CN-122009864-A - Leveling robot and leveling method

CN122009864ACN 122009864 ACN122009864 ACN 122009864ACN-122009864-A

Abstract

The invention provides a leveling robot and a leveling method, which can automatically perform leveling operation, greatly reduce the manual dependency of grain leveling, and simultaneously realize flexible movement in grain leveling and high leveling efficiency. The grain leveling machine comprises a robot main body and a leveling bin assembly, wherein the leveling bin assembly comprises an auger roller, scraping plate mechanisms and a flight assembly, the auger roller is arranged on two sides of the robot main body and used for driving the leveling bin robot to move on a grain pile, the scraping plate mechanisms are arranged at the rear end of the robot main body and used for scraping the grain pile, the flight assembly can drive the leveling bin robot to fly in a grain bin, the grain pile surface distribution condition in the grain bin is obtained through the sensing module, and the leveling bin robot can scrape the grain pile according to the obtained grain pile surface distribution condition when in use.

Inventors

TIAN XIANGWEN
YANG YIJIE
JIN YANG
DING DAN

Assignees

江苏国粮仓储工程有限公司

Dates

Publication Date: 20260512
Application Date: 20260324

Claims (9)

1. The flat bin robot comprises a robot main body and a flat bin assembly, wherein the flat bin assembly comprises an auger roller, an auger roller and a belt conveyor, wherein the auger roller is arranged on two sides of the robot main body and is used for driving the flat bin robot to move on a grain pile; The scraping plate mechanism is arranged at the rear end of the robot main body and is used for scraping grain stacks; The grain stacking machine is characterized by further comprising a flight assembly and a perception module, wherein the flight assembly can drive the grain stacking machine to fly in the grain bin, and the grain stacking surface distribution condition in the grain bin is obtained through the perception module.
2. The flat cabin robot according to claim 1, wherein the flying assembly comprises a propeller arranged on the top of the robot main body and a driving device for driving the propeller to rotate.
3. The flat cabin robot according to claim 1, wherein the front end of the robot body is further provided with a high-pressure nozzle.
4. A flat cabin robot according to claim 1, characterized in that the bottom of the robot body is also provided with a roller assembly, the roller assembly comprises rollers, the rollers are positioned at the lowest end of the flat cabin robot and are contacted with the ground when the flat cabin robot advances on the ground, and the rollers can be retracted and are higher than the auger roller when the flat cabin robot advances on the surface of a grain pile.
5. The flat cabin robot of claim 1, wherein a charging connector is further installed at the top of the robot main body, a charging interface is installed at the top of the inner wall of the grain cabin, and the charging connector can extend into the charging interface to charge the flat cabin robot.
6. The flat cabin robot according to claim 5, wherein a connecting channel is arranged in the charging connector, a locking mechanism is arranged in the connecting channel, the locking mechanism comprises a locking block which can move along the radial direction of the connecting channel, extend into or withdraw from the connecting channel, a flange is arranged on the periphery of the charging connector, the maximum width of the flange is larger than the interval between the locking blocks when the charging connector extends into the connecting channel, and the locking block can prop against the bottom of the flange to lock the charging connector when the charging connector is inserted into the charging connector.
7. The flat cabin robot of claim 6, wherein the locking mechanism further comprises a locking spring, the locking spring is used for providing elastic force to enable the locking block to extend into the connecting channel to lock the charging connector, a first avoidance slope is arranged at the bottom of the locking block, a second avoidance slope is arranged at the top of the flange, when the charging connector extends into the charging connector, the second avoidance slope is in contact with the first avoidance slope and enables the locking block to move towards the direction of exiting the connecting channel, and finally the flange passes over the locking block and locks the charging connector through the locking block, and the locking mechanism further comprises an electromagnetic unlocking mechanism, wherein the electromagnetic unlocking mechanism can absorb the locking block to enable the distance between the locking block to be increased to release the locking of the charging connector when the flat cabin robot needs to be separated from the charging connector.
8. The leveling method is characterized by adopting the leveling robot of any one of claims 1-7 to level the grain, and specifically comprises the following steps of controlling the leveling robot to fly above the grain pile, and establishing a three-dimensional grain pile model by utilizing the sensing module; Step two, deriving a model after the flat bin by using the model, and taking a grain line of the model as a zero reference line; step three, finding all convex hulls in the existing three-dimensional model to obtain a convex point set; Step four, counting and comparing the peaks of all convex hulls in the model to obtain the highest point, taking the highest convex point as a target, equally dividing the distance between the zero position datum line and the highest point into a plurality of parts, wherein one part is the standard height of a primary flat bin, and the highest point is lower by one standard height of the flat bin, namely the current flat bin line; taking a convex hull with the highest point as a flat bin starting point, and extracting all convex points in the current flat bin line, wherein the convex hull is to-be-flat convex hull; Step six, leveling the highest point at present to enable the highest point to be lowered into the leveling line of the present time, calculating the cost from the current position to surrounding reachable salient points, selecting the smallest point as a target point, moving to the point and leveling the salient points of the convex hulls to enable the salient points of the convex hulls to be lowered into the leveling line of the present time, and repeating the step until the leveling of all the convex hulls in the leveling line of the present time is completed; And step seven, if the distance from the current leveling line to the zero reference line is smaller than or equal to a set value, the leveling robot is regarded as finishing rough leveling, takes the zero reference line as the leveling line, finishes leveling the whole grain bin according to the step five-step six, and if the distance from the current leveling line to the zero reference line is higher than the set value, controls the leveling robot to fly to the position above the grain pile again, establishes a three-dimensional grain pile model by utilizing the sensing module, and then repeats the step three-step six until the distance from the current leveling line to the zero reference line is smaller than or equal to the set value.
9. The flat bed robot of claim 8 wherein the cost of calculating the current position to the surrounding reachable bumps in step six is the shortest flight path from the current position to the surrounding reachable bumps, and the flat bed robot moves to the next target point by flight.

Description

Leveling robot and leveling method Technical Field The invention relates to the technical field of grain depot leveling, in particular to a leveling robot and a leveling method. Background Grain storage is an important link for guaranteeing national grain safety. In the grain warehousing link, due to the factors of fixed position of a blanking port, different grain mobility, limitation of a bin type structure and the like, grain stacks are unevenly distributed, and local accumulation is too high, and edge hollows or grain peaks are generated. The uneven accumulation reduces the bin capacity utilization rate, and the hidden danger of grain storage such as unsmooth ventilation, damp and hot accumulation, mildew and insect damage and the like in the grain pile is easily caused, so that the quality and storage stability of grains are seriously affected. At present, most domestic granaries still rely on manual granary boarding to carry out leveling operation, and the mode has the problems of high labor intensity, severe operation environment (more dust, hypoxia and high temperature), high safety risk (high-altitude falling and burying), low efficiency, poor consistency and difficulty in meeting the development requirements of 'green, efficient, intelligent and safe' of modern granaries. Although some granaries try to adopt fixed cloth machines or simple strickling equipment, the adaptability is poor, the intelligent degree is low, and complex granary type and dynamic heap type changes cannot be dealt with. Meanwhile, at present, although a leveling robot is adopted to level a grain, the traditional leveling robot can only rely on manual control to move on the surface of a grain pile to level the grain, and after one grain pile convex hull leveling is completed, the robot needs to be manually controlled to move to the next grain pile convex hull on the surface of the grain pile to level the grain pile, so that the automation degree is not high. Disclosure of Invention The invention provides a leveling robot capable of performing leveling operation, flexible in movement in a granary and high in leveling efficiency, and simultaneously provides a leveling method capable of automatically performing leveling operation, so that the manual dependency of granary leveling is greatly reduced. The technical scheme is that the flat bin robot comprises a robot main body and a flat bin assembly, wherein the flat bin assembly comprises auger rollers, a belt conveyor and a belt conveyor, wherein the auger rollers are arranged on two sides of the robot main body and used for driving the flat bin robot to move on a grain pile; The scraping plate mechanism is arranged at the rear end of the robot main body and is used for scraping grain stacks; The grain stacking machine is characterized by further comprising a flight assembly and a perception module, wherein the flight assembly can drive the grain stacking machine to fly in the grain bin, and the grain stacking surface distribution condition in the grain bin is obtained through the perception module. Further, the flight assembly comprises a propeller arranged at the top of the robot main body and a driving device, wherein the driving device is used for driving the propeller to rotate. Further, the front end of the robot main body is also provided with a high-pressure nozzle. Further, the bottom of the robot main body is also provided with a roller assembly, the roller assembly comprises a roller, when the flat bin robot advances on the ground, the roller is positioned at the lowest end of the flat bin robot and contacts with the ground, and when the flat bin robot advances on the surface of the grain pile, the roller can be retracted and is higher than the auger roller. Further, the top of robot main part still installs the joint that charges, the interface that charges is installed at granary inner wall top, the joint that charges can stretch into charge in the interface to the flat storehouse robot charges. Furthermore, a connecting channel is arranged in the charging connector, a locking mechanism is arranged in the connecting channel, the locking mechanism comprises a locking block, the locking block can move along the radial direction of the connecting channel, extend into or withdraw from the connecting channel, a flange is arranged on the periphery of the charging connector, the maximum width of the flange is larger than the distance between the locking blocks when the charging connector extends into the connecting channel, and the locking block can prop against the bottom of the flange to lock the charging connector when the charging connector is inserted into the charging connector. Still further, locking mechanical system still includes locking spring, locking spring is used for providing elasticity in order to make the locking piece stretches into in the connecting channel to charge the joint and lock, the locking piece bottom is equipped with first dismiss the inclined