Let assume that I have scaled Heroku application to 1 worker process, but how to specify that the rake task with particular name should run as a worker process?
Make a Procfile in your project, and put the rake task within it like so
worker: bundle exec rake my:cool:rake_task
More info here: https://devcenter.heroku.com/articles/procfile
UPDATE (April 2014):
If you want to schedule your rake task like a cron job you could use the Heroku Scheduler
Details are here: https://devcenter.heroku.com/articles/scheduler