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Control method and system of grain leveling robot

A control method and robot technology, applied in the direction of control/adjustment system, control using feedback, controller with specific characteristics, etc., can solve the problems of unstable operation, inability to adapt to robots, poor reliability, etc., and achieve good scraping effect. , Accurate and reliable aisle judgment, accurate judgment of the level of smoothness

Active Publication Date: 2019-12-03
SICHUAN ARTIGENT ROBOTICS EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing leveling robots have problems such as poor reliability of the visual part, unstable operation when the force is applied during the leveling process, and inability of the robot to adapt to the walkway.

Method used

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  • Control method and system of grain leveling robot
  • Control method and system of grain leveling robot
  • Control method and system of grain leveling robot

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Experimental program
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Embodiment 1

[0065] Schematic diagram of granary, aisle board and flat grain robot figure 2 As shown, the part surrounded by the well shape is the grain, and the part of the well shape is the aisle laid in the granary to facilitate the inspection of the grain situation, and it is also the walking track of the robot. The white part is the robot, and the grain scraping mechanism is dragged by the chassis on both sides to complete the work of leveling the granary. When working, the robot needs to walk safely on the walkway. The robot uses the camera to navigate with the walkway as a reference, and uses the different features at the junction of the walkway as signs for stopping, turning, and turning around. During the grain leveling process, the grain scraping mechanism in the middle will affect the normal movement of the aisle chassis on both sides due to the grain resistance. At this time, it needs to be adjusted to improve the stability of the machine operation and the grain scraping effec...

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Abstract

The invention discloses a control method and system of a grain leveling robot in the technical field of grain storage. The method comprises the steps: 1) images in front of two aisle chassises are collected at the same time; 2) according to an image generation control command, the grain leveling robot is allowed to finish the actions of stopping, steering and going straight, when the grain leveling robot goes straight, a differential steering model is adopted to analyze the collected images to obtain rotating angular speed between the two aisle chassises, and the two aisle chassises are controlled to go forward synchronously according to the rotating angular speed and a PID control function. The system comprises the two aisle chassises and one grain scraping mechanism. The two ends of thegrain scraping mechanism are fixed to the two aisle chassises respectively, so that the two aisle chassises have the same deflection direction and deflection angle when going straight; and through thesystem and method, stability and synchronism of robot operation are improved, and the grain scraping effect is good.

Description

technical field [0001] The invention relates to the technical field of grain storage, in particular to a control method and system for a grain leveling robot. Background technique [0002] Smart Grain Depot uses industrial automation, informatization, and intelligent methods, and makes full use of technologies such as the Internet of Things, business intelligence, cloud computing, SOA, and ETL to accurately collect all information in the grain storage process and integrate it into a unified information management On the platform, the grain depot information management mode with task-driven as the core is realized. At the same time, the grain depot management information platform conducts data mining and comprehensive analysis of all data, so as to achieve scientific, efficient, low-cost and green ecological management of grain storage enterprises. manage. [0003] After the granary enters the warehouse, it needs to level the grain surface, which is divided into two stages: ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D3/12G05D27/02G05B11/42
CPCG05D1/0223G05D1/0246G05D1/027G05D1/0268G05D3/12G05D27/02G05B11/42
Inventor 彭倍杨枭曾博才邵继业
Owner SICHUAN ARTIGENT ROBOTICS EQUIP
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