| Citation: | CHEN Lin, BI Shusheng, LI Dazhai, et al. Dynamic sorting planning of Cartesian robot based on greedy strategy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(5): 805-815. doi: 10.13700/j.bh.1001-5965.2020.0668(in Chinese)
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An improved greedy strategy planning algorithm for continuous robot sorting is proposed for the problem that the efficiency is low when traditional sequential sorting algorithm is applied to sort dynamically materials with Cartesian robot. Kinematic model of the Cartesian robot was established to ensure that materials can be accurately picked up. Time window was designed to divide the continuous flow materials on the conveyor belt into regions one by one, and the greedy strategy was applied to plan the sorting sequence of materials in the same time window. Cost function was designed to improve the greedy strategy considering the risk of missing materials in the sorting, which enhances the practicality of the algorithm. Simulation environment was designed to simulate the algorithm, and the sorting experiment was carried out using the designed robot platform to verify the feasibility and effectiveness of the algorithm. Experiments show that the algorithm can plan an effective sorting path in the actual sorting operation of the robot. The average sorting distance and sorting time are both smaller than the sequence planning algorithm, which improves the efficiency of robot sorting for continuous moving materials in the plane. The algorithm, with good real-time performance and strong practicability, has certain guiding significance for the research on the optimization of the sorting path in the case of dynamic sorting with Cartesian robot.
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