more widely used to improve working efficiency and ensure the safety of production [510]. Though accidental downtime led by belt damages is short, the coal mine enterprise may suffer from enormous economic losses. The causes of these losses include the need of a new custommade belt, the interruption of mining production and a halt to the whole technological process [14]. These conveyor belts demand an appropriate attention. In order to ensure its safe and efficient work, it is necessary to check the belt regularly to reduce the uncertainty in the production process and eliminate hidden dangers
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