Robot with articulable flap for moving granular material

Abstract

A robot comprises a body, a drive system coupled with the body, and a memory. A processor coupled with the memory is configured to control movement of the robot, via the drive system, to traverse about a surface of a piled granular material in a first direction and in relative to the body and in a second direction relative to the body. The second direction is substantially opposite the first direction. An articulable flap is rotatably coupled with the body by a hinge which comprises lower stop. The articulable flap is configured to rotatably articulate away from the lower stop to a non-pushing orientation in response to a first interaction with piled granular material traversed during the first direction of travel, and rotatably articulate to a pushing orientation engaged with the lower stop in response to a second interaction with the piled granular material during the second direction of travel.

Description

ROBOT WITH ARTICULABLE FLAP FOR MOVING GRANULAR MATERIAL REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and benefit of co-pending U.S. Patent Application No. 18 / 923,554 filed on 10 / 22 / 2024 entitled “ROBOT WITH ARTICULABLE FLAP FOR MOVING GRANULAR MATERIAL” by Travis Vanderheyden, et al., having Attorney Docket No. GWC-015, and assigned to the assignee of the present application, the disclosure of which is hereby incorporated herein by reference in its entirety.

[0002] This application and U.S. Patent Application No. 18 / 923,554 also claim priority to and benefit of co-pending U.S. Provisional Patent Application No. 63 / 545,793 filed on 10 / 26 / 2023 entitled “ROBOT WITH ARTICULABLE FLAP FOR MOVING GRANULAR MATERIAL” by Travis Vanderheyden, et al., having Attorney Docket No. GWC-015-PR, and assigned to the assignee of the present application, the disclosure of which is hereby incorporated herein by reference in its entirety. BACKGROUND

[0003] Some examples of granular material include, without limitation: grain (e.g., small hard and typically edible seeds or beans such as soybean seeds, peas, garbanzo beans, pinto beans, corn kernels, wheat, rice, etc.), non-grain plant seeds (e.g., flower seeds and grass seeds), nuts (e.g., shelled or unshelled tree nuts or ground nuts), sand, animal litter, concrete mix, cement, dry fertilizer, pelletized products (e.g., wood pellets, plastic pellets, hemp pellets, fish food pellets, etc.) and milled / ground products (e.g., flour, sugar, coffee, cocoa, guar, sodium bicarbonate, alumina, and mineral / rock aggregates, etc.). Granular material is often piled in a bulk store, either in the open or in a container such as a bin. Bulk stores, such as grain bins, are often hot, dirty, dusty, and dangerous workplaces. To adequately manage bulk stored granular materials farmers and / or other workers are required to enter bulk stores and / or climb about on the surface of a pile of the bulk stored granular material. Such interactions expose the farmer / worker to falls, entrapments, explosions, auger entanglements, heat stroke, and long-term conditions such as Farmer’s Lung.BRIEF DESCRIPTION OF THE DRAWINGS

[0004] The accompanying drawings, which are incorporated in and form a part of the Description of Embodiments, illustrate various embodiments of the subject matter and, together with the Description of Embodiments, serve to explain principles of the subject matter discussed below. Unless specifically noted, the drawings referred to in this Brief Description of Drawings should be understood as not being drawn to scale. Herein, like items are labeled with like item numbers.

[0005] Figure 1 shows an example block diagram of some aspects of a device which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0006] Figure 2 shows a block diagram of a collection of sensors, any, or all of which may be incorporated into the device of Figure 1, in accordance with various embodiments.

[0007] Figure 3 shows a block diagram of a collection of payloads, any, or all of which may be incorporated into the device of Figure 1, in accordance with various embodiments.

[0008] Figures 4A-1, 4A-2, and 4A-3 illustrate front elevational views of the exterior of a device which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0009] Figures 4B-1 and 4B-2 illustrate rear elevational views of the exterior of a device which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0010] Figures 4C-1 and 4C-2 illustrate right elevational views of the exterior of a device which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0011] Figures 4D-1 and 4D-2 illustrate left elevational views of the exterior of a device which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0012] Figures 4E-1 and 4E-2 illustrate bottom plan views of the exterior of a device which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0013] Figure 4F illustrates a top plan view of the exterior of a device which moves about and / or operates in relation to a pile of granular material along with a chart illustrating directional movements, in accordance with various embodiments.

[0014] Figure 4G illustrates an upper front right perspective view of the exterior of a device which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0015] Figure 5 illustrates some example embodiments of a bulk store slope adjustment system, in accordance with various embodiments.

[0016] Figure 6 illustrates some example embodiments of a bulk store slope adjustment system, in accordance with various embodiments.

[0017] Figure 7A illustrates an example bulk store for granular material, in accordance with various embodiments.

[0018] Figure 7B illustrates a side sectional view A-A of an example bulk store for granular material which shows a device moving about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0019] Figure 7C illustrates a top sectional view B-B of an example bulk store for granular material which shows a device moving about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0020] Figure 7D illustrates a top sectional view B-B of an example bulk store for granular material which shows pattern for moving a device about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0021] Figure 7E illustrates a top sectional view B-B of an example bulk store for granular material which shows pattern for moving a device about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0022] Figure 7F illustrates a top sectional view B-B of an example bulk store for granular material which shows pattern for moving a device about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0023] Figure 7G illustrates a side sectional view A-A of an example bulk store for granular material which shows a device moving about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0024] Figure 7H illustrates a side sectional view A-A of an example bulk store for granular material which shows a device moving about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0025] Figure 7I illustrates a side sectional view A-A of an example bulk store for granular material which shows a device moving about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0026] Figure 7J illustrates a side sectional view A-A of an example bulk store for granular material which shows a device moving about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0027] Figure 7K illustrates a side sectional view A-A of an example bulk store for granular material which shows a device moving about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0028] Figure 7L illustrates a side sectional view A-A of an example bulk store for granular material which shows a device moving about and / or operating in relation to a portion of piled granular material in the bulk store, in accordance with various embodiments.

[0029] Figures 8A-8E illustrate a flow diagram of an example method of bulk store slope adjustment, in accordance with various embodiments.

[0030] Figure 9A illustrates an upper rear perspective view of the exterior of a robot which moves about and traverses about the surface of a pile of granular material such as grain and which includes an articulable flap which is articulated to a zero-degree angle which represents an upward / non-pushing orientation of the articulable flap, in accordance with various embodiments.

[0031] Figure 9B illustrates an upper rear perspective view of the exterior of a robot which moves about and traverses about the surface of a pile of granular material such as grain and which includes an articulable flap which is articulated to a 45-degree angle approximately halfway between the upward / non-pushing orientation of the articulable flap and the downward / pushing orientation of the articulable flap, in accordance with various embodiments.

[0032] Figure 9C illustrates an upper rear perspective view of the exterior of a robot which moves about and traverses about the surface of a pile of granular material such as grain and which includes an articulable flap which is articulated to a 90-degree angle which represents the downward / pushing orientation of the articulable flap, in accordance with various embodiments.

[0033] Figure 9D illustrates a front elevational view of the exterior of a robot which moves about and traverses about the surface of a pile of granular material such as grain and which includes an articulable flap which is articulated to a 90-degree angle which represents the downward / pushing orientation of the articulable flap, in accordance with various embodiments.

[0034] 10A illustrates a sectional view of a bulk store with an example pile of granular material with the robot of Figures 9A-9D traversing upslope on a sloped portion of the surface of piled granular material with the articulable flap articulated to a zero-degreeangle which represents the upward / non-pushing orientation of the articulable flap, such that granular material is not pushed by the articulable flap during the upslope traversal of the robot, in accordance with various embodiments.

[0035] 10B illustrates a sectional view A-A of a bulk store with an example pile of granular material with the robot of Figures 9A-9D traversing downslope on a sloped portion of the surface of piled granular material with the articulable flap articulated to a 90-degree angle which represents the downward / pushing orientation of the articulable flap, such that granular material piles up in front of articulable flap and is pushed downslope by the articulable flap during the downslope traversal of the robot, in accordance with various embodiments.

[0036] Figure 11 illustrates a flow diagram of an example method of piled granular material surface management by a robot with an articulable flap, in accordance with various embodiments.DETAILED DESCRIPTION

[0038] Reference will now be made in detail to various embodiments of the subject matter, examples of which are illustrated in the accompanying drawings. While various embodiments are discussed herein, it will be understood that they are not intended to limit to these embodiments. On the contrary, the presented embodiments are intended to cover alternatives, modifications, and equivalents, which may be included within the spirit and scope of the various embodiments as defined by the appended claims. Furthermore, in this Description of Embodiments, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present subject matter. However, embodiments may be practiced without these specific details. In other instances, well- known methods, procedures, components, and circuits have not been described in detail as not to unnecessarily obscure aspects of the described embodiments. Overview of Discussion

[0039] A device which can operate via remote controlled instruction, autonomously, or some combination thereof is described. The device is robotic and may be referred to herein as a “robot” or as a “robotic device,” or the “device,” and includes an auger-based drive system which facilitates the movement and / or operation of the device in relation to a portion of piled granular material in a bulk store, such as a grain bin. More particularly, because of the augers in the auger-based drive system, the device can operate and maneuver upon or beneath piled granular material. Additionally, and advantageously, augers of the auger-based drive system move, disrupt, agitate, and / or disperse piled granular material as a consequence of the movement of the device.

[0040] Although tracked and wheeled devices would seem to be alternatives to the auger- driven devices described herein, both wheeled and tracked drive systems have been found ill-suited to operation on piled granular material. For example, wheeled and tracked devices are both easily bogged down when operating on piled granular material, such that they exhibit poor mobility in traversing atop / upon deeply piled granular material (e.g., over a foot deep, and sometimes not even that deep). In short, they get stuck and require human retrieval or intervention, which typically necessitates a human undesirably entering upon the pile of granular material such as grain.

[0041] Some examples of granular material include, without limitation: grain (e.g., small hard and typically edible seeds or beans such as soybean seeds, peas, garbanzo beans, pinto beans, corn kernels, wheat, rice, etc.), non-grain plant seeds (e.g., flower seeds and grass seeds), nuts (e.g., shelled or unshelled tree nuts or ground nuts), sand, animal litter, concrete mix, cement, dry fertilizer, pelletized products (e.g., wood pellets, plastic pellets, hemp pellets, fish food pellets, etc.) and milled / ground products (e.g., flour, sugar, coffee, cocoa, guar, sodium bicarbonate, alumina, and mineral / rock aggregates, etc.). Granular material is often piled (i.e., heaped up) in a bulk store.

[0042] A bulk store is the place where granular material is piled for bulk storage. Although a grain bin is frequently used herein as an example of a bulk store, nearly any bulk store which is large enough for a human to access and work inside or upon the stored granular material is a candidate for operation of the device described herein. Accordingly, it should be appreciated that other large bulk stores are also suitable bulk stores for use of the described device in relation to piled granular material in many of the manners described herein. Some examples of other large bulk stores include, but not limited to: containers (e.g., railcars, semi-trailers, barges, ships, and the like) for transport / storage of granular material, buildings (e.g., silos, bins, warehouses, flat storage, government grain storage, etc.) for storage of granular material, and open storage piles of granular material.

[0043] Bulk stored granular material can present many safety concerns for humans. For example, bulk stores are often hot, dusty, poorly lit, and generally inhospitable work environments for humans. Additionally, entrapments can take place when a farmer or worker is in a bin or other bulk store of granular material, such as grain, and the granular material slides onto or engulfs the person. Entrapments can happen because a slope angle of the piled granular material (e.g., grain) is at a critical angle which may slide when disturbed by the person or else when may slide when extraction augers or machinery disturb the bulk stored granular material. As one example, steep walls of grain can avalanche onto a farmer / worker trying to mitigate problems in a grain bin, inspect the stored grain, or agitate the grain to improve the outflow. Additionally, sometimes a bridge / crust layer can form over a void in a pile of grain and when a farmer / worker walks across it or tries to break it with force, the grain bridge can collapse and entrap the person. As this bridge / crust layer and / or the size of the void below it may be invisible to the human eye, it can present an unknown danger to a farmer / worker. As will be discussed,many of these and other safety concerns can be reduced or eliminated through use of the device and techniques / methods described herein.

[0044] Among other things, the device described herein can be used to address managing the quality of bulk stored granular material (e.g., grain in a bin) through tasks like, but not limited to: inspections of the bulk stored granular material, leveling of the bulk stored granular material, agitating of the bulk stored granular to prevent / reduce spoilage, dispersing of the bulk stored granular material while it is being loaded into the bulk store, assisting with rehydration of grain to a higher test weigh prior to extraction, assisting with extraction of grain, feeding a sweep auger or other collection device which removes the bulk stored granular material from the bulk store, and / or lowering the slope angles of the granular material in a partially emptied bulk store. In short, the device can accomplish numerous tasks which when done by the device preclude the need for humans to enter a bulk store, work on a pile of granular material, or else make it safer when it is necessary for humans to enter a bulk store or work on a pile of granular material. In various embodiments, these tasks may be carried out: by the device under remote-control of the device by an operator located outside the bulk store; by the device in an ad-hoc fashion; by the device in a partially automated fashion; and / or by the device in fully automated fashion. In short, employment of the device relative to a bulk stored granular material reduces or eliminates the requirement for a human to enter a bulk store or personally traverse the piled granular material. As a consequence, safety to humans is drastically improved with regard to tasks related to management of a bulk store. In an event where a human chooses to enter a bulk store, the device can manage / prepare the surface by removing crusts, grain bridges, and reducing slope so that the piled granular material is safer for human traversal.

[0045] Additionally, as an extension of the device traversing atop / upon the surface of piled granular material, the device can note and record its locations at a plurality of points on the surface such that a mapping of the three-dimensional contours of the upper surface of the piled granular material in the bulk store can be constructed of the points of location of the device. The mapping can further include environmental characteristics measured at respective locations upon the surface. Several surface maps can be sequentially captured during the fill of a bulk store such that when compiled a three-dimensional map is assembled which illustrates environmental characteristics not only on the surface of thepiled granular material, but also beneath the existing surface at the levels of previous surfaces where mapping was accomplished prior to the filling of additional granular material. Such mappings have many beneficial uses. For example, a surface contour map can be combined with information regarding test weights (i.e., moisture levels) of piled grain and the location of the floor of the bulk store to estimate an amount of granular material (e.g., grain) stored in the bulk store (i.e., a number of bushels or other weight or volume). In another example, a surface contour map can be utilized to determine whether and where surface leveling should be performed by the device. In another example, an environmental characteristics map can indicate one or more areas of concern which may need to be cooled, dispersed, or otherwise attended to by the robotic device described herein. Put more generally, data collected by the device while traversing the surface of a piled granular material in a bulk store (e.g., a grain bin) is used to assist a human (e.g., a farmer, worker, etc.) in managing the bulk store and the piled granular material during loading, storage, and unloading of the piled granular material.

[0046] Additionally, as an extension of the device traversing atop / upon the surface of piled granular material and in some instances as a function of mapping as well, the device operates as a grain bin assistant in the management of the grain that is stored within a bulk store such as a grain bin. That is, the device may operate to assist with management of a grain bin: prior to load-in of grain, during load-in of grain, after load-in, during storage, during extraction of grain, and / or during clean-out of grain from a bin. This may include one or more of: the device operating to level, map, aerate, and / or prepare the surface of any grain already in a grain bin to prepare the bin for load-in of additional grain; the device operating during load-in of a load of grain to disperse BGFM which typically accumulates in the landing zone of the loaded-in grain; the device operating during / after the load-in of a load of grain to level, map, remediate hot spots, and / or aerate the surface of grain; the device operating to prepare the upper surface of the loaded-in grain either for long term storage or load-in of an additional load; the device operating to maintain and / or inspect the surface of the grain during long term storage; the device operating to assist with rehydration of stored grain prior to extraction; the device operating to assist with extraction by leveling the surface, mapping the surface, and / or pushing grain to the center / extraction point through one or more of the action of the augers of the device and purposely inciting sediment gravity flow of grain; and / or the device operating with clean- out of the grain bin by running one or more patterns to move grain to a sweep auger orother extraction point / tool at the bottom of the bin through one or more of the action of the augers of the device and purposely inciting sediment gravity flow of grain.

[0047] Discussion begins with a description of notation and nomenclature. Additional discussion is divided into sections. In Section 1, discussion is directed to description of some block diagrams of example components of some examples of a robotic auger-driven “device” which moves about and / or operates in relation to a bulk stored pile of granular material. A variety of sensors and payloads which may be included with and / or coupled with the device are described. Numerous example views of the exterior of a device are presented and described, to include description of the auger-based drive system of the device. Several systems for remote-controlled semi-autonomous, and autonomous operation of the device are described. Additionally, systems and techniques for storing information from the device and / or providing information and / or instructions to the device are described. In Section 2, an example bulk store for granular material is then depicted and described in conjunction with operation of the device in relation to piled granular material in the bulk store. Operation of the device and components thereof, to include some sensors of the device, are discussed in conjunction with a variety of methods / modes of operation. For example, operation of the device is discussed in conjunction with description of an example method of bulk store leveling. In Section 3, an articulable flap for pushing granular material is described in conjunction with various embodiments of the device and examples of operation of the device which includes and / or utilizes the articulable flap. SECTION 1 Notation and Nomenclature

[0048] Some portions of the detailed descriptions which follow are presented in terms of procedures, logic blocks, processes, modules, and other symbolic representations of operations on data bits within a computer memory. These descriptions and representations are the means used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. In the present application, a procedure, logic block, process, module, or the like, is conceived to be one or more self- consistent procedures or instructions leading to a desired result. The procedures are those requiring physical manipulations of physical quantities. Usually, although not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored,transferred, combined, compared, and otherwise manipulated in an electronic device / component.

[0049] It should be borne in mind, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise as apparent from the following discussions, it is appreciated that throughout the description of embodiments, discussions utilizing terms such as “accessing,” “additionally traversing,” “articulating,” “assembling,” “capturing,” “ceasing,” “ceasing traversal,” “collecting,” “communicating,” “communicatively coupling,” “continuing,” “continuing traversal,” “controlling,” “coupling,” “delivering,” “depositing,” “determining,” “directing,” “directing traversal,” “failing to satisfy,” “inciting,” “instructing,” “mapping,” “measuring,” “obtaining,” “performing,” “placing,” “providing,” “providing access,” “receiving,” “receiving data,” “receiving instructions,” “recording,” “relaying,” “responding,” “rotatably articulating,” “satisfying,” “sending,” “sensing,” “traversing,” “using,” and “utilizing,” or the like, refer to the actions and processes of an electronic device or component such as (and not limited to): a host processor, a sensor processing unit, a sensor processor, a digital signal processor or other processor, a memory, a sensor (e.g., a temperature sensor, motion sensor, etc.), a computer, a remote controller, a device which moves about and / or operates in relation to a portion of piled granular material, some combination thereof, or the like. The electronic device / component manipulates and transforms data represented as physical (electronic and / or magnetic) quantities within the registers and / or memories into other data similarly represented as physical quantities within memories and / or registers or other such information storage, transmission, processing, and / or display components.

[0050] Embodiments described herein may be discussed in the general context of processor-executable instructions residing on some form of non-transitory processor- readable medium, such as program modules or logic, executed by one or more computers, processors, or other devices. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular abstract data types. The functionality of the program modules may be combined or distributed as desired in various embodiments.

[0051] In the figures, a single block may be described as performing a function or functions; however, in actual practice, the function or functions performed by that blockmay be performed in a single component or across multiple components, and / or may be performed using hardware, using software, or using a combination of hardware and software. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure. Also, the example electronic device(s) described herein may include components other than those shown, including well-known components.

[0052] The techniques described herein may be implemented in hardware, or a combination of hardware with firmware and / or software, unless specifically described as being implemented in a specific manner. Any features described as modules or components may also be implemented together in an integrated logic device or separately as discrete but interoperable logic devices. If implemented in software, the techniques may be realized at least in part by a non-transitory computer / processor-readable storage medium comprising computer / processor-readable instructions that, when executed, cause a processor and / or other components of a computer, computer system, or electronic device to perform one or more of the methods and / or actions of a method described herein. The non-transitory computer / processor-readable storage medium may form part of a computer program product, which may include packaging materials.

[0053] The non-transitory processor-readable storage medium (also referred to as a non- transitory computer-readable storage medium) may comprise random access memory (RAM) such as synchronous dynamic random access memory (SDRAM), read only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), FLASH memory, other known storage media, and the like. The techniques additionally, or alternatively, may be realized at least in part by a processor-readable communication medium that carries or communicates code in the form of instructions or data structures and that can be accessed, read, and / or executed by a computer or other processor.

[0054] The various illustrative logical blocks, modules, circuits and instructions described in connection with the embodiments disclosed herein may be executed by one or more processors, such as host processor(s) or core(s) thereof, digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), application specific instruction set processors (ASIPs), field programmable gate arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. The term “processor,” as used herein may refer to any of the foregoing structures or any other structure suitable for implementation of the techniques described herein. In addition, in some aspects, the functionality described herein may be provided within dedicated software modules or hardware modules configured as described herein. Also, the techniques could be fully implemented in one or more circuits or logic elements. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a plurality of microprocessors, one or more microprocessors in conjunction with an ASIC or DSP, or any other such configuration or suitable combination of processors. Example Block Diagrams of a Device which Moves About and / or Operates in Relation to a Pile of Granular Material

[0055] Figure 1 shows an example block diagram of some aspects of a device 100 which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments. As previously discussed, device 100 may be referred to as a robot and / or robotic device, and device 100 may carry out some or all of its functions and operations based on stored instructions.

[0056] As shown, example device 100 comprises a communications interface 101, a host processor 102, host memory 103, an interface 104, motor controllers 105, and drive motors 106. In some embodiments, device 100 may additionally include one or more of communications 107, a camera(s) 108, one or more sensors 120, and / or one or more payloads 140.

[0057] Communications interface 101 may be any suitable bus or interface which facilitates communications among / between components of device 100. Examples ofcommunications interface 101 include a peripheral component interconnect express (PCIe) bus, a universal serial bus (USB), a universal asynchronous receiver / transmitter (UART) serial bus, a suitable advanced microcontroller bus architecture (AMBA) interface, an Inter-Integrated Circuit (I2C) bus, a serial digital input output (SDIO) bus, or other equivalent and may include a plurality of communications interfaces.

[0058] The host processor 102 may, for example, be configured to perform the various computations and operations involved with the general function of device 100 (e.g., sending commands to move, steer, avoid obstacles, and operate / control the operation of sensors and / or payloads). Host processor 102 can be one or more microprocessors, central processing units (CPUs), DSPs, general purpose microprocessors, ASICs, ASIPs, FPGAs or other processors which run software programs or applications, which may be stored in host memory 103, associated with the general functions and capabilities of device 100.

[0059] Host memory 103 may comprise programs, modules, applications, or other data for use by host processor 102. In some embodiments, host memory 103 may also hold information that that is received from or provided to interface 104, motor controller(s) 105, communications 107, camera(s) 108, sensors 120, and / or payloads 140. Host memory 103 can be any suitable type of memory, including but not limited to electronic memory (e.g., read only memory (ROM), random access memory (RAM), or other electronic memory).

[0060] Interface 104 is an external interface by which device 100 may receive input from an operator or instructions. Interface 104 is one or more of a wired or wireless transceiver which may provide connection to an external transmission source / recipient for receipt of instructions, data, or direction to device 100 or offload of data from device 100. One example of an external transmission source / external recipient may be a base station to which device 100 communicates collected data or from which device 100 receives instructions or direction. Another example of an external transmission source / recipient is a handholdable remote-controller to which device 100 communicates collected data or from which device 100 receives instructions or direction. By way of example, and not of limitation, in various embodiments, interface 104 may comprise one or more of: a cellular transceiver, a wireless local area network transceiver (e.g., a transceiver compliant with one or more Institute of Electrical and Electronics Engineers (IEEE) 802.11 specifications for wireless local area network communication (e.g., WiFi)), a wireless personal areanetwork transceiver (e.g., a transceiver compliant with one or more IEEE 802.15 specifications (or the like) for wireless personal area network communication), and a wired a serial transceiver (e.g., a universal serial bus for wired communication).

[0061] Motor controller(s) 105 are mechanism(s), typically circuitry and / or logic, which operate under instruction from processor 102 to drive one or more drive motors 106 with electricity to govern / control the direction and / or speed of rotation of the drive motor(s) 106 and / or or other mechanism of movement to which the drive motor(s) 106 are coupled (such as augers). Motor controller(s) 105 may be integrated with or separate from drive motor(s) 106.

[0062] Drive motor(s) 106 are electric motors which receive electrical input from motor controller(s) 105 and turn a shaft in a direction and / or speed responsive to the electrical input. In some embodiments, drive motors 106 may be coupled directly to a mechanical means of drive motivation and steering -- such as one or more augers. In some embodiments, drive motors 106 may be coupled indirectly, such as via a gearing or a transmission, to a mechanical means of drive motivation and steering -- such as one or more augers.

[0063] Communications 107, when included, may comprise external interfaces in addition to those provided by interface 104. Communications 107 may facilitate wired and / or wireless communication with devices external to and in some instances remote (e.g., many feet or even many miles away) from device 100. Communications protocols may include those used by interface 104 as well as others. Some examples include, but are not limited to: WiFi, LoRaWAN (e.g., long range wireless area network communications on the license-free sub-gigahertz radio frequency bands), IEEE 802.15.4-2003 standard derived communications (e.g., xBee), IEEE 802.15.4 based or variant personal area network (e.g., Bluetooth, Bluetooth Low Energy, etc.), cellular, and connectionless wireless peer-to-peer communications (e.g., ESP-NOW). In various aspects, communications 107 may be used for data collection / transmission, reporting of autonomous interactions of device 100, and / or user interface and / or operator interface with device 100.

[0064] Camera(s) 108 may comprise, without limitation: any type of optical sensor or infrared image sensor for capturing still or moving images. Some examples of suitable cameras include charge-coupled device (CCD) sensor cameras, metal-oxidesemiconductor (MOS) sensor cameras, and other digital electronic cameras. Captured images may be utilized by device 100 for purposes such as navigation and decision making, may be stored, and / or may be transmitted to devices external to device 100. In some embodiments, camera(s) 108 facilitate wayfinding for device 100 when operating autonomously or semi-autonomously. In some embodiments, camera(s) 108 facilitates a remote view for an operator when device 100 is manually driven by a human user via a remote controller or computer system communicatively coupled with device 100. In some embodiments, an infrared camera 108 is used to find hotspots of grain to mix or agitate with device 100 (to reduce the heat of the hotspot). In some embodiments, computer vision is used by device 100 to make autonomous decisions based on inputs to processor 102 from camera(s) 108.

[0065] Figure 2 shows block diagram of a collection of sensors 120, any or all of which may be incorporated device 100 of Figure 1, in accordance with various embodiments. Sensors 120 illustrate a non-limiting selection of sensors, which include: motion sensor(s) 220, GNSS (Global Navigation Satellite System) receiver 230, ultrasonic transducer 231, LIDAR (light detection and ranging / laser imaging, detection, and ranging) 232, temperature sensor 233, moisture sensor 234, optical sensor 235, (e.g., an optical camera), infrared sensor 236 (which may be a receiver such as an infrared camera or an emitter / receiver), electrostatic sensor 237, electrochemical sensor 238, a barometric pressure sensor 239, an air flow sensor 240, a carbon dioxide sensor 241, and a humidity sensor.

[0066] It is appreciated that one or more sensors may be combined. For example, several sensors may be combined in a device such as the ICM-20789 microelectromechanical sensor (available from InvenSense, a TDK group company, of San Jose, CA) which provides 7-axis sensing (3-axis accelerometer, 3-axis gyroscope, and 1-axis barometric pressure (for measuring elevation changes to less than 8.5 cm accuracy)) along with an on- board digital motion processor. In other embodiments, separate sensors may be used; for example, a stand-alone pressure sensor 239 may measure elevation, via differential barometric pressure measurement, of as little as 5cm (e.g., InvenSense sensor ICP-10101, as one example) while a motion sensor 220 includes an accelerometer 222 for measuring movement and a gyroscope 221 for measuring direction of movement). Other sensors may be additionally or alternatively included in some embodiments, for example a carbondioxide sensor 241, and humidity sensor 242 may be included to measure off-gassed carbon dioxide from piled grain, and / or an air flow sensor may be included to measure air flow through and around piled grain (air flow is used for drying the pile of grain but must be controlled to prevent over drying or undesired rehydration). In some embodiments, one or more microphones 243, may be included as sensors. For example, an array of microphones may be used with a beamforming technique to locate the directional source of a sound, such as falling granular material being poured, conveyed, streamed, or augured into a bulk store. Some embodiments may additionally, or alternatively, include other sensors not described.

[0067] In general, individual sensors 120 operate to detect motion, position, timing, and / or some aspect of environmental context (e.g., temperature, atmospheric humidity, moisture of a sample or probed portion of granular material, distance to an object, shape of an object, solidity of a material, light or acoustic reflectivity, ambient charge, atmospheric pressure, presence of certain chemical(s), noise / sound, etc.). For example, in an embodiment where the piled granular material is grain, many of sensors 120 are used to determine the state of the grain (e.g., temperature, moisture, electrostatic charge, etc.). In some embodiments, one or more sensors 120 are used for fall detection, orientation, and to aid in autonomous direction of movement of device 100. For example, by detecting temperature of grain, device 100 may determine hot spots which need to be mixed by traversal with device 100 or by other means. Similarly, by detecting moisture of grain, device 100 may determine moist spots which need to be mixed by traversal with device 100 or by other means. By detecting an electrostatic and / or electrochemical aspect of the atmosphere in a grain bin, a level of dust or other particulates and / or likelihood of an explosion may be detected in order to gauge safety for a human and / or safety for operating device 100.

[0068] Some embodiments may, for example, comprise one or more motion sensors 220. For example, an embodiment with a gyroscope 221, an accelerometer 222, and a magnetometer 223 or other compass technology, which each provide a measurement along three axes that are orthogonal relative to each other, may be referred to as a 9-axis device. In another embodiment three-axis accelerometer 222 and a three-axis gyroscope 221 may be used to form a 6-axis device. Other embodiments may, for example, comprise an accelerometer 222, gyroscope 221, compass, and pressure sensor, and may be referred toas a 10-axis device. Other embodiments may not include all these motions sensors or may provide measurements along one or more axes. In some embodiments, motion sensors 220 may be utilized to determine the orientation of device 100, the angle of slope or inclination of a surface upon which device 100 operates, the velocity of device 100, and / or the acceleration of device 100. In various embodiments, measurements from motion sensors 220 may be utilized by host processor 102 to measure direction and distance of travel and may operate as an inertial navigation system (INS) suitable for controlling and / or monitoring maneuvering of device 100 in a bulk store (e.g., within a grain bin). In some embodiments, motion sensors 220 may be used for fall detection. In some embodiments, motions sensor(s) 220 may be used to detect vibrations in the granular material proximate to device 100.

[0069] Figure 3 shows a block diagram of a collection of payloads 140, any or all of which may be incorporated device 100 of Figure 1, in accordance with various embodiments. Payloads 140 illustrate a non-limiting selection of payloads, which include: ultraviolet germicidal 341, sample gatherer 342, percussive payload 343, probe / sensor delivery 344, air dryer 345, drill 346, sprayer 347, lights 348, ripper 349, broom 350, blade 351, shovel 352, vacuum 353, and / or a blower 354.

[0070] Ultraviolet germicidal payload 341, when included, emits ultraviolet light to kill germs by irradiating in the proximity of device 100. Sample gatherer payload 342, when included, provides one or more containers or bays for gathering one or more samples of granular material from a pile of granular material upon which device 100 operates. Percussive payload 343, when included, operates to vibrate, or percussively impact piled granular material touching or in the proximity of device 100. Probe / sensor delivery payload 344, when included, operates to insert one or more probes or sensors into piled granular material upon which device 100 operates and / or to position one or more probes onto piled granular material upon which device 100 operates. Air dryer payload 345, when included, provides a fan and / or heater for drying piled granular material proximate to device 100. Drill payload 346, when included, operates to bore into and / or sample piled granular material and / or break up crusts or aggregations of piled granular material proximate to device 100. Sprayer payload 347, when included, operates to spray fungicide, insecticide, or other liquid or powdered treatments onto piled granular material proximate device 100. Lights payload 348, when included, emit optical and / or infraredillumination in proximity of device 100. Ripper payload 349, when included, comprises one or more blades, tines, or the like and is used to rip into, agitate, and / or break up crusts or chunks of aggregated granular material proximate device 100. Blade 351, when included, may be a fixed or movable blade (e.g., similar to a dozer blade) for pushing / sweeping granular material in the path of traversal of device 100. Shovel 352, when included, may be a fixed or movable shovel (e.g., similar in appearance / function to a show shovel) relative to device 100 and is used for pushing / scooping / shoveling granular material in the path of traversal of device 100. In some embodiments, blade 351 and shovel 352 may have some similarity and perform some functions which overlap, though a blade 351 is generally suited more toward pushing than scooping granular material, while and while a shovel 352 may push granular material it is generally better configured for scooping than blade 351. Vacuum 353, when included, may be a powered vacuum that is fixed or movable relative to device 100 and is used for sucking up and storing granular material in the path of traversal of device 100. Blower 354, when included, may be a powered air blower that is fixed or movable relative to device 100 and is used for blowing granular material in the path of traversal of device 100.

[0071] It should be appreciated that various payloads may be delivered, where delivery includes leaving or expelling the payload or a portion thereof at a designated location. For example, delivery can include leaving / installing a probe or sensor. Delivery may also include spraying or spreading a substance such as, but not limited to: a coolant, a flame retardant, an insecticide, a fungicide, or other liquid, gas, or powder.

[0072] In various embodiments, one or some combination of payloads 140 may be included in a payload bay of device 100. In some embodiments, the payload bay is fixed in place. In some embodiments, the payload bay may be removably coupled to device 100 to facilitate swapping it for another payload bay to quickly reconfigure device 100 with various different payloads.Example External Views of a Device which Moves About and / or Operates in Relation to a Pile of Granular Material

[0073] Figures 4A-1, 4A-2, and 4A-3 illustrate front elevational views of the exterior of a device 100 which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0074] With reference to Figure 4A-1, device 100 includes a body 401, motors 106 (106-1 and 106-2), transmissions 402 (402-1 and 402-2), and augers 403 (403-1 and 403-2). In the illustrated embodiment of device 100, a pair of bilateral augers 403 is utilized. In some embodiments, a drive motor 106 may be coupled to an auger 403 (such as to the end of an auger 403) in a manner that eliminates the need of a transmission 402 between the drive motor 106 and the auger 403. In the depicted embodiments, the transmission is located near the middle of each auger 403, thus bifurcating each auger into two portions. In Figure 4A-1, the front portion 403-1A of auger 403-1 is visible, as is the front portion 403-2A of auger 403-2. In typical operation, augers 403 sink at least partially into the piled granular material and thrust against it as they rotate. The direction and speed of rotation of the augers 403 determines the movement fore, aft, left, right, turning left, and / or turning right of device 100. In this manner, in various embodiments, device 100 can move atop a pile of granular material, can move beneath a pile of granular material (i.e., submerged in it), and can move to the surface after being submerged in a pile of granular material.

[0075] In some embodiments, device 100 includes one or more payloads 140. For example, lights payloads 348 (348-1 and 348-2) are included to provide illumination. In some embodiments, device 100 may additionally or alternatively include a payload bay 440 which may be fixed to device 100 or removably couplable with device 100. The payload bay 440 may provide a housing for one or more of the payloads 140 discussed herein and / or for other payloads. As one example, payload bay 440 may include sample gatherer payload 342 (show in the closed, non-sample gathering position as 342A). In some embodiments, one or more cameras 108 are included and coupled with body 401. In some embodiments, one or more sensors 120 are included and coupled with body 401 in a manner which provides access to the external environment of device 100. For example, one or more of ultrasonic transducer 231, LIDAR 232, temperature sensor 233, moisture sensor 234, optical sensor 235, infrared sensor 236, electrostatic sensor 237, andelectrochemical sensor 238 may be included in a manner which provides sensor access to the operating environment of device 100.

[0076] Referring now to Figure 4A-2, device 100 is illustrated with sample gatherer payload 342 in an open, sample gathering position 342B, to scoop up a sample of granular material as device 100 moves forward with sample gatherer payload open and submerged into the piled granular material upon which device 100 operates.

[0077] Referring now to Figure 4A-3, device 100 is illustrated without payload bay 440. This illustrates a configuration of device 100 in which payload bay 440 has been removed or else device 100 is not configured to support a payload bay 440.

[0078] Figures 4B-1 and 4B-2 illustrate rear elevational views of the exterior of a device 100 which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0079] With reference to Figure 4B-1, the rear portion 403-1B of auger 403-1 is visible, as is the rear portion 403-2B of auger 403-2.

[0080] With reference to Figure 4B-2, device 100 is illustrated without payload bay 440. This illustrates a configuration of device 100 in which payload bay 440 has been removed or else device 100 is not configured to support a payload bay 440.

[0081] Figures 4C-1 and 4C-2 illustrate right elevational views of the exterior of a device 100 which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0082] With reference to Figure 4C-1, the full span of auger 403-2 is visible, including front portion 403-2A and rear portion 403-2B, as is the drive motor 106-2 and transmission 402-2 which drive auger 403-2. An auger-based drive system includes, for example, drive motors 106 and augers 403, and may include transmissions 402. In some embodiments, motor controllers 105 may also be considered a portion of an auger-based drive system. This lateral side of the auger-based drive system of device 100 comprises drive motor 106-2, transmission 402-2, and auger 403-2. As has been discussed, other embodiments may directly drive the auger with the drive motor, thus eliminating the transmission from the auger-based drive system.

[0083] With reference to Figure 4C-2, device 100 is illustrated without payload bay 440. This illustrates a configuration of device 100 in which payload bay 440 has been removed or else device 100 is not configured to support a payload bay 440.

[0084] Figures 4D-1 and 4D-2 illustrate left elevational views of the exterior of a device 100 which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0085] With reference to Figure 4D-1, the full span of auger 403-1 is visible, including front portion 403-1A and rear portion 403-1B, as is the drive motor 106-1 and transmission 402-1 which drives auger 403-1. This lateral side of the auger-based drive system of device 100 comprises drive motor 106-1, transmission 402-1, and auger 403-1. As has been discussed, other embodiments may directly drive the auger with the drive motor, thus eliminating the transmission from the auger-based drive system.

[0086] With reference to Figure 4D-2, device 100 is illustrated without payload bay 440. This illustrates a configuration of device 100 in which payload bay 440 has been removed or else device 100 is not configured to support a payload bay 440.

[0087] Figures 4E-1 and 4E-2 illustrate bottom plan views of the exterior of a device 100 which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.

[0088] With reference to Figure 4E-1 a bottom plan view of device 100 is shown with a payload bay 440 coupled with device 100. As can be seen in Figure 4E-1, drive auger 403-1 and drive auger 403-2 are arranged in a bi-lateral fashion and have flighting wound in opposite directions from each other. Thus, the bi-lateral driver augers 403-1 and 403-2 may be referred to as “opposing screw” drive augers. Propulsion is through direct interaction with the granular material in which device 100 operates and can be forward, reverse, sideways, and turning.

[0089] With reference to Figure 4E-2, device 100 is illustrated in bottom plan view without payload bay 440. This illustrates a configuration of device 100 in which payload bay 440 has been removed or else device 100 is not configured to support a payload bay 440.

[0090] Figure 4F illustrates a top plan view of the exterior of a device 100 which moves about and / or operates in relation to a pile of granular material along with a chart 475 illustrating directional movements, in accordance with various embodiments. Chart 475 shows some examples of rotations of augers 403-1 and 403-2 utilized to implement movement of device 100 in the directions indicated by the arrows in the chart. The rotations and movement directions in chart 475 are in relation to the view of device 100 shown in Figure 4F. Although not depicted, in some embodiments, device 100 may be operated to move laterally to one side or the other.

[0091] Figure 4G illustrates an upper front right perspective view of the exterior of a device 100 which moves about and / or operates in relation to a pile of granular material, in accordance with various embodiments.Example Systems

[0092] Figure 5 illustrates some example embodiments of a bulk store slope adjustment system 500, in accordance with various embodiments. System 500 includes at least device 100 when operating autonomously. In some embodiments, system 500 may include device 100 and a remotely located remote controller 501 which is communicatively coupled by wireline 510 or wirelessly 520 with device 100 (e.g., to interface 104) to send instructions or data and / or to receive information or data collected by device 100 (e.g., from operation of device 100 and / or from sensor(s) 120 and / or payload(s) 140). Remote controller 501 may be like a handholdable remote controller for a video game, or a remotely controlled model car or model airplane. In some embodiments, remote controller may have a display screen for visual display of textual information or still / video images received from device 100. In some embodiments, remote controller 501 is utilized by an operator to maneuver device 100 and / or to operate sensor(s) 120 and / or payload(s) 140. In some embodiments, system 500 may include device 100 and a remotely located computer system 506 which is communicatively coupled wirelessly 580 with device 100 to send instructions or data and / or to receive / access information or data collected by device 100 (e.g., from operation of device 100 and / or from sensor(s) 120 and / or payload(s) 140). In some embodiments, system 500 may include device 100 along with a communicatively coupled remote controller 501 and a communicatively coupled remotely located computer system 506. It should be appreciated that wireless communications 520 and 580 may be peer-to-peer, over a wide area network, or by other protocols.

[0093] Figure 6 illustrates some example embodiments of a bulk store slope adjustment system 600, in accordance with various embodiments. In some embodiments, system 600 includes device 100 in wireless communicative coupling 650 (e.g., via the Internet) with one or more of cloud-based 602 storage 603 processing 604. In some embodiments, cloud-based 602 storage 603 is used to store data collected by device 100. In some embodiments, cloud-based processing 604 is used to process data collected by device 100 and / or to assist in autonomous decision making based on collected day. In some embodiments, system 600 additionally includes a remotely located computer 605, communicatively coupled to cloud 602 (e.g., via the internet) either wirelessly 670 or by wireline 660. In this fashion, remotely located computer 605 may access data from device 100 which has been uploaded to storage 603 and / or may communicate with or accessdevice 100 by relay through processing / computer system 605 or cloud 602. In some embodiments, system 600 may additionally include one or more components (remote controller 501 and / or remotely located computer system 506) which were described in Figure 5. In some embodiments, one or more of remote controller 501 and remote computer system 506 may be communicatively coupled (e.g., 630 / 640) with cloud 602 for transmission and / or receipt of information related to device 100. SECTION 2 Example Bulk Store and Example Operations to Adjust Slope of a Portion of Piled Granular Material

[0094] Figure 7A illustrates an example bulk store 700 for granular material, in accordance with various embodiments. For purposes of example, and not limitation, bulk store 700 is depicted as a grain bin which is used to bulk store grain (e.g., edible seeds / beans such as corn, wheat, soybeans, peas, rice, beans, etc.). However, in other embodiments, bulk store 700 may store other granular materials. Bulk store 700 includes an access door 705 through which device 100 may be inserted into and / or removed from bulk store 700. Bulk store 700 also includes a top loading portal 701 through which bulk grain or other granular material may be filled into bulk store 700, by an auger or other filling system (not depicted in Figure 7), and then fall into bulk store 700 to form a pile of granular material (e.g., grain 710 shown in Figure 7B). Section lines depict a location and a direction of Section A-A and Section B-B which will be illustrated in other figures.

[0095] Figure 7B illustrates a side sectional view A-A of an example bulk store 700 for granular material which shows a device 100 moving about and / or operating in relation to a portion (portion 720 as shown in Figure 7C) of piled granular material (e.g., grain 710) in the bulk store 700, in accordance with various embodiments. Because some of grain 710 has been removed from the bottom of bulk store 700, a cone shaped concavity on surface 711A has been created with a slope of approximately 20 degrees down from the walls to the center of bulk store 700 in the portion of piled granular material where device 100 is operating. The slope of 20 degrees is used for example purposes only. The maximum angle of the downward slope from the sides to the middle (or from the middle to the sides) is dictated by the angle of repose, which differs for different granular materials and maydiffer for a particular granular material based on environmental physical characteristics (such as moisture) of the granular material. When a granular material is steeply sloped and near the angle of repose, it can be easily triggered to slide and cause entrapment of a person. When the slope of a granular material exceeds its angle of repose, it slides (like an avalanche). Additionally, when a surface 711A of grain 710 becomes steeply sloped toward the center (as illustrated) during removal of grain 710 from bulk store 700, it means that much of the removed grain is coming out from the center of the bin, rather than a mixture of grain from all areas of the bin. Leveling, or reduction of slope, of an inwardly sloped pile, reduces risk of a slide from a steeply sloped surface 711A and distributes grain from the high sloped edges to prevent / reduce spoilage of those portions of the grain.

[0096] Due to the friction of augers 403 against grain 710 and the agitation of augers 403 caused to grain 710 when device 100 traverses a portion of piled granular material (e.g., portion 720 of grain 710), viscosity of the piled granular material at or near surface 711A is disrupted. The disruption of viscosity lowers the angle of repose and, because of the slope being caused to exceed the angle of repose, incites sediment gravity flow in the portion of piled granular material down the slope. Additionally, rotational movement of the augers also displaces grain 710 and can be used to auger the grain in a desired direction or expel it such that gravity carries it down slope. Either or both of these actions can be used to disperse grain 710 and / or to adjust (reduce) the slope of the surface 711A of portion 720 and other similar portions.

[0097] Figure 7C illustrates a top sectional view B-B of an example bulk store 700 for granular material which shows a device 100 moving about and / or operating on surface 711A in relation to a portion 720 of piled granular material 710 in the bulk store 700, in accordance with various embodiments.

[0098] Figure 7D illustrates a top sectional view B-B of an example bulk store 700 for granular material which shows pattern 730 for moving a device 100 about and / or operating on surface 711A in relation to surface a portion 720 of piled granular material 710 in the bulk store 700, in accordance with various embodiments. In some embodiments, pattern 730 may be manually driven by a remotely located operator via remote controller 501 (for example). In some embodiments, pattern 730 may be autonomously driven by device 100. In some embodiments, pattern 730 may be initiated due to a first measurement of the angleof slope of the surface 711A of grain 710 in portion 720 satisfying a first condition such as being beyond an acceptable threshold angle (e.g., 10 degrees of slope). Pattern 730 or other patterns of traversal of portion 720 may be repeatedly driven until a follow-on measurement of the angle of slope of grain 710 in portion 720 meets a second condition (e.g., falls below the threshold angle or falls below some other angle such as 7 degrees). In this manner a portion (e.g., portion 720) or all of the grain in bulk store 700 can have its slope adjusted downward, closer to level.

[0099] Figure 7E illustrates a top sectional view B-B of an example bulk store 700 for granular material which shows pattern 731 for moving a device 100 about and / or operating on surface 711A in relation to a portion 720 of piled granular material 710 in the bulk store 700, in accordance with various embodiments. In some embodiments, pattern 731 may be manually driven by a remotely located operator via remote controller 501 (for example). In some embodiments, pattern 731 may be autonomously driven by device 100. In some embodiments, pattern 731 may be initiated due to a first measurement of the angle of slope of surface 711A of grain 710 in portion 720 satisfying a first condition such as being beyond an acceptable threshold angle (e.g., 10 degrees of slope). Pattern 731 or other pattern(s) of traversal of portion 720 may be repeatedly driven until a follow-on measurement of the angle of slope of surface 711A of grain 710 in portion 720 meets a second condition (e.g., falls below the threshold angle or falls below some other angle such as 7 degrees). In this manner a portion (e.g., portion 720) or all of the grain in bulk store 700 can have its surface slope adjusted downward, closer to level.

[0100] Figure 7F illustrates a top sectional view B-B of an example bulk store 700 for granular material which shows pattern 732 for moving a device 100 about and / or operating on surface 711A in relation to a portion 720 of piled granular material 710 in the bulk store 700, in accordance with various embodiments. In some embodiments, pattern 732 may be manually driven by a remotely located operator via remote controller 501 (for example). In some embodiments, pattern 732 may be autonomously driven by device 100. In some embodiments, pattern 732 may be initiated due to a first measurement of the angle of slope of surface 711A of grain 710 in portion 720 satisfying a first condition such as being beyond an acceptable threshold angle (e.g., 10 degrees of slope). Pattern 732 or other pattern(s) of traversal of portion 720 may be repeatedly driven until a follow-on measurement of the angle of slope of surface 711A of grain 710 in portion 720 meets asecond condition (e.g., falls below the threshold angle or falls below some other angle such as 7 degrees). In this manner a portion (e.g., portion 720) or all of the grain in bulk store 700 can have its surface slope adjusted downward, closer to level. In Figure 7F, pattern 732 is confined to portion 720. In such an embodiment, only this portion may be leveled by device 100, or else device 100 may work its way around bulk store 700 portion by portion by portion, leveling surface 711A in each portion completely or incrementally before moving to the next portion.

[0101] Figures 7D-7F illustrate only three example patterns, many other patterns are possible and anticipated including, but not limited to: grid patterns, circular patterns, symmetric patterns, unsymmetrical patterns, spiral patterns, random / chaos motion (e.g., patternless), patterns / paths that are dynamically determined based on the slope and changes of the slope, and patterns which are cooperatively executed by two or more devices 100 working in communication with one another. Any of the patterns executed by device 100 may be stored in host memory 103 for automated execution by processor 102 controlling the movements of device 100 to traverse the pattern. Similarly, patternless or dynamic movement may be executed by processor 102 in an automated fashion by controlling the movements of device 100, such as to seek out portions with a slope which satisfies a first condition and traverse them until the slope satisfies the second condition.

[0102] In some embodiments, patterns or traversal operations may similarly be utilized to break up and distribute grain 710 to assist it in drying out, to prevent a crust from forming, to inspect grain, to push grain towards a sweep auger or other uptake, and / or to diminish spoilage.

[0103] In some embodiments, patterns or traversal operations may similarly be utilized to level peaks which form in grain or other piled granular material due to the method and / or location in which it is loaded into a bulk store. Such leveling better utilizes available storage space, reduces crusts or pipe formation, reduces hotspots, and / or more evenly distributes granular material of differing moisture contents.

[0104] Figure 7G illustrates a side sectional view A-A of an example bulk store 700 for granular material 710 which shows a device 100 moving about and / or operating in relation to one or more portions (e.g., portion 720 and the like) on the surface 711B of piled granular material 710 in the bulk store 700, in accordance with various embodiments.Figure 7G is similar to Figure 7B except that the slope of the upper surface 711B has been downwardly adjusted from 20 degrees of surface 711A to approximately 13 degrees (as measured by device 100 or other means) by traversal of the surface by device 100 in the manner previously described to effect surface leveling and slope adjustment (i.e., traversed in a “leveling traversal”). In an embodiment where this 13-degree slope is below a predetermined threshold, leveling and slope adjustment operations may cease. In an embodiment where this 13-degree slope is above a predetermined threshold, leveling and slope adjustment operations may continue toward achieving a slope threshold which is closer to 0 degrees.

[0105] Figure 7H illustrates a side sectional view A-A of an example bulk store 700 for granular material 710 which shows a device 100 moving about and / or operating in relation to a one or more portions (e.g., portion 720 and the like) on the surface 711C of piled granular material 710 in the bulk store 700, in accordance with various embodiments. Figure 7H is similar to Figure 7G except that the slope of the upper surface 711C has been further downwardly adjusted from 13 degrees of surface 711B to approximately 5 degrees (as measured by device 100 or other means) by traversal of the surface by device 100 in the manner previously described to effect surface leveling and slope adjustment (i.e., traversed in a “leveling traversal”). In an embodiment where this 5-degree slope is below a predetermined threshold, leveling and slope adjustment operations may cease. In an embodiment where this 5-degree slope is above a predetermined threshold, leveling operations may continue toward achieving a slope threshold which is closer to 0 degrees.

[0106] Figure 7I illustrates a side sectional view A-A of an example bulk store 700 for granular material 710 which shows a device 100 moving about and / or operating in relation to one or more portions (e.g., portion 720 and the like) on the surface 711D of piled granular material 710 in the bulk store 700, in accordance with various embodiments. Figure 7I differs from Figures 7B, 7G, and 7H, in that the slope of surface 711D of grain 710 is now peaked in the middle and low on the edges, sloping downward at about 17 degrees from the center due to filling of additional grain 710 atop surface 711C of Figure 7H via centrally located top loading portal 701 (see e.g., Figure 7A). In some embodiments, device 100 can operate in the same manner to level grain 710 during and / or after completion of the fill operation.

[0107] Figure 7J illustrates a side sectional view A-A of an example bulk store 700 for granular material 710 which shows a device 100 moving about and / or operating in relation to a one or more portions (e.g., portion 720 and the like) on the surface 711E of piled granular material 710 in the bulk store 700, in accordance with various embodiments. Figure 7J is similar to Figure 7I except that the slope of the upper surface 711E has been downwardly adjusted from 17 degrees of surface 711D to approximately 4 degrees (as measured by device 100 or other means) by traversal of the surface by device 100 in the previously manner for surface leveling and slope adjustment (i.e., traversed in a “leveling traversal”). In an embodiment where this 4-degree slope is below a predetermined threshold, leveling and slope adjustment operations may cease. In an embodiment where this 4-degree slope is above a predetermined threshold, leveling operations may continue toward achieving a slope threshold which is closer to 0 degrees.

[0108] Figure 7K illustrates a side sectional view A-A of an example bulk store 700 for granular material 710 which shows a device 100 moving about and / or operating in relation to one or more portions (e.g., portion 720 and the like) on the surface 711F of piled granular material 710 in the bulk store 700, in accordance with various embodiments. Figure 7K illustrates an embodiment where additional grain 710 has been loaded atop the substantially leveled surface 711E of Figure 7J and is now peaked in the middle and low on the edges, sloping downward at about 16 degrees from the center due to filling of additional grain 710 atop surface 711E of Figure 7J via centrally located top loading portal 701 (see e.g., Figure 7A). In some embodiments, device 100 can operate in the same manner to level grain 710 during and / or after completion of the fill operation.

[0109] Figure 7L illustrates a side sectional view A-A of an example bulk store 700 for granular material 710 which shows a device 100 moving about and / or operating in relation to a one or more portions (e.g., portion 720 and the like) on the surface 711G of piled granular material 710 in the bulk store 700, in accordance with various embodiments. Figure 7L is similar to Figure 7K except that the slope of the upper surface 711G has been downwardly adjusted from about 16 degrees of surface 711F to approximately 3 degrees (as measured by device 100 or other means) by traversal of the surface by device 100 in the previously manner for surface leveling and slope adjustment (i.e., traversed in a “leveling traversal”). In an embodiment where this 3-degree slope is below a predetermined threshold, leveling and slope adjustment operations may cease. In anembodiment where this 4-degree slope is above a predetermined threshold, leveling operations may continue toward achieving a slope threshold which is closer to 0 degrees. Example Method(s) of Bulk Store Slope Adjustment

[0110] Procedures of the methods illustrated by flow diagram 800 of Figures 8A-8E will be described with reference to elements and / or components of one or more of Figures 1- 7L. It is appreciated that in some embodiments, the procedures may be performed in a different order than described in a flow diagram, that some of the described procedures may not be performed, and / or that one or more additional procedures to those described may be performed. Flow diagram 800 includes some procedures that, in various embodiments, are carried out by one or more processors (e.g., host processor 102 or any processor of device 100 or a computer or system to which device 100 is communicatively coupled) under the control of computer-readable and computer-executable instructions that are stored on non-transitory computer-readable storage media (e.g., host memory 103, other internal memory of device 100, or memory of a computer or system to which device 100 is communicatively coupled). It is further appreciated that one or more procedures described in flow diagram 800 may be implemented in hardware, or a combination of hardware with firmware and / or software.

[0111] For purposes of example only, device 100 of Figures 1-7L is a robotic device which utilizes augers (403) to move and maneuver with respect to piled granular material, such as, but not limited to grain. Robot 100 will be described as operating on or in relation to piled granular material in a bulk store, such as, but not limited to grain in a grain bin. In some embodiments, the robot 100 is free of mechanical coupling with a structure (e.g., the bulk store) in which the piled granular material is contained. For example, in some embodiments, there is no tether or safety harness coupling the robot 100 to the grain storage bin and it operates autonomously or under wireless remote control. In some embodiments, robot 100 performs the method of flow diagram 800 completely autonomously. In some embodiments, robot 100 performs the method of flow diagram 800 semi-autonomously such as by measuring a slope of grain, sending the slope to an external computer system which then determines a pattern for robot 100 to autonomously execute when traversing the piled grain. In some embodiments, robot 100 performs the method of flow diagram 800 semi-autonomously such as by receiving a remotelymeasured slope of grain, then autonomously determining a pattern for robot 100 to autonomously execute when traversing the piled grain.

[0112] Figures 8A-8E illustrate a flow diagram 800 of an example method of bulk store slope adjustment, in accordance with various embodiments.

[0113] With reference to Figure 8A, at procedure 810 of flow diagram 800, in various embodiments, a robot 100 which includes a processor 102, a memory 103, and an auger- based drive system (e.g., augers 403), obtains a first measurement of an angle of slope of a portion of piled granular material in a bulk store, wherein the robot 100 comprises an auger-based drive system. With reference to Figures 7A-7L, this can comprise a measure of the angle of slope of the surface 711 of portion 720 of grain 710 in bin 700. The angle can be measured and obtained autonomously by robot 100 or can be measured by a device external to robot 100 and then obtained by being communicated to or accessed by robot 100. In an embodiment, where the angle of slope of surface 711 is measured by robot 100, motion sensor(s) 220 may be used to measure the angle of robot 100 on a slope of portion 720 to approximate the angle of the slope. In some embodiment, procedure 810 may be skipped and an operator may simply direct robot 100 to begin traversal of a portion (e.g., portion 720) of piled granular material.

[0114] With continued reference to Figure 8A, at procedure 820 of flow diagram 800, in various embodiments, in response to the first measurement satisfying a first condition, the robot 100 traverses the portion of piled granular material to incite sediment gravity flow in the portion of piled granular material by disruption of viscosity of the portion of piled granular material through agitation of the portion of piled granular material by auger rotation of the auger-based drive system. The traversal may be controlled by host processor 102 via control of the direction of rotation and / or the speed of rotation of augers 403 of robot 100. Robot 100 may traverse the portion (e.g., portion 720) of the surface 711 of piled granular material (e.g., piled grain 710) in a predetermined pattern, which may be a predetermined pattern of movement stored in host memory 103 of robot 100. Robot 100 may traverse the portion (e.g., portion 720) of piled granular material (e.g., piled grain 710) in a patternless or random / chaos manner or by following dictates other than a pattern such as by dynamically seeking out areas of slope above a certain measure. In some embodiments, a pattern may be changed or altered based on information sensed by robot 100.

[0115] With continued reference to Figure 8A, at procedure 830 of flow diagram 800, in various embodiments, robot 100 obtains a second measurement of the angle of slope of the portion of piled granular material. This second measurement is obtained after the robot has traversed the portion (e.g., portion 720) of surface 711 following a pattern, for a predetermined period of time, or based on other criteria for re-measurement of the slope. The second angle measurement can be measured and obtained autonomously by robot 100 or can be measured by a device external to robot 100 and then obtained by being communicated to or accessed by robot 100.

[0116] With continued reference to Figure 8A, at procedure 840 of flow diagram 800, in various embodiments, in response to the second measurement satisfying a second condition, robot 100 ceases traversal of the portion of piled granular material. In some embodiments, the first condition is related to a first angle and the second condition is related to a second angle.

[0117] In some embodiments, where the first angle is the same as the second angle, the first condition may be met when the first measurement exceeds the angle, and the second measurement may be met when the second measurement falls below the angle. For example, the angle may be 10 degrees, and when the first measurement is 20 degrees, traversal will continue until the angle is adjusted to below 10 degrees.

[0118] In some embodiments, where the first angle and the second angle are different, the first angle is larger than the second angle. For example, the first angle may be 10 degrees while the second angle is 5 degrees. In such an embodiment, when the first measurement is 20 degrees, traversal will continue until the angle meets the second condition (e.g., drops below 5 degrees).

[0119] With reference to Figure 8B, at procedure 850 of flow diagram 800, in various embodiments, in response to the second measurement failing to satisfy the second condition, robot 100 continues traversal of the portion of piled granular material. For example, if the second condition specifies that the measurement of slope needs to be reduced to below 5 degrees, the robot would continue traversal of the portion of piled granular material in response to the second measurement being 13 degrees.

[0120] With reference to Figure 8C, at procedure 860 of flow diagram 800, in various embodiments, during traversal of the portion (e.g., 720) of piled granular material by robot100, a sensor 120 of robot 100 acts under instruction of host processor 102 to capture a measurement of a characteristic of the portion of piled grain. Some example characteristics include, but are not limited to, capturing a measurement of: temperature, humidity, moisture, gas composition, electrostatic nature, and / or electrochemical nature. A measured characteristic may also comprise an optical and / or infrared image. The captured measurement of a characteristic can be stored within memory 103 or transmitted from robot 100. In some embodiments, the captured measurement of a characteristic is paired with a location of robot 100 at the time of capture of the measurement. Such paired data can be used to create a characteristic map of the piled granular material which is traversed by robot 100.

[0121] In some embodiments, the captured measurement(s) of characteristic(s) may be transmitted to a base station (506, 605) communicatively coupled with robot 100. The base station (506, 605) is located remotely from the robot and may be configured to communicate with robot 100 over the Internet, via a wide-area network, via a peer-to-peer communication, or by other means. Via such communications, the base station (506, 605) may receive data collected by robot 100 (including motion sensor data) collected by the robot during the traversal of the portion of piled granular material. Additionally, or alternatively, via such communications, the base station (506, 605) may relay instructions to robot 100.

[0122] In some embodiments, the captured measurement(s) of characteristic(s) may be transmitted to a cloud-based 602 storage 603 and / or processing 604 which is / are communicatively coupled with robot 100. The cloud-based infrastructure 602 may be utilized to process data, store data, make data available to other devices (e.g., computer 605), and / or relay information or instructions from other devices (e.g., computer 605) to robot 100.

[0123] With reference to Figure 8D, at procedure 870 of flow diagram 800, in various embodiments, a temperature sensor 233, infrared sensor 236, or infrared camera 108 of robot 100 is used to capture a temperature measurement of the portion of piled granular material during the traversal of the portion of piled granular material. In some embodiments, the captured measurement of a characteristic is paired with a location of robot 100 at the time of capture of the temperature measurement. Such paired data can be used to create a heat map of the piled granular material which is traversed by robot 100.

[0124] The heat map, when implemented, provides a data visualization that shows changes in temperature as changes in surface color or shading relative to the traversed surface or a depiction thereof. It should be appreciated that the heat map type visualization can similarly be used to show changes in other measured data relative to a traversed surface or depiction thereof. In other embodiments, the paired data may can be graphed or mapped spatially such as on a depiction of the traversed surface; and in some embodiments the spatially mapped / graphed data is interactive such that a user may click on a point of paired data to show a visualization of the underlying data associated with the paired data (e.g., the measured 3-D location and temperature). It should be such heat maps and spatially mapped / graphed data is formatted, in some embodiments, for display on a computer or monitor display (e.g., the display associated with a controller 501, a computer 506, a computer 605, or the like) to support management of the piled granular material and the bulk store during loading, storage, and / or unloading of the piled granular material. Among other management activities, the collected and visually displayed data may assist a human (e.g., a farmer, worker, bin manager) in controlling hot spots, controlling mold conditions, manipulating grain to reduce spoilage, manipulating grain to reduce formation of grain bridges, manipulating grain to reduce formation to disperse BGFM (e.g., small particles, broken grain, chaff, and the like), manipulating grain to unload grain with desired characteristics (e.g., desired moisture level and / or desired visual exterior surface characteristics such as low cracking), managing or having knowledge of a slope of the piled grain, etc.

[0125] With reference to Figure 8E, at procedure 880 of flow diagram 800, in various embodiments, robot 100 collects a sample from the portion of piled granular material during the traversal of the portion of piled granular material. For example, with reference to Figure 4A-2, processor 102 or a remotely located operator may direct a sample collection device, such as gatherer payload 342, to open to collect a sample of grain at a particular location and to close after a sample is collected or a predetermined time period has elapsed. Mapping Piled Granular Material in a Bulk Store

[0126] In various embodiments, for example, device 100 can operate via remote controlled instruction, autonomously, or some combination thereof. Although various embodiments of a device 100 are described herein (e.g., device 100, device 100B), it isreferred to generically as device 100. Also, as discussed above, device 100 is robotic and may be referred to as a “robot” (e.g., “robot 100”) or as a “robotic device,” (e.g., “robotic device 100”) or the like. Device 100 includes an auger-based drive system which facilitates the movement and / or operation of device 100 in relation to a portion of piled granular material (e.g., grain) in a bulk store 700, such as a grain bin.

[0127] A device 100 may record its location in three dimensions as it traverses a surface 711 of a piled granular material 710 in a bulk store 700. For example, three-dimensional positions may be recorded during any traversal, such a random traversal, a traversal in a pattern such as the example patterns illustrated in Figures 7D-7F, or during a pattern executed purposefully for mapping or surface management. The positions may be stored and later or on-the-fly assembled into a three-dimensional map of the surface 711 of the piled granular material 710 (e.g., grain). The assembly of the map may be performed by device 100, or the positions may be communicatively coupled such as by wireless communication to an external computer system 506 located remotely from the device. The external computer system 506 may then assemble the recorded locations into a three- dimensional map of the surface 711 of the piled granular material 710 (e.g., grain).

[0128] Positions of device 100 may be acquired by any suitable means, including but not limited to: differential Global Navigation Satellite System (GNSS) positioning, real-time kinematic GNSS positioning, triangulation from at least two known points marked inside and / or outside the bulk store 700 (e.g., by optically, sonically, ultrasonically, or via radio signals measuring angle and distance to the known points); using motion sensors 220 and additionally a barometric sensor 239 (in some embodiments) as an internal inertial measurement unit (IMU) to navigate from a known starting location; and receiving a position communicated (wirelessly) from an external source such as a camera or laser measuring device mounted to the internal roof or upper wall of a bulk store (e.g., bulk store 700). In various embodiments, more than one positioning means may be used.

[0129] The three-dimensional map may be assembled by plotting the recorded locations, such as on a three-dimensional graph with X, Y, and Z axis. This three-dimensional map may be viewed in any desired orientation or view and may be overlaid on a depiction of the bulk store 700 in which the assembled positions were recorded. In some embodiments, the three-dimensional map may be used to determine how much, if any, leveling needs to be performed on a surface 711 of a piled granular material 710. In someembodiments, when coupled with a known location of a bottom surface of a bulk store 700 (such as a grain bin), the volume between the mapped three-dimensional surface 711 (e.g., a surface contour map) and the bottom of the bulk store 700 may be calculated by device 100 or the external computer system 506.

[0130] Additionally, during any traversal of piled granular material 710, device 100 may capture one or more environmental characteristics with its sensors (e.g., temperature (with temperature sensor 233), humidity (e.g., with humidity sensor 242), moisture (e.g., directly with moisture sensor 234 or indirectly via calculation from measured temperature and humidity), amount of carbon dioxide (e.g., with carbon dioxide sensor 241), a measurement of atmospheric pressure (e.g., with barometric sensor 239), an optical image (e.g., with optical sensor / camera 235) to record visible environmental conditions, and an infrared image (e.g., with infrared sensor / camera 236), among others. For example, one or more sensors 120 of device 100 may capture measurements of environmental characteristics relative to the piled granular material being traversed by device 100. In some embodiments, such measurements may be taken at locations that are specified by coordinates with respect to the bulk store 700. In some embodiments, such measurements may be taken at intervals of time passed and / or distance traveled. In an example of time separated measurement intervals, an environmental measurement may be taken by one or more of the sensors 120 every 5 seconds, every 10 seconds, or more than once per second (e.g., 2, 3, or 10 times per second) as device 100 traverses. In an example of distance separated measurement intervals, an environmental measurement may be taken by one or more of the sensors 120 each time device 100 has moved a specified distance from a previous location (e.g., every centimeter of travel, every 5 centimeters of travel, every 10 centimeters of travel, every meter of travel, etc.). In some embodiments, the time and / or three-dimensional location of an environmental measurement captured by a sensor 120 is / are noted and stored in conjunction with captured environmental characteristics.

[0131] In some embodiments, device 100 may assemble the captured environmental characteristic(s) onto the three-dimensional surface map of the surface 711 of a piled granular material 710. In other embodiments, device 100 may communicatively couple (e.g., by wireless communication) the environmental characteristics and their respective three-dimensional locations and / or times of capture to external computer system 506which then assembles them onto the three-dimensional surface map of the surface 711 of a piled granular material 710.

[0132] In some embodiments, multiple three-dimensional maps may be made over time, such as during filling or withdrawal of piled granular material 710 from the bulk store 700. These maps may be combined to form a three-dimensional map of the captured environmental characteristics of the piled granular material 710. The assembly of multiple surface maps in this manner may be accomplished by device 100 or computer system 506, or other computing system which is supplied with the captured environmental characteristics and respective three-dimensional locations of capture.

[0133] A device 100 may operate as an assistant in the management of grain that is stored in a bulk store. By way of example, and not of limitation, the grain may be stored within a grain bin and the device 100 may operate to assist with management of a grain bin: prior to load-in of grain, during load-in of grain, after load-in of grain, during long term storage of grain, during extraction of grain, and / or during final clean-out of grain from a bin. The management may be a primary role of device 100 or as an extension of a device 100 traversing the surface of piled granular material for leveling, mapping, or other reasons. The device 100 may similarly assist with management of grain stored in other bulk stores, many types of which have been described herein.

[0134] During load-in traversals of piled granular material, during a maintenance traversal of a surface of piled granular material, or during a load-out traversal of piled granular material, a robot 100 may utilize a sensor 120 of robot 100, acting under instruction / direction of host processor 102, to capture a measurement of a characteristic of the surface of piled granular material. Some example characteristics include, but are not limited to, capturing a measurement of: temperature, humidity, moisture, gas composition, electrostatic nature, and / or electrochemical nature. A measured characteristic may also comprise an optical and / or infrared image. The captured measurement of a characteristic can be stored within memory 103 or transmitted from robot 100. In some embodiments, the captured measurement of a characteristic is paired with a location of robot 100 at the time of capture of the measurement. Such paired data can be used to create a characteristic map of the piled grain which is traversed by robot 100. In a like fashion, the recorded positions of a robot 100 during one or more traversalsmay be utilized to create a three-dimensional map of the surface. This surface mapping may be referred to as a contour map and may include elevations of the contours.

[0135] In some embodiments, the captured measurement(s) of characteristic(s) may be transmitted to a base station (506, 605) that is / are communicatively coupled with robot 100. The base station (506, 605) is located remotely from the robot and may be configured to communicate with robot 100 over the Internet, via a wide-area network, via a peer-to-peer communication, or by other means. Via such communications, the base station (506, 605) may receive data collected by robot 100 (including motion sensor data) collected by the robot during the traversal of the portion of piled grain. Additionally, or alternatively, via such communications, the base station (506, 605) may relay instructions to robot 100.

[0136] In some embodiments, the captured measurement(s) of characteristic(s) may be transmitted to a cloud-based 602 storage 603 and / or processing 604 which is / are communicatively coupled with robot 100. The cloud-based infrastructure 602 may be utilized to process data, store data, make data available to other devices (e.g., computer 605), and / or relay information or instructions from other devices (e.g., computer 605) to robot 100. SECTION 3 Robot with Articulable Flap for Moving Granular Material

[0137] Figures 9A-9D illustrate diagrams of a granular material management robot 900 with articulatable flap 910 for moving granular material, in accordance with various embodiments.

[0138] With respect to robot 900, it operates in the same manner as previously described in conjunction with device 100. Although a slightly different external form factor exists between body 401 (of robot 100) and body 901 (of robot 900) such as the inclusion of handle 931, the two robots (when utilizing an auger-based drive system) operate in the same manner. Additionally, robot 900 may utilize any of the sensors 120 or payloads 140 that have been previously described with respect to robot 100.

[0139] In some embodiments, body 901 may comprise an upper portion 901A and a lower portion 901B, which are coupled together such as by bolts or other removable fasteners. In some embodiments, a clear or transparent midplane 930 may be sandwiched between the upper portion 901A and lower portion 901B like a transparent gasket which surrounds all or a large portion of the lateral peripheral edge of the body 901. In some embodiments, a handle 931 may be configured into a portion of this clear peripheral midplane 930. In some embodiments, the midplane 930 is clear Plexiglas or clear acrylic. In some embodiments, one or more lights 999 such as light emitting diodes may be positioned such that they within body 901 and / or to emit light within body 901, such that the emitted light shines into and through the transparent midplane 930 and causes all or a large portion of the lateral peripheral edge to be lighted in a selected color of light produced by the light 999. This type of peripheral edge lighting through the transparent midplane 930 may facilitate providing light for the operation of device robot 900, emitting a color and / or blinking a code which can visible from afar by a human operator to convey a status of robot 900, and or providing a different color around the lateral peripheral edge of each of a plurality of robots 900 which are operating in proximity such that they can be easily visually differentiated from one another from a distance.

[0140] Figure 9A illustrates an upper right rear perspective view of the exterior of a robot 900 which moves about and traverses about the surface of a pile of granular material and which includes an articulable flap which is articulated to a zero-degree angle which represents an upward and non-pushing orientation of the articulable flap, in accordance with various embodiments. Typically, the end of robot 900 which includes sponsons 920 and / or articulable flap 910 is designated as the rear; otherwise, as robot 900 operates in either direction 902 or 903, the designation of either end as the front / rear may be an arbitrary designation. Robot 900 is depicted with auger-based surface interface portions 403 (403-1A, 403-2A, 403-1B, 403-2B) installed as part of its drive system, in accordance with various embodiments. In the depicted embodiments, the drive train / system of robot 900 comprises: an electric drive motor 106 (106-1, 106-2) which is coupled with a respective transmission 402 (402-1, 402-2), which spins one or more shafts 904 which are then coupled with a selected surface interface portion such as an auger or augers. Some examples of surface interface portions include: auger-based surface interface portions 403 (403-1A, 403-2A, 403-1B, 403-2B). n some embodiments, the portions 403 may beselected from a variety of auger sizes with different pitches and floats that may be selectively interchanged.

[0141] Examples of granular material upon which robot 900 may move about and traverse include, without limitation: grain (e.g., small hard and typically edible seeds or beans such as soybean seeds, peas, garbanzo beans, pinto beans, corn kernels, wheat, rice, etc.), non-grain plant seeds (e.g., flower seeds and grass seeds), nuts (e.g., shelled or unshelled tree nuts or ground nuts), sand, animal litter, concrete mix, cement, dry fertilizer, pelletized products (e.g., wood pellets, plastic pellets, hemp pellets, fish food pellets, etc.) and milled / ground products (e.g., flour, sugar, coffee, cocoa, guar, sodium bicarbonate, alumina, and mineral / rock aggregates, etc.).

[0142] Robot 900 is internally similar to robot 100 with respect to its processor and control systems and may utilize any of the structures and components that are illustrated and described in conjunction with Figures 1-3. Except for the inclusion of an articulable flap 910 and / or bilateral sponsons 920 (920-1 and 920-2) robot 900 operates in a similar fashion to robots 100 and 100B which were previously described herein.

[0143] Some embodiments of robot 900 or similar robots may include both the articulable flap 910 and bilateral sponsons 920, while other embodiments may include only the articulable flap 910 or only the bilateral sponsons 920. It should further be noted that device / robot 100 and 100B, which were previously described herein, may similarly be configured to include one or both of articulable flap 910 and bilateral sponsons 920.

[0144] Articulable flap 910 has a top / first surface 911 and a bottom / second surface 912 (visible in Figure 9D). In some embodiments, the top / first surface 911 is flat (as depicted), while in others it may have a convex shape or wedge shape like a plow or else a concave shape like the inside of a rounded shovel blade or a dozer blade. In some embodiments, articulable flap 910 is free swinging and is rotatably coupled with body 905, such as by a hinge 917 which may be a full-length hinge or a spit hinge as depicted. In some embodiments, the hinge 917 includes a lower stop 915 which limits the lower range of articulation of articulable flap 910. In the depicted embodiment, hinge 917 limits the lower position of articulable flap 910 to being articulated at approximately a 90 angle of downward articulation from parallel with respect to the portion of body 901 to which it is coupled (or as similarly measured as an angle with respect to midplane 930). It should beappreciated that the stop 915 can be positioned to limit downward articulation to other angles with respect to the midplane 930 of body 901, such as: 45 degrees, 60 degrees, 85 degrees, 95 degrees, 110 degrees, 120 degrees, etc. Although not depicted, some embodiments may additionally include an upper stop which operates in a similar fashion to lower stop 915 but limits upward rotation of articulable flap 910. For example, such an upper stop may set an upward limit of rotation, such as at zero degrees of downward articulation from parallel, 5 degrees of downward articulation from parallel with respect to the midplane 930 of body 901, 5 degrees of upward articulation from parallel, etc. Although articulable flap 910 is depicted as being sized with a width which allows it fit between bilateral augers 403-1A and 403-2A, it may be larger in width if positioned to the rear of the augers or a wider version may include cutouts for the augers.

[0145] In a free-swinging embodiment the articulable flap 910 will naturally rotatably articulate on its own away from the lower stop 915 to a non-pushing orientation in response to a first interaction with piled granular material traversed about by the robot during the first direction 903 of travel of the robot 900. Put differently, articulable flap 910 will articulate upward from the 90 degree orientation where it contacts lower stop 915 as it trails along on top of the surface of traversed granular material, behind robot 900, while robot 900 travels generally in direction 903. In many embodiments, this articulation will be somewhere between 0 degrees and 60 degrees downward with respect to midplane 930, depending upon how deep robot 900 sinks into the granular material while moving in direction 903.

[0146] Conversely, in the free-swinging, mode when robot 900 proceeds generally in direction 902, articulable flap 910 will rotate downward due to gravity and due to catching its distal edge on granular material that is being traversed. The downward rotational articulation is limited by engagement of articulable flap 910 with stop 915. After rotating downward, such as to an engagement with stop 915, articulable flap 910 is in a pushing orientation and will push granular material, much like a dozer blade, in response to continued operation of robot 900 to move in direction 902 (or generally in that direction) as it traverses about the surface of a piled granular material. Thus, with articulable flap 910 articulated to a pushing orientation, robot 900 may be operated to move generally in direction 902 to push granular material with articulable flap 910.

[0147] In some embodiments, when articulable flap 910 is rearward with respect to a direction of travel 903, robot 900 may orient itself so that moves in direction 903 when it traverses upslope on a pile of granular material and then moves in direction 902 when it traverses downslope on the pile of granular material. In an auger-based drive system embodiment, this may involve inciting sediment gravity flow with the rotation of the augers 403 during upslope traversal, and purposely orienting robot 900 in this described manner so that it is not pushing granular material with articulable flap 910 during the upslope traversal; and then continuing to incite sediment gravity flow with the augers 403 coupled with additionally pushing granular material downslope during the downslope traversal. In some embodiments, the additional action of pushing granular material downslope with articulable flap 910 during downslope traversal speeds the reduction of slope and / or leveling of a pile of granular material versus using incited sediment gravity flow alone the leveling action. Depending on the initial slope of a pile of granular material, the reduction in time leveling and / or reducing the slope below a threshold slope can be as great as 50% versus using incited sediment gravity flow alone to perform the slope reduction and / or leveling.

[0148] In some embodiments, robot 900 may further comprise a flap articulation mechanism 916 which is coupled with the articulable flap 910. In some embodiments, as illustrated, flap articulation mechanism 916 may be a motor such as a stepper motor or servo motor which may be controlled by host processor 102 to rotate articulable flap 910 to a selected orientation. In other embodiments, the flap articulation mechanism 916 may take other forms such as a solenoid which selectively extends, under control of processor 102, to push and / or pull articulable flap 910 such that it rotatable articulates to a selected orientation.

[0149] In some embodiments, a spring, such as torsion spring, may be coupled with the articulable flap 910 to provide some amount of bias toward one orientation, such as toward the pushing orientation. The amount of spring bias may be selected such that it can be overcome by one or more of the force exerted by interaction with granular material when traveling in direction 903 and the force exerted by the flap articulation mechanism 916.

[0150] In some embodiments, robot 900 may further comprise a flap position sensor 914. Flap position sensor 914 is configured to detect the orientation of the articulable flap 910 and provide feedback on the detected orientation to host processor 102. In someembodiments, flap position sensor 914 may be coupled with body 901 as illustrated. Flap position sensor 914 may be any suitable type of position detection sensor, including an optical sensor, an electromechanical sensor, a magnetic sensor, and an ultrasonic sensor, among others. In some embodiments, host processor 102 is configured to control the articulated orientation of articulable flap 910, using flap articulation mechanism 916, based on the detected orientation provided by flap position sensor 914.

[0151] Bilateral sponsons 920 (920-1 and 920-2) may also be referred to as wings or stabilizers. When included, bilateral sponsons 920 may be disposed on one end (as depicted) or both ends of a robot such as robot 100, robot 100B, and / or robot 900 (as depicted). Bilateral sponsons 920 may be in the same plane of or parallel to the plane of midplane 930, in some embodiments. Each one of the two bilateral sponsons 920 extend laterally from robot 900 to prevent rollovers of robot 900 (e.g., in roll direction represented by arrows 951 and 952, as depicted in Figure 9D) on a central axis that is substantially parallel to and aligned with the axes of shafts 904. Similarly, if the depicted handle 931 is considered the front of robot 900 and articulable flap 910 is considered to be near the rear of robot 900, the sponsons 920 may extend rearward from the robot 900 to prevent a reward pitch over of the robot 900 in the direction of pitch represented by arrow 950. In this fashion, when preventing a reward pitch over of robot 900, the sponsons 920 operate similarly to wheelie bars on a drag race car. In some embodiments, articulable flap 910 may be locked in a zero-degree or other non-pushing orientation by one or more of an upper stop (not depicted) and a flap articulation mechanism 916 to act as a sponson which inhibits pitch over of the robot in the direction of pitch represented by arrow 950.

[0152] Figure 9B illustrates an upper rear perspective view of the exterior of a robot 900 which moves about and traverses about the surface of a pile of granular material, such as grain, and which includes an articulable flap 910 which is articulated to a 45-degree angle approximately halfway between the upward / non-pushing orientation of the articulable flap and the downward / pushing orientation of the articulable flap, in accordance with various embodiments.

[0153] Figure 9C illustrates an upper rear perspective view of the exterior of a robot 900 which moves about and traverses about the surface of a pile of granular material, such as grain, and which includes an articulable flap 910 which is articulated to a 90-degree anglewhich represents the downward / pushing orientation of the articulable flap, in accordance with various embodiments.

[0154] Figure 9D illustrates a front elevational view of the exterior of a robot 900 which moves about and traverses about the surface of a pile of granular material, such as grain, and which includes an articulable flap 910 which is articulated to 90-degree angle which represents the downward / pushing orientation of the articulable flap, in accordance with various embodiments. Arrow 951 represents a direction of roll which is limited by the lateral extension of sponson 920-1 from body 901. Arrow 952 represents a direction of roll which is limited by the lateral extension of sponson 920-2 from body 901.

[0155] 10A illustrates a sectional view A-A of a bulk store 700 with an example pile of granular material 710 with robot 900 of Figures 9A-9D traversing upslope on a sloped portion of the surface 711-D1 of piled granular material 710 with the articulable flap 910 articulated to approximately a zero-degree angle, with respect to midplane 930, which represents the upward / non-pushing orientation of the articulable flap 910, such that granular material 710 is not pushed by the articulable flap 910 during the upslope traversal of the robot 900 in direction 1001, in accordance with various embodiments. This articulation may be effected by a flap articulation mechanism 916 and / or by interaction of flap 910 with granular material it moves across during travel in direction 1001.

[0156] 10B illustrates a sectional view A-A of a bulk store 700 with an example pile of granular material 710 with the robot 900 of Figures 9A-9D traversing downslope on a sloped portion of the surface 711-D2 of piled granular material 710 with the articulable flap 910 articulated to approximately a 90-degree angle which represents the downward / pushing orientation of the articulable flap 910, such that a portion of the traversed granular material 1011 piles up in front of articulable flap 910 and is pushed downslope by the articulable flap 910 during the downslope traversal of the robot 900 in direction 1002, in accordance with various embodiments. This pushing orientation of the articulation may be effected by a flap articulation mechanism 916 and / or by interaction of flap 910 with granular material it moves across during travel in direction 1002. As is depicted, the traversing (in direction 1001 and 1002) and pushing actions (in direction 1002) of robot 900 have reduced the angle of slope of the traversed portion from 17 degrees to 16 degrees. Repeated iterations of such slope reduction actions, such as those illustrated in Figures 10A and 10B (and elsewhere herein) may be performed to reduce theangle of slope to below a target / threshold angle, such as below 5 degrees, below 3 degrees, or some below other target / threshold angle of slope of the piled granular material.

[0157] It should be noted that inciting sediment gravity flow is more effective as a technique of leveling on steeper slopes than it is on shallower slopes, thus the pushing technique which is depicted in Figure 10B especially accelerates the leveling of shallower slopes of piled granular material when compared to using incited sediment gravity flow alone. It should also be noted that the pushing motion of the articulable flap 910 can be used by robot 900 to push granular material toward a sweep auger during clean out operations of a bulk store or for other purposes besides leveling / reducing the slope of a pile of granular material. Additionally, a robot equipped with an articulable flap may push granular material upslope and on flat or substantially flat surfaces.

[0158] Figure 11 illustrates a flow diagram 1100 of an example method of piled granular material surface management by a robot with an articulable flap, in accordance with various embodiments. Procedures of the methods illustrated by flow diagram 1100 of Figure 11 will be described with reference to elements and / or components of one or more of Figures 1-10B. It is appreciated that in some embodiments, the procedures may be performed in a different order than described in a flow diagram, that some of the described procedures may not be performed, and / or that one or more additional procedures to those described may be performed. Flow diagram 1100 includes some procedures that, in various embodiments, are carried out by one or more processors (e.g., host processor 102 or any processor of device 100, device 900 or a computer or system to which device 100 or device 900 is communicatively coupled) under the control of computer-readable and computer-executable instructions that are stored on non-transitory computer-readable storage media (e.g., host memory 103, other internal memory of device 100, device 900, or memory of a computer or system to which device 100 or device 900 is communicatively coupled). It is further appreciated that one or more procedures described in flow diagram 1100 may be implemented in hardware, or a combination of hardware with firmware and / or software.

[0159] The procedures of flow diagram 1100 will be described with reference to a robot 900 which is equipped with an articulable flap 910, but are similarly applicable to other robots (100, 100B, etc.) which move about or operate on the surface of piled granular material. For purposes of example, and not of limitation, robot 900 is used as an examplewhen describing the procedures of flow diagram 1100. However, it should be appreciated that other robots (e.g., robot 100, robot 100B, etc.) which are equipped with an articulable flap 910 may similarly be utilized. Robot 900 comprises a body 901, an auger-based drive system coupled with the body 901 and comprising a plurality of augers 403, a memory 203, an articulable flap 910 rotatably coupled with the body 901 such as by a hinge 917, an articulation mechanism 916 coupled with the articulable flap 910 and configured to effect articulation the articulable flap 910; and a processor 102 coupled with the memory 103. The auger-based drive system includes, for example, drive motors 106 and augers 403, and may include transmissions 402. In some embodiments, motor controllers 105 may also be considered a portion of an auger-based drive system. The augers of the auger- based drive system may be bilateral or may have other arrangements and may include more than two augers.

[0160] With reference to Figure 11, at procedure 1110 of flow diagram 1100, in various embodiments instructions are received at robot 900. In one embodiment, the instructions are to traverse a sloped portion of a surface of piled granular material in a bulk store. In some embodiments, the instructions may be received wirelessly from a remotely located computer system (506, 605, 604, etc.) or wirelessly from a remote controller 501 operated by a human (i.e., a human may drive the robot 900 remotely). In some embodiments, the instructions may be preprogrammed into robot 900. In some embodiments, the instructions are for the robot 900 to follow a predetermined pattern of movement to traverse the surface of the piled grain.

[0161] With reference to Figure 11, at procedure 1120 of flow diagram 1100, in various embodiments the processor 102, according to instructions, controls movement of the robot 900 via augers 403 of the auger-based drive system to traverse upslope on the sloped portion of the surface of the piled granular material in a first direction relative to the body 901 of the robot 900, wherein the traversal of the sloped portion in the first direction incites a first sediment gravity flow in the sloped portion by disruption of viscosity of the sloped portion of the piled granular material through agitation of the sloped portion of the piled granular material by rotation of the augers 403 of the auger-based drive system, wherein the first sediment gravity flow reduces an angle of slope of the sloped portion. An example of this is depicted in Figure 10A. In some embodiments, the instructions may be those that are received in procedure 1110. In some embodiments the instructions mayhave been previously stored (such as in a memory of robot 900). In some embodiments, the instructions may be generated by robot 900 such as in response to conditions measured by one or more sensors 120 of robot 900.

[0162] With reference to Figure 11, at procedure 1130 of flow diagram 1100, in various embodiments the processor 102 controls the articulation mechanism 916 to rotatably articulate the articulable flap 910 to a non-pushing orientation during a portion of the first direction of travel of the robot 900. This prevents the robot 900 from pushing granular material with the articulable flap while traveling in the first direction. Figure 10A also depicts an example of this. In various embodiments, the articulation mechanism 916 may be articulated by processor 102 based on the received instructions or based on sensed information (e.g., based on a detected slope and direction of travel of robot 900 and / or based on a position of articulable flap 910 as detected by flap position sensor 914). For example, in one embodiment, when the robot is sensed to be traveling upslope with the articulable flap 910 at the rear of the robot 900 with respect to the direction of travel of the body of the robot 900, instructions are provided to the articulation mechanism 916 to rotate the articulable flap 910 to a non-pushing orientation. In some embodiments, absent an articulation mechanism 916, articulation to the non-pushing orientation occurs based upon interaction with the articulable flap 910 with granular material with which it engages during the traversal of the robot 900 in the first direction, in the manner previously described herein.

[0163] With reference to Figure 11, at procedure 1140 of flow diagram 1100, in various embodiments the processor 102 controls, according to the instructions, movement of the robot 900 via augers 403 of the auger-based drive system to traverse downslope on the sloped portion of the surface of the piled granular material in a second direction relative to the body 901 of the robot 900, wherein the traversal of the sloped portion in the second direction incites a second sediment gravity flow in the sloped portion by disruption of viscosity of the sloped portion of the piled granular material through agitation of the sloped portion of the piled granular material by rotation of the augers of the auger-based drive system, wherein the second sediment gravity flow further reduces the angle of slope of the sloped portion, and wherein the second direction is substantially opposite the first direction. An example of this is depicted in Figure 10B.

[0164] With reference to Figure 11, at procedure 1150 of flow diagram 1100, in various embodiments the processor 102 controls the articulation mechanism 916 to rotatably articulate the articulable flap 910 to a pushing orientation during a portion of the second direction of travel of the robot 900, such that a portion of the piled granular material in the sloped portion is pushed downslope on the sloped portion by the articulable flap while the robot is traversing in the second direction such that the angle of slope is reduced further still. Figure 10B also depicts an example of this. In various embodiments, the articulation mechanism 916 may be articulated by processor 102 based on the received instructions or based on sensed information (e.g., based on a detected slope and direction of travel of robot 900 and / or based on a position of articulable flap 910 as detected by flap position sensor 914). For example, in one embodiment, when the robot 900 is sensed to be traveling downslope with the articulable flap 910 at the front of the robot with respect to the direction of travel of the body of the robot 900, instructions are provided to the articulation mechanism 916 to rotate the articulable flap 910 to a pushing orientation. In some embodiments, absent an articulation mechanism 916, articulation to the pushing orientation occurs based upon interaction with the articulable flap 910 with granular material with which it engages during the traversal of the robot 900 in the second direction, in the manner previously described herein.

[0165] In some embodiments, various procedures of the process described in flow diagram 1100 may be repeated until the slope of a portion of the piled granular material being repeatedly traversed during the iterations of the procedures of flow diagram 1100 is reduced to below a threshold angle such as 5 degrees, 2 degrees, or 1 degree. In some embodiments, the piled granular material being traversed is grain, while in other embodiments the piled granular material is a granular material other than grain. Succinct Descriptions of Various Aspects

[0166] In one aspect of a robot, as described herein, the robot comprises: a body; a drive system coupled with the body; an articulable flap coupled with the body, a memory coupled with the body; and a processor coupled with the memory. The processor is configured to: control movement of the robot, via the drive system, to traverse about a surface of a piled granular material in a first direction relative to the body of the robot; andcontrol movement of the robot, via the drive system, to traverse about the surface of a piled granular material in a second direction relative to the body of the robot, where the second direction is substantially opposite the first direction. In one aspect, the articulable flap is rotatably coupled with the body by a hinge which comprises lower stop. The articulable flap is configured to: rotatably articulate away from the lower stop to a non- pushing orientation in response to a first interaction with piled granular material traversed about by the robot during the first direction of travel of the robot; and rotatably articulate to a pushing orientation engaged with the lower stop in response to a second interaction with the piled granular material traversed about by the robot during the second direction of travel of the robot.

[0167] In one aspect the processor is further configured to operate the robot to push a portion of the piled granular material with the articulable flap while the articulable flap is in the pushing orientation and the robot is traversing the piled granular material in the second direction.

[0168] In one aspect, the first direction comprises a traversal upslope on the surface of the piled granular material and the second direction comprises a traversal downslope on the surface of the piled granular material. In one aspect, the articulable flap has a top surface and a bottom surface and wherein the top surface is configured to push a portion of the piled granular material in response to the articulable flap being rotatably articulated to the pushing orientation and the robot moving in the second direction, and wherein the top surface is flat.

[0169] In one aspect, the articulable flap has a top surface and a bottom surface and wherein the top surface is configured to push a portion of the piled granular material in response to the articulable flap being rotatably articulated to the pushing orientation and the robot moving in the second direction, and wherein the top surface is concave.

[0170] In one aspect, the articulable flap has a top surface and a bottom surface and wherein the top surface is configured to push a portion of the piled granular material in response to the articulable flap being rotatably articulated to the pushing orientation and the robot moving in the second direction, and wherein the top surface is convex.

[0171] In one aspect, the piled granular material is grain (e.g., small hard and typically edible seeds or beans such as soybean seeds, peas, garbanzo beans, pinto beans, corn kernels, wheat, rice, etc.).

[0172] In one aspect, the piled granular material is a non-grain piled granular material (e.g., non-grain plant seeds; nuts, sand, animal litter, concrete mix, cement, dry fertilizer, pelletized products, and / or milled / ground products, or other similar granular material that is stored in a pile).

[0173] In a second aspect of a robot, as described herein, the robot comprises: a body; a drive system coupled with the body; an articulable flap coupled with the body, a memory coupled with the body; a processor coupled with the memory, and an articulation mechanism coupled with the articulable flap. The articulation mechanism coupled with the articulable flap and configured to rotate the articulable flap between a pushing orientation and a non-pushing orientation. The processor is configured to: control movement of the robot, via the drive system, to traverse about a surface of a piled granular material in a first direction relative to the body of the robot; rotatably articulate, via the articulation mechanism, the articulable flap to the non-pushing orientation during a portion of the first direction of travel of the robot; control movement of the robot, via the drive system, to traverse about the surface of a piled granular material in a second direction relative to the body of the robot, where the second direction is substantially opposite the first direction; and rotatably articulate, via the articulation mechanism, the articulable flap to the pushing orientation during a portion of the second direction of travel of the robot.

[0174] In second aspects of the robot, the processor is further configured to operate the robot to push a portion of the piled granular material with the articulable flap while the articulable flap is in the pushing orientation and the robot is traversing the piled granular material in the second direction.

[0175] In some second aspects of the robot, the first direction comprises a traversal upslope on the surface of the piled granular material and the second direction comprises a traversal downslope on the surface of the piled granular material.

[0176] In some second aspects of the robot, the articulable flap has a top surface and a bottom surface and wherein the top surface is configured to push a portion of the piled granular material in response to the articulable flap being rotatably articulated to thepushing orientation and the robot moving in the second direction, and wherein the top surface is flat.

[0177] In some second aspects of the robot, the articulable flap has a top surface and a bottom surface and wherein the top surface is configured to push a portion of the piled granular material in response to the articulable flap being rotatably articulated to the pushing orientation and the robot moving in the second direction, and wherein the top surface is concave.

[0178] In some second aspects of the robot, the articulable flap has a top surface and a bottom surface and wherein the top surface is configured to push a portion of the piled granular material in response to the articulable flap being rotatably articulated to the pushing orientation and the robot moving in the second direction, and wherein the top surface is convex.

[0179] In some second aspects of the robot, the articulation mechanism comprises one or more of a motor and a solenoid.

[0180] In some second aspects of the robot, the piled granular material is grain (e.g., small hard and typically edible seeds or beans such as soybean seeds, peas, garbanzo beans, pinto beans, corn kernels, wheat, rice, etc.).

[0181] In some second aspects of the robot, the piled granular material is a non-grain piled granular material (e.g., non-grain plant seeds; nuts, sand, animal litter, concrete mix, cement, dry fertilizer, pelletized products, and / or milled / ground products, or other similar granular material that is stored in a pile).

[0182] In a third aspect of a robot, as described herein, the robot comprises: a body; an auger-based drive system coupled with the body and comprising a plurality of augers; a hinge coupled to the body and including a lower stop, an articulable flap coupled with the body via the hinge, a memory coupled with the body; a processor coupled with the memory, an auger-based drive system coupled with the body and comprising a plurality of augers. The processor is configured to control movement of the robot, via the augers of the auger-based drive system, to traverse about a surface of a piled granular material in a first direction relative to the body of the robot; and control movement of the robot, via the augers of the auger-based drive system, to traverse about the surface of a piled granularmaterial in a second direction relative to the body of the robot, where the second direction is substantially opposite the first direction. The articulable flap is configured to: rotatably articulate to a non-pushing orientation during the first direction of travel of the robot; and rotatably articulate to a pushing orientation during the second direction of travel of the robot.

[0183] In some third aspects of the robot, the robot further includes an articulation mechanism coupled with the articulable flap and configured to rotate the articulable flap between the pushing orientation and the non-pushing orientation.

[0184] In some third aspects of the robot, processor is further configured to operate the robot to push a portion of the piled granular material with the articulable flap while the articulable flap is in the pushing orientation and the robot is traversing the piled granular material in the second direction.

[0185] In some third aspects of the robot, the articulable flap is configured to rotatably articulate to a non-pushing orientation during the first direction of travel of the robot comprises the articulable flap configured to rotatably articulate away from the lower stop to the non-pushing orientation in response to a first interaction with piled granular material traversed about by the robot during the first direction of travel of the robot; and the articulable flap configured to rotatably articulate to the pushing orientation during the second direction of travel of the robot comprises the articulable flap configured to rotatably articulate to the pushing orientation and engage with the lower stop in response to a second interaction with the piled granular material traversed about by the robot during the second direction of travel of the robot.

[0186] In some third aspects of the robot, the first direction comprises a traversal upslope on the surface of the piled granular material and the second direction comprises a traversal downslope on the surface of the piled granular material.

[0187] In some third aspects of the robot, the piled granular material is grain (e.g., small hard and typically edible seeds or beans such as soybean seeds, peas, garbanzo beans, pinto beans, corn kernels, wheat, rice, etc.).

[0188] In some third aspects of the robot, the piled granular material is a non-grain piled granular material (e.g., non-grain plant seeds; nuts, sand, animal litter, concrete mix,cement, dry fertilizer, pelletized products, and / or milled / ground products, or other similar granular material that is stored in a pile).

[0189] In a method aspect, a method of piled granular material surface management via a robot with an articulable flap comprises: controlling movement of the robot via augers of an auger-based drive system to traverse upslope on a sloped portion of a surface of a piled granular material in a first direction relative to a body of the robot, wherein the traversal of the sloped portion in the first direction incites a first sediment gravity flow in the sloped portion by disruption of viscosity of the sloped portion of the piled granular material through agitation of the sloped portion of the piled granular material by rotation of the augers of the auger-based drive system, wherein the first sediment gravity flow reduces an angle of slope of the sloped portion; rotatably articulating, via an articulation mechanism, the articulable flap to a non-pushing orientation during a portion of the first direction of travel of the robot, wherein the articulation mechanism is coupled with the articulable flap and configured to rotate the articulable flap between a pushing orientation and a non- pushing orientation; controlling movement of the robot via augers of the auger-based drive system to traverse downslope on the sloped portion of the surface of the piled granular material in a second direction relative to the body of the robot, wherein the traversal of the sloped portion in the second direction incites a second sediment gravity flow in the sloped portion by disruption of viscosity of the sloped portion of the piled granular material through agitation of the sloped portion of the piled granular material by rotation of the augers of the auger-based drive system, wherein the second sediment gravity flow further reduces the angle of slope of the sloped portion, and wherein the second direction is substantially opposite the first direction; and rotatably articulating, via the articulation mechanism, the articulable flap to a pushing orientation during a portion of the second direction of travel of the robot, such that a portion of the piled granular material in the sloped portion is pushed downslope on the sloped portion by the articulable flap while the robot is traversing in the second direction such that the angle of slope is reduced further still.

[0190] In some aspects of the method, the piled granular material is grain (e.g., small hard and typically edible seeds or beans such as soybean seeds, peas, garbanzo beans, pinto beans, corn kernels, wheat, rice, etc.).

[0191] In some aspects of the method, the piled granular material is a non-grain piled granular material (e.g., non-grain plant seeds; nuts, sand, animal litter, concrete mix, cement, dry fertilizer, pelletized products, and / or milled / ground products, or other similar granular material that is stored in a pile). Conclusion

[0192] The examples set forth herein were presented in order to best explain, to describe particular applications, and to thereby enable those skilled in the art to make and use embodiments of the described examples. However, those skilled in the art will recognize that the foregoing description and examples have been presented for the purposes of illustration and example only. The description as set forth is not intended to be exhaustive or to limit the embodiments to the precise form disclosed. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

[0193] Reference throughout this document to “one embodiment,” “certain embodiments,” “an embodiment,” “various embodiments,” “some embodiments,” or similar term means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of such phrases in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any embodiment may be combined in any suitable manner with one or more other features, structures, or characteristics of one or more other embodiments without limitation.

Claims

CLAIMS What is claimed:

1. A robot comprising: a body; a drive system coupled with the body; a memory; a processor coupled with the memory and configured to: control movement of the robot, via the drive system, to traverse about a surface of a piled granular material in a first direction relative to the body of the robot; and control movement of the robot, via the drive system, to traverse about the surface of a piled granular material in a second direction relative to the body of the robot, where the second direction is substantially opposite the first direction; and an articulable flap rotatably coupled with the body by a hinge which comprises lower stop, wherein the articulable flap is configured to: rotatably articulate away from the lower stop to a non-pushing orientation in response to a first interaction with piled granular material traversed about by the robot during the first direction of travel of the robot; and rotatably articulate to a pushing orientation engaged with the lower stop in response to a second interaction with the piled granular material traversed about by the robot during the second direction of travel of the robot.

2. The robot of Claim 1, wherein the processor is further configured to: operate the robot to push a portion of the piled granular material with the articulable flap while the articulable flap is in the pushing orientation and the robot is traversing the piled granular material in the second direction.

3. The robot of Claim 1, wherein the first direction comprises a traversal upslope on the surface of the piled granular material and the second direction comprises a traversal downslope on the surface of the piled granular material.

4. The robot of Claim 1, wherein the articulable flap has a top surface and a bottom surface and wherein the top surface is configured to push a portion of the piled granular material in response to the articulable flap being rotatably articulated to the pushing orientation and the robot moving in the second direction, and wherein the top surface is one of flat, concave, and convex.

5. The robot of Claim 1, wherein the piled granular material is grain.

6. A robot comprising: a body; a drive system coupled with the body; a memory; an articulable flap rotatably coupled with the body; an articulation mechanism coupled with the articulable flap and configured to rotate the articulable flap between a pushing orientation and a non-pushing orientation; and a processor coupled with the memory and configured to: control movement of the robot, via the drive system, to traverse about a surface of a piled granular material in a first direction relative to the body of the robot; rotatably articulate, via the articulation mechanism, the articulable flap to the non-pushing orientation during a portion of the first direction of travel of the robot;control movement of the robot, via the drive system, to traverse about the surface of a piled granular material in a second direction relative to the body of the robot, where the second direction is substantially opposite the first direction; and rotatably articulate, via the articulation mechanism, the articulable flap to the pushing orientation during a portion of the second direction of travel of the robot.

7. The robot of Claim 6, wherein the processor is further configured to: operate the robot to push a portion of the piled granular material with the articulable flap while the articulable flap is in the pushing orientation and the robot is traversing the piled granular material in the second direction.

8. The robot of Claim 6, wherein the first direction comprises a traversal upslope on the surface of the piled granular material and the second direction comprises a traversal downslope on the surface of the piled granular material.

9. The robot of Claim 6, wherein the articulation mechanism comprises one or more of a motor and a solenoid.

10. The robot of Claim 6, wherein the piled granular material is grain.

11. A robot comprising: a body; an auger-based drive system coupled with the body and comprising a plurality of augers; a memory; a processor coupled with the memory and configured to:control movement of the robot, via the augers of the auger-based drive system, to traverse about a surface of a piled granular material in a first direction relative to the body of the robot; and control movement of the robot, via the augers of the auger-based drive system, to traverse about the surface of a piled granular material in a second direction relative to the body of the robot, where the second direction is substantially opposite the first direction; a hinge comprising a lower stop; an articulable flap rotatably coupled with the body by the hinge, the articulable flap configured to: rotatably articulate to a non-pushing orientation during the first direction of travel of the robot; and rotatably articulate to a pushing orientation during the second direction of travel of the robot.

12. The robot of Claim 11, further comprising: an articulation mechanism coupled with the articulable flap and configured to rotate the articulable flap between the pushing orientation and the non-pushing orientation.

13. The robot of Claim 11, wherein the processor is further configured to: operate the robot to push a portion of the piled granular material with the articulable flap while the articulable flap is in the pushing orientation and the robot is traversing the piled granular material in the second direction.

14. The robot of Claim 11, wherein the articulable flap configured to rotatably articulate to a non-pushing orientation during the first direction of travel of the robot comprises:the articulable flap configured to rotatably articulate away from the lower stop to the non-pushing orientation in response to a first interaction with piled granular material traversed about by the robot during the first direction of travel of the robot; and wherein the articulable flap configured to rotatably articulate to the pushing orientation during the second direction of travel of the robot comprises: the articulable flap configured to rotatably articulate to the pushing orientation and engage with the lower stop in response to a second interaction with the piled granular material traversed about by the robot during the second direction of travel of the robot.

15. The robot of Claim 11, wherein the first direction comprises a traversal upslope on the surface of the piled granular material and the second direction comprises a traversal downslope on the surface of the piled granular materialwherein the piled granular material comprises grain.

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