Table 7 Gangue number in task set of scenes and working conditions.

From: Multitask allocation model of the coal foreign object sorting robot based on optimal capacity and benefit

vb (m/s)

0.2

0.6

1.0

Qmax (kg/s)

70

90

110

70

90

110

70

90

110

Example

Ex-1

Ex-2

Ex-3

Ex-4

Ex-5

Ex-6

Ex-7

Ex-8

Ex-9

Task set 1

1418

1641

1938

1415

1682

1941

1399

1675

1947

Task set 2

1398

1649

1985

1390

1668

1976

1408

1679

1968

Task set 3

1416

1652

1956

1419

1674

1946

1405

1691

1920

Task set 4

1385

1709

1954

1392

1688

1955

1433

1659

1989

Task set 5

1412

1691

1981

1427

1679

1970

1373

1641

1948

Task set 6

1414

1683

1962

1409

1669

1983

1413

1650

1967

Task set 7

1396

1634

1970

1380

1660

1990

1394

1681

1972

Task set 8

1404

1653

2022

1373

1665

1980

1388

1668

1983

Task set 9

1408

1693

1983

1400

1659

1970

1379

1668

1949

Task set 10

1410

1674

1950

1415

1682

1947

1402

1690

1932