A defrosting robot for cold storage capable of collecting frost

Abstract

The application discloses a cold storage defrosting robot capable of collecting frost, relates to the technical field of defrosting robots, and comprises a defrosting robot device, wherein the defrosting robot device comprises a robot body, a moving assembly and a collecting box; one side of the robot body is provided with a lifting assembly and a scraping assembly; the defrosting robot device further has an acquisition unit, a processing unit and a control module, the distance JL and the average thickness HD are acquired, the priority of the defrosting robot device for scraping frost in each area in the cooling interior is determined, and a scraping strategy is formed; the control module acquires the scraping strategy, forms a control instruction, controls the moving assembly to move the robot body, and sequentially cleans frost in a plurality of areas in the cold storage through cooperation of the lifting assembly and the scraping assembly; an evaluation value P is formed, a cleaning strategy is determined, the area that is difficult to clean in the cold storage is preferentially cleaned, the cleaning difficulty is further avoided from being increased, and the overall cleaning difficulty of the cold storage is reduced.

Description

Technical Field

[0001] This invention relates to the field of defrosting robot technology, specifically to a cold storage defrosting robot capable of collecting fallen frost. Background Technology

[0002] A robot is an automated machine, but unlike humans or other living beings, it possesses some intelligent abilities similar to those of humans or other living beings, such as perception, planning, movement, and coordination. It is a highly flexible automated machine.

[0003] When a cold storage facility is in operation, the internal working temperature is low, and a large amount of frost will form on the internal walls due to the low temperature, which will eventually affect the normal refrigeration of the cold storage. Therefore, it is necessary to clean the frost inside the cold storage regularly. However, because the temperature inside the cold storage is low, the work of defrosting can only be done by a defrosting robot.

[0004] Existing cold storage defrosting robots typically clean cold storage according to a pre-set movement sequence, such as from the inside to the outside or from the outside to the inside. This method is relatively fast and covers a short distance, but it does not remove the more difficult-to-remove frost in time. These unremoved frosts will become thicker and thicker under the influence of temperature, making them even more difficult to remove, thus increasing the overall difficulty of defrosting. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a cold storage defrosting robot capable of collecting frost. By incorporating a lifting component, a scraping component, a collection unit, a processing unit, and a control module, the robot prioritizes the scraping of frost in different areas within the cold storage, thus forming a scraping strategy. The control module controls the movement of the robot body via a moving component. Through the lifting component in conjunction with the scraping component, the robot sequentially cleans the frost in several areas within the cold storage. Priority is given to cleaning harder-to-clean areas within the cold storage, preventing further increases in cleaning difficulty and solving the problems in the prior art.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solution: a cold storage defrosting robot capable of collecting frost, comprising a defrosting robot device, wherein the defrosting robot device comprises a robot body, a moving component is provided at the bottom of the robot body, and a collection box is provided at the bottom of one side of the robot body; a lifting component is provided on one side of the robot body, and the lifting component is on the same side as the collection box.

[0009] The lifting assembly includes a first mounting frame attached to the robot body. A first motor that provides power is provided at the top of the first mounting frame. The output end of the first motor that extends into the concave surface of the first mounting frame is connected to a scraping assembly through a linkage assembly, so that the scraping assembly reciprocates along the height direction of the robot body.

[0010] The scraping assembly includes a second mounting bracket connected to the linkage assembly. A second motor for output power is embedded inside the top of the second mounting bracket. The output end of the second motor, which extends to the concave surface of the second mounting bracket, is connected to a frost scraping blade through a transmission assembly. This causes the frost scraping blade to swing back and forth along the height direction of the robot body to scrape off the frost. The scraped-off frost will be collected inside the collection box.

[0011] The defrosting robot device also includes a data acquisition unit, a processing unit, and a control module. The data acquisition unit divides the inner surface of the cold storage into several areas and acquires the distance information JL between the robot body and each area, as well as the average frost thickness HD within that area, before cleaning begins. The processing unit, upon acquiring the distance JL and average thickness HD, determines the priority of frost scraping in each area of ​​the cold storage by the defrosting robot device, forming a scraping strategy. The control module acquires the scraping strategy and generates control commands to move the robot body using a moving component. Through a lifting component in conjunction with the scraping component, the robot sequentially cleans the frost in several areas of the cold storage, and the scraped frost falls into a collection box.

[0012] Furthermore, the linkage component includes a transmission rod that rotates coaxially with the output end of the first motor. A reciprocating component and a limiting component are provided between the transmission rod and the first mounting bracket. The reciprocating component cooperates with the limiting component to make the scraping component reciprocate along the height direction of the transmission rod.

[0013] Furthermore, the reciprocating component includes an outer sleeve rod sleeved outside the transmission rod, the surface of the outer sleeve rod is provided with a reciprocating spiral, an outer tube is sleeved outside the outer sleeve rod, a limiting protrusion is provided on one side of the inner side of the outer tube, and the end of the limiting protrusion slides along the inside of the reciprocating spiral.

[0014] Furthermore, a second mounting bracket is fixed to one side of the outer tube, and the limiting component includes a limiting groove formed on the surface of the first mounting bracket. A limiting slider slides inside the limiting groove, and the limiting slider is fixedly connected to the other side of the outer tube.

[0015] Furthermore, the transmission assembly includes a third mounting bracket disposed inside the second mounting bracket, and a U-shaped fourth mounting bracket rotatably disposed at the bottom opening of the third mounting bracket. The bottom end of the fourth mounting bracket is connected to the scraping blade, and a swinging member is disposed between the top end of the fourth mounting bracket and the output end of the second motor, so that the scraping blade swings back and forth along the bottom opening of the third mounting bracket.

[0016] Furthermore, the swinging component includes a disc body that rotates coaxially with the output end of the second motor, an outer sliding tube provided at the outer edge of the disc body, and a sliding rod provided at the top opening of the fourth mounting bracket, with the outer sliding tube sliding along the outside of the sliding rod.

[0017] Furthermore, the acquisition unit includes: a region division module, which divides the surface of the inner peripheral wall of the cold storage into several regions and marks them one by one; a distance detection module, which determines the closest distance between the robot body and each region before cleaning begins, forming distance information JL; and a thickness detection module, which detects the average frost thickness in each region, forming the average thickness HD.

[0018] Furthermore, the processing unit includes: an evaluation module, which acquires the average thickness HD and distance JL, correlates them, and forms an evaluation value P; a threshold module, which acquires several evaluation values ​​P, compares them with corresponding thresholds, determines the portions that are higher than or lower than the thresholds, and establishes a first evaluation value dataset and a second evaluation value dataset respectively; and an analysis module, which acquires the first evaluation value dataset and the second evaluation value dataset, establishes a defrosting priority, and forms a scraping strategy based on the defrosting priority.

[0019] Furthermore, the evaluation value P is formed as follows: The average thickness HD and distance JL are obtained, normalized, and correlated to form the evaluation value P. The correlation method conforms to the following formula:

[0020]

[0021] Where 0 ≤ α << 1, 0 ≤ β << 1, and α 2 +β 2 =1, α and β are weights, and their specific values ​​can be adjusted by the user. R1 is the correlation coefficient between the average thickness HD and the distance JL.

[0022] Furthermore, the method for establishing the defrosting priority is as follows: obtain the evaluation value P from the first evaluation value dataset, and based on the size of the evaluation value P, defrost is cleared sequentially from the area with smaller evaluation value P to the area with larger evaluation value P; obtain the evaluation value P from the second evaluation value dataset, and based on the size of the evaluation value P, defrost is cleared sequentially from the area with smaller evaluation value P to the area with larger evaluation value P.

[0023] (III) Beneficial Effects

[0024] This invention provides a cold storage defrosting robot capable of collecting fallen frost. It offers the following advantages:

[0025] By setting up lifting and scraping components, the area to be cleaned in the cold storage can be covered, forming repeated cleaning to ensure that frost can be removed and improve cleaning efficiency. By setting up collection and processing units, an evaluation value P is generated and a cleaning strategy is determined, prioritizing the cleaning of more difficult-to-clean areas inside the cold storage to avoid further increasing the cleaning difficulty, reducing the overall cleaning difficulty of the cold storage and improving cleaning efficiency. Attached Figure Description

[0026] Figure 1 This is a front view structural diagram of the cold storage defrosting robot of the present invention;

[0027] Figure 2 This is a cross-sectional view of the lifting component of the present invention;

[0028] Figure 3 For the present invention Figure 2 Enlarged schematic diagram of the structure at point A in the diagram;

[0029] Figure 4 This is a cross-sectional view of the scraping component of the present invention;

[0030] Figure 5 This is a cross-sectional view of the frost scraping blade of the present invention;

[0031] Figure 6 This is a schematic diagram of the workflow of the cold storage defrosting robot of the present invention.

[0032] In the picture:

[0033] 10. Defrosting robot device; 11. Robot body; 12. Moving components; 13. Collection box;

[0034] 20. Lifting assembly; 21. First motor; 22. First mounting bracket; 23. Transmission rod; 24. Outer rod; 25. Reciprocating spiral; 26. Outer tube; 27. Limiting protrusion; 28. Limiting slider; 29. ​​Limiting groove;

[0035] 30. Scraping assembly; 31. Second mounting bracket; 32. Second motor; 33. Third mounting bracket; 34. Disc body; 35. Outer slide tube; 36. Slide rod; 37. Fourth mounting bracket; 38. Scraping blade;

[0036] 40. Acquisition Unit; 41. Region Division Module; 42. Distance Detection Module; 43. Thickness Detection Module;

[0037] 50. Processing unit; 51. Evaluation module; 52. Threshold module; 53. Analysis module; 60. Control module. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Example 1

[0040] Please see Figure 1-6 The present invention provides a cold storage defrosting robot that can collect frost, including a defrosting robot device 10. The defrosting robot device 10 includes a robot body 11, a moving component 12 for driving the robot body 11 to move is provided at the bottom end of the robot body 11, and a collection box 13 for accommodating frost is provided at the bottom side of the robot body 11.

[0041] A lifting assembly 20 is provided on one side of the robot body 11, and the lifting assembly 20 is on the same side as the collection box 13. The lifting assembly 20 includes a first mounting frame 22 attached to the robot body 11. A first motor 21 providing power is provided at the top of the first mounting frame 22. The output end of the first motor 21 extending into the concave surface of the first mounting frame 22 is connected to a scraping assembly 30 through a linkage assembly, so that the scraping assembly 30 reciprocates along the height direction of the robot body 11.

[0042] The scraping component 30 includes a second mounting frame 31 connected to the linkage component. A second motor 32 for output power is embedded inside the top of the second mounting frame 31. The output end of the second motor 32 extends to the concave surface of the second mounting frame 31 and is connected to a frost scraping blade 38 through a transmission component. The frost scraping blade 38 swings back and forth along the height direction of the robot body 11 to scrape off the frost. The scraped-off frost will be inside the collection box 13.

[0043] As a further improvement:

[0044] The defrosting robot device 10 also includes a data acquisition unit 40, a processing unit 50, and a control module 60, wherein...

[0045] The acquisition unit 40 divides the inner surface of the cold storage into several areas and acquires the distance information JL between the robot body 11 and each area and the average thickness HD of frost in that area before cleaning begins.

[0046] The processing unit 50 obtains the distance JL and the average thickness HD, determines the priority of the defrosting robot device 10 for scraping the frost in each area of ​​the cooling system, and forms a scraping strategy.

[0047] The control module 60 acquires the scraping strategy and generates control commands to control the moving component 12 to move the robot body 11. Through the lifting component 20 and the scraping component 30, the frost in several areas of the cold storage is cleaned in sequence. After scraping, the frost falls into the collection box 13.

[0048] Example 2

[0049] Please see Figure 2-3 The present invention provides a cold storage defrosting robot that can collect frost. This embodiment further discloses the lifting component 20 in embodiment 1. The lifting component 20 includes a first motor 21, a first mounting frame 22, a transmission rod 23, an outer rod 24, a reciprocating spiral 25, an outer tube 26, a limiting protrusion 27, a limiting slider 28, and a limiting groove 29.

[0050] The linkage component includes a transmission rod 23 that rotates coaxially with the output end of the first motor 21. A reciprocating component and a limiting component are provided between the transmission rod 23 and the first mounting bracket 22. The reciprocating component cooperates with the limiting component to make the scraping component 30 reciprocate along the height direction of the transmission rod 23.

[0051] As further disclosure, see reference Figure 2 and Figure 3 The reciprocating component includes an outer sleeve rod 24 sleeved outside the transmission rod 23. The surface of the outer sleeve rod 24 is provided with a reciprocating spiral 25. An outer sleeve tube 26 is sleeved outside the outer sleeve rod 24. A limiting protrusion 27 is provided on one side inside the outer sleeve tube 26. The end of the limiting protrusion 27 slides along the inside of the reciprocating spiral 25.

[0052] The outer tube 26 is fixed with a second mounting bracket 31 on one side. The limiting component includes a limiting groove 29 formed on the surface of the first mounting bracket 22. A limiting slider 28 slides inside the limiting groove 29. The limiting slider 28 is fixedly connected to the other side of the outer tube 26.

[0053] In use, when the height of the scraping component 30 needs to be adjusted, the first motor 21 is started to output power. The first motor 21 drives the transmission rod 23 and the outer sleeve rod 24 to rotate coaxially. By utilizing the cooperation between the reciprocating spiral 25 and the limiting protrusion 27, and the cooperation between the limiting slide groove 29 and the limiting slider 28, the outer sleeve 26 can drive the second mounting frame 31 to move back and forth along the height direction of the robot body 11, controlling the position of the scraping component 30, so that the scraping component 30 can scrape off frost at different heights and improve scraping efficiency.

[0054] Example 3

[0055] Please see Figure 2-5This invention provides a cold storage defrosting robot capable of collecting frost. This embodiment further discloses the scraping component 30 in Embodiment 1. The scraping component 30 includes a second mounting frame 31, a second motor 32, a third mounting frame 33, a disc body 34, an outer sliding tube 35, a sliding rod 36, a fourth mounting frame 37, and a frost scraping blade 38; wherein,

[0056] The transmission assembly includes a third mounting bracket 33 disposed inside the second mounting bracket 31. A U-shaped fourth mounting bracket 37 is rotatably disposed at the bottom opening of the third mounting bracket 33. The bottom end of the fourth mounting bracket 37 is connected to the frost scraper 38. A swinging component is disposed between the top end of the fourth mounting bracket 37 and the output end of the second motor 32, so that the frost scraper 38 swings back and forth along the bottom opening of the third mounting bracket 33. By swinging the frost scraper 38 back and forth, the frost on the surface of the cold storage can be scraped off. Moreover, by repeatedly swinging the frost scraper 38, the frost area on the perimeter wall of the cold storage can be scraped off multiple times, thereby improving the scraping effect.

[0057] The swinging component includes a disc body 34 that rotates coaxially with the output end of the second motor 32. An outer slide tube 35 is provided at the outer edge of the disc body 34, and a slide rod 36 is provided at the top opening of the fourth mounting bracket 37. The outer slide tube 35 slides along the outside of the slide rod 36.

[0058] When in use, when it is necessary to use the frost scraper 38 to clean the frost on the surface of the cold storage, the second motor 32 is started to output power. The second motor 32 drives the disc 34 to rotate the outer slide tube 35. Then, through the cooperation of the outer slide tube 35 and the slide rod 36, the frost scraper 38 can swing back and forth along the bottom opening of the third mounting bracket 33. Multiple swings can clean the surface of the cold storage multiple times, thereby improving the cleaning effect.

[0059] Combining Embodiments 2 and 3, by using the lifting component 20 and the scraping component 30 in conjunction, and by adjusting the height of the scraping component 30, the robot body 11 can be moved by the moving component 12. This allows for the cleaning of designated locations within the cold storage, ensuring that the frost on the walls of the cold storage is removed. This improves cleaning efficiency, saves cleaning time, and enhances the cleaning effect.

[0060] Example 4

[0061] Please see Figure 1-6 The present invention provides a cold storage defrosting robot that can collect frost. This embodiment further discloses the acquisition unit 40 and processing unit 50 in embodiment 1, wherein: the acquisition unit 40 includes a region division module 41, a distance detection module 42 and a thickness detection module 43;

[0062] The area division module 41 divides the surface of the inner peripheral wall of the cold storage into several areas and marks them one by one;

[0063] Before cleaning begins, the distance detection module 42 determines the closest distance between the robot body 11 and each area, forming distance information JL.

[0064] The thickness detection module 43 detects the average frost thickness in each area to form the average thickness HD.

[0065] The processing unit 50 includes an evaluation module 51, a threshold module 52, and an analysis module 53.

[0066] The evaluation module 51 obtains the average thickness HD and distance JL, and after correlation, forms an evaluation value P;

[0067] The threshold module 52 acquires several evaluation values ​​P, compares them with the corresponding thresholds, and determines the portions that are higher than or lower than the thresholds, thereby establishing a first evaluation value dataset and a second evaluation value dataset respectively.

[0068] The analysis module 53 acquires the first evaluation value dataset and the second evaluation value dataset, establishes the defrosting priority, and forms a scraping strategy based on the defrosting priority;

[0069] The evaluation value P is formed as follows:

[0070] The average thickness HD and distance JL are obtained, normalized, and correlated to form the evaluation value P. The correlation method conforms to the following formula:

[0071]

[0072] Where 0 ≤ α << 1, 0 ≤ β << 1, and α 2 +β 2 =1, α and β are weights, and their specific values ​​can be adjusted by the user. R1 is the correlation coefficient between the average thickness HD and the distance JL.

[0073] The method for establishing the priority of the frost removal process is as follows:

[0074] Obtain evaluation value P from the first evaluation value dataset, and based on the magnitude of evaluation value P, clean the frost sequentially from the area with smaller evaluation value P to the area with larger evaluation value P; obtain evaluation value P from the second evaluation value dataset, and based on the magnitude of evaluation value P, clean the frost sequentially from the area with smaller evaluation value P to the area with larger evaluation value P.

[0075] In use, by setting a threshold and determining the evaluation value P, the priority of cleaning is determined. The order of cleaning frost in the cold storage is determined according to the priority. Cleaning in this order can avoid disorder in the cleaning of frost in the cold storage and reduce the possibility of repeated cleaning. At the same time, by comprehensively considering the frost thickness and distance, the cleaning difficulty of each area in the cold storage can be comprehensively judged. Based on the formed cleaning strategy, the difficulty of frost cleaning is further increased, thereby improving the cleaning efficiency.

[0076] In this application, in conjunction with Embodiments 1 to 3, by setting up the lifting component 20 and the scraping component 30, the area to be cleaned in the cold storage can be covered, forming repeated cleaning, ensuring that the frost can be cleaned up, and improving cleaning efficiency; by setting up the collection unit 40 and the processing unit 50, an evaluation value P is formed and a cleaning strategy is determined, prioritizing the cleaning of areas inside the cold storage that are more difficult to clean, avoiding further increase in cleaning difficulty, reducing the overall cleaning difficulty of the cold storage, and improving cleaning efficiency.

[0077] It should be noted that, in this document, the use of relational terms such as "first" and "second" is merely for distinguishing one entity or operation from another, and does not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0078] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A defrosting robot for cold storage capable of collecting frost, comprising a defrosting robot device (10), wherein the defrosting robot device (10) includes a robot body (11), a moving component (12) is provided at the bottom end of the robot body (11), and a collection box (13) is provided at the bottom of one side of the robot body (11); characterized in that: A lifting assembly (20) is provided on one side of the robot body (11), and the lifting assembly (20) is on the same side as the collection box (13); The lifting assembly (20) includes a first mounting frame (22) attached to the robot body (11). A first motor (21) providing power is provided at the top of the first mounting frame (22). The output end of the first motor (21) extending into the concave surface of the first mounting frame (22) is connected to a scraping assembly (30) through a linkage assembly, so that the scraping assembly (30) reciprocates along the height direction of the robot body (11). The scraping assembly (30) includes a second mounting bracket (31) connected to the linkage assembly. A second motor (32) for output power is embedded inside the top of the second mounting bracket (31). The output end of the second motor (32) extending to the concave surface of the second mounting bracket (31) is connected to a frost scraping blade (38) through a transmission assembly, so that the frost scraping blade (38) swings back and forth along the height direction of the robot body (11) to scrape off the frost. The scraped frost will be inside the collection box (13). The defrosting robot device (10) also includes a data acquisition unit (40), a processing unit (50), and a control module (60), wherein, The acquisition unit (40) divides the inner surface of the cold storage into several areas and acquires the distance information JL between the robot body (11) and each area and the average thickness HD of the frost in that area before cleaning begins. The processing unit (50) obtains the distance JL and the average thickness HD, determines the priority of the defrosting robot device (10) for scraping the frost in each area of ​​the cooling system, and forms a scraping strategy. The control module (60) acquires the scraping strategy and generates control commands to control the moving component (12) to move the robot body (11), and through the lifting component (20) and the scraping component (30), to clean the frost in several areas of the cold storage in sequence. After scraping, the frost falls into the collection box (13).

2. The cold storage defrosting robot capable of collecting frost as described in claim 1, characterized in that: The linkage component includes a transmission rod (23) that rotates coaxially with the output end of the first motor (21). A reciprocating component and a limiting component are provided between the transmission rod (23) and the first mounting bracket (22). The reciprocating component cooperates with the limiting component to make the scraping component (30) reciprocate along the height direction of the transmission rod (23).

3. A cold storage defrosting robot capable of collecting frost as described in claim 2, characterized in that: The reciprocating component includes an outer sleeve (24) sleeved on the outside of the transmission rod (23). The surface of the outer sleeve (24) is provided with a reciprocating spiral (25). An outer sleeve tube (26) is sleeved on the outside of the outer sleeve (24). A limiting protrusion (27) is provided on one side of the inner side of the outer sleeve tube (26). The end of the limiting protrusion (27) slides along the inside of the reciprocating spiral (25).

4. A cold storage defrosting robot capable of collecting frost as described in claim 3, characterized in that: The outer tube (26) is fixed with a second mounting bracket (31) on one side. The limiting member includes a limiting groove (29) opened on the surface of the first mounting bracket (22). A limiting slider (28) slides inside the limiting groove (29). The limiting slider (28) is fixedly connected to the other side of the outer tube (26).

5. A cold storage defrosting robot capable of collecting frost as described in claim 1, characterized in that: The transmission assembly includes a third mounting bracket (33) disposed inside the second mounting bracket (31). A fourth mounting bracket (37) in the shape of a U is rotatably disposed at the bottom opening of the third mounting bracket (33). The bottom end of the fourth mounting bracket (37) is connected to the scraping blade (38). A swinging member is disposed between the top end of the fourth mounting bracket (37) and the output end of the second motor (32) so that the scraping blade (38) swings back and forth along the bottom opening of the third mounting bracket (33).

6. A cold storage defrosting robot capable of collecting frost according to claim 5, characterized in that: The swinging component includes a disc body (34) that rotates coaxially with the output end of the second motor (32), an outer slide tube (35) is provided at the outer edge of the disc body (34), and a slide rod (36) is provided at the top opening of the fourth mounting bracket (37). The outer slide tube (35) slides along the outside of the slide rod (36).

7. A cold storage defrosting robot capable of collecting frost as described in claim 1, characterized in that: The acquisition unit (40) includes: The area division module (41) divides the surface of the inner perimeter wall of the cold storage into several areas and marks them one by one; The distance detection module (42) determines the closest distance between the robot body (11) and each area before cleaning begins, and forms distance information JL; The thickness detection module (43) detects the average frost thickness in each area and forms the average thickness HD.

8. A cold storage defrosting robot capable of collecting frost as described in claim 1, characterized in that: The processing unit (50) includes: The evaluation module (51) obtains the average thickness HD and distance JL, and after correlation, forms the evaluation value P; The threshold module (52) obtains several evaluation values ​​P, compares them with the corresponding thresholds, and determines the parts that are higher than the threshold and lower than the threshold, and establishes the first evaluation value dataset and the second evaluation value dataset respectively. The analysis module (53) obtains the first evaluation value dataset and the second evaluation value dataset, establishes the defrosting priority, and forms a scraping strategy based on the defrosting priority.

9. A cold storage defrosting robot capable of collecting frost according to claim 8, characterized in that: The evaluation value P is formed as follows: The average thickness HD and distance JL are obtained, normalized, and correlated to form the evaluation value P. The correlation method conforms to the following formula: Where 0 ≤ α << 1, 0 ≤ β << 1, and α 2 +β 2 =1, α and β are weights, and their specific values ​​can be adjusted by the user. R1 is the correlation coefficient between the average thickness HD and the distance JL.

10. A cold storage defrosting robot capable of collecting frost as described in claim 8, characterized in that: The method for establishing the defrosting priority is as follows: Obtain the evaluation value P from the first evaluation value dataset, and based on the size of the evaluation value P, defrost is cleared sequentially from the area with smaller evaluation value P to the area with larger evaluation value P; Obtain the evaluation value P from the second evaluation value dataset, and based on the size of the evaluation value P, defrost is cleared sequentially from the area with smaller evaluation value P to the area with larger evaluation value P.

Images