A flatting robot

Abstract

An embodiment of the present invention provides a grain leveling robot, comprising: a detection unit located above the robot's body for detecting the height of the grain surface; a control unit for controlling a work unit to perform leveling operations based on the detection results from the detection unit; and a work unit for performing leveling operations under the control of the control unit. The work unit includes a first and second spiral wheel with parallel rotation axes, and a third and fourth spiral wheel with parallel rotation axes. Each spiral wheel includes a cylinder and blades, the blades being spirally arranged around the cylinder. The blades of the first spiral wheel rotate in the same direction as the second spiral wheel, and in the opposite direction to the third and fourth spiral wheels. When the rotation direction of the first spiral wheel is opposite to that of the second and third spiral wheels, and the rotation direction of the first spiral wheel is the same as that of the fourth spiral wheel, the grain leveling robot can perform leveling operations at a fixed position on the grain surface.

Description

Technical Field

[0001] This application relates to the field of mechanical automation technology, and in particular to a warehouse leveling robot. Background Technology

[0002] Grain loading and unloading are routine operations in grain silos, and leveling the grain surface is a crucial step in this process. Leveling equipment in related technologies typically includes a pusher plate to flatten higher grain surfaces. However, this method requires the equipment to reciprocate across the grain surface repeatedly to move the pusher plate, which wastes considerable time and reduces the efficiency of the leveling operation. Summary of the Invention

[0003] In view of this, embodiments of this application provide a liquidation robot to at least partially solve the above-mentioned problems.

[0004] According to a first aspect of the embodiments of this application, a grain leveling robot is provided, comprising: a detection unit located above the body of the grain leveling robot for detecting the height of the grain surface; a control unit for controlling a working unit to perform grain leveling operations based on the detection results detected by the detection unit; and a working unit located below the chassis of the grain leveling robot for performing grain leveling operations under the control of the control unit. The working unit includes a first spiral wheel group and a second spiral wheel group arranged in parallel. The first spiral wheel group includes a first spiral wheel and a second spiral wheel with parallel rotation axes, and the second spiral wheel group includes a third spiral wheel and a fourth spiral wheel with parallel rotation axes. Each spiral wheel includes a wheel cylinder and a blade, the blades being spirally arranged around the wheel cylinder. The blades of the first spiral wheel rotate in the same direction as the second spiral wheel, and the blades of the first spiral wheel rotate in the opposite direction to the third and fourth spiral wheels. When the rotation direction of the first spiral wheel is opposite to that of the second and third spiral wheels, and the rotation direction of the first spiral wheel is the same as that of the fourth spiral wheel, the grain leveling robot can perform grain leveling operations at a fixed position on the grain surface.

[0005] In some optional embodiments, the first helical wheel assembly further includes a first drive motor and a second drive motor, the output shaft of the first drive motor being connected to the first helical wheel, and the output shaft of the second drive motor being connected to the second helical wheel; the second helical wheel assembly further includes a third drive motor and a fourth drive motor, the output shaft of the third drive motor being connected to the third helical wheel, and the output shaft of the fourth drive motor being connected to the fourth helical wheel.

[0006] In some optional embodiments, the control unit further includes a remote control unit, which is used to receive remote control signals and control the operating status of the first drive motor, the second drive motor, the third drive motor and the fourth drive motor according to the remote control signals.

[0007] In some optional embodiments, the movement mode of the flattening robot includes a two-drive mode; in the two-drive mode, the rotation direction of the first spiral wheel is the same as that of the second spiral wheel, and the rotation direction of the third spiral wheel is the same as that of the fourth spiral wheel.

[0008] In some optional embodiments, the movement mode of the flattening robot also includes a four-wheel drive mode; in the four-wheel drive mode, the rotation directions of the first spiral wheel, the second spiral wheel, the third spiral wheel and the fourth spiral wheel are independent.

[0009] In some alternative embodiments, the flattening robot is equipped with a searchlight.

[0010] In some optional embodiments, the flattening robot further includes a locator for locating the flattening robot by detecting the distance between the locator and at least three calibrated locations.

[0011] In some optional embodiments, the clearing robot further includes an attitude sensor for detecting the attitude of the clearing robot.

[0012] In some optional embodiments, the power switch of the clearing robot is provided with a power protection cover to prevent the power switch from being accidentally touched.

[0013] In some optional embodiments, a temperature and humidity sensor is also installed under the chassis of the silo-leveling robot, which is used to detect the temperature and humidity of the grain.

[0014] In this embodiment, the flattening robot's operating unit includes a first spiral wheel, a second spiral wheel, a third spiral wheel, and a fourth spiral wheel. Each spiral wheel includes a cylinder and blades, with the blades spirally arranged around the cylinder. The blades of the first spiral wheel rotate in the same direction as the second spiral wheel, but in the opposite direction to the third and fourth spiral wheels. By controlling the rotation direction of each of the four spiral wheels, and utilizing different combinations of their rotation, different motion states of the flattening robot can be controlled, making its flattening operations more flexible. During the leveling operation, after the detection unit detects the height of the grain surface, the control unit can automatically control the leveling robot to reach the more prominent position on the grain surface based on the detection results. The control unit also controls the rotation direction of the first spiral wheel to be opposite to that of the second and third spiral wheels, and the rotation direction of the first spiral wheel to be the same as that of the fourth spiral wheel. This causes the leveling robot to sink down at the prominent position, turning the grain at that position to other positions, thereby leveling the grain at the prominent position. This achieves leveling operation at a fixed position on the grain surface, eliminating the need for reciprocating motion on the grain surface. This saves a lot of time that would otherwise be spent on reciprocating motion, thus improving the efficiency of the leveling operation. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0016] Figure 1 A structural block diagram of a warehouse clearing robot provided in an embodiment of this application;

[0017] Figure 2 A top view of a warehouse clearing robot provided in an embodiment of this application;

[0018] Figure 3 A bottom view of a warehouse clearing robot provided in an embodiment of this application;

[0019] Figure 4 A front view of a warehouse clearing robot provided in an embodiment of this application;

[0020] Figure 5 This is a schematic diagram of the structure of the first spiral wheel of a warehouse leveling robot provided in an embodiment of this application;

[0021] Figure 6 This is a schematic diagram of the location of positioning piles provided in an embodiment of this application;

[0022] Figure 7A schematic diagram of a remote control for a warehouse clearing robot provided in an embodiment of this application;

[0023] Figure 8 This is a schematic diagram of the control unit of a warehouse clearing robot provided in an embodiment of this application. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0025] According to a first aspect of the embodiments of this application, a grain leveling robot is provided, which can perform grain leveling operations in grain warehouses, so as to at least partially solve the problems existing in the prior art. The following describes the robot through several embodiments.

[0026] Figure 1 A structural block diagram of a warehouse clearing robot 100 according to an embodiment of this application is shown. Figure 1 As shown, the warehouse clearing robot 100 includes: a detection unit 110, a control unit 120, and an operating unit 130. Wherein:

[0027] The detection unit 110 is located above the body of the leveling robot 100 and is used to detect the height of the grain surface.

[0028] For example, the detection unit 110 may include a binocular camera, radar, or other detection devices to detect the height of the grain surface.

[0029] The control unit 120 is used to control the operation unit 130 to perform the closing operation based on the detection results detected by the detection unit 110.

[0030] The control unit 120 may include a processor (such as a CPU) and a control program. When the control program is executed by the processor, it can control the work unit 130 to perform closing operations. The specific settings of the control program can be referred to relevant technologies, which will not be elaborated here.

[0031] The work unit 130 is located below the chassis of the flattening robot 100 and is used to perform flattening operations under the control of the control unit 120.

[0032] The working unit 130 includes a first helical wheel set and a second helical wheel set arranged in parallel, such as... Figure 2As shown, the first spiral wheel assembly includes a first spiral wheel 131 and a second spiral wheel 132 with parallel rotation axes, and the second spiral wheel assembly includes a third spiral wheel 133 and a fourth spiral wheel 134 with parallel rotation axes. These four spiral wheels can provide sufficient support for the leveling robot 100. Furthermore, as... Figure 3 As shown, by arranging the four spiral wheels around the chassis 140, the center of gravity of the flattening robot 100 can be controlled more easily, thus making it easier to maintain the balance of the flattening robot 100.

[0033] In this embodiment of the application, each spiral wheel includes a wheel cylinder and a blade, for example... Figure 5 The first spiral wheel 131 shown includes a wheel cylinder 1311 and a wheel blade 1312, with the wheel blades of each spiral wheel spirally arranged around the wheel cylinder. The rotation direction of the wheel blades of the first spiral wheel 131 is the same as that of the second spiral wheel 132, and the rotation direction of the wheel blades of the first spiral wheel 131 is opposite to that of the third spiral wheel 133 and the fourth spiral wheel 134. When the rotation direction of the first spiral wheel 131 is opposite to that of the second spiral wheel 132 and the third spiral wheel 133, and the rotation direction of the first spiral wheel 131 is the same as that of the fourth spiral wheel 134, the leveling robot 100 can perform leveling operations at a fixed position on the grain surface.

[0034] Figure 2 and Figure 3 The "Front" direction in the upper right corner indicates the direction the front of the flattening robot 100 is facing. The direction of rotation of the propeller can be represented by the helix angle, which is the acute angle between the tangent of the helix of the impeller blade and the generatrix of the impeller barrel.

[0035] In some alternative embodiments, Figure 2 and Figure 3 The first spiral wheel 131 can be Figure 5 The left-handed spiral wheel shown Figure 5 The "forward" direction in the upper right corner is... Figure 2 and Figure 3 The first spiral wheel 131 has a left-handed spiral angle of 45 degrees on its blade 1312, while the second and third spiral wheels 132 and 133 have right-handed spiral angles of 45 degrees. When the first and second spiral wheels 131 and 132 rotate clockwise, and the third and fourth spiral wheels 133 and 134 rotate counterclockwise, the flattening robot 100 can move along... Figure 2 The "forward" movement occurs when the first spiral wheel 131 and the fourth spiral wheel 134 rotate clockwise, and the third spiral wheel 133 and the second spiral wheel 132 rotate counterclockwise. The leveling robot 100 can perform a sinking movement at a fixed position on the grain surface without performing planar movement, thus turning the grain at that position to other positions and achieving leveling operation at a fixed position on the grain surface.

[0036] It should be noted that, in the embodiments of this application, the rotation directions of the first spiral wheel 131 to the fourth spiral wheel 134 are all relative to the direction from which the first spiral wheel 131 rotates. Figure 2 The direction indicated by the label "back" refers to the view from "forward". For example, the first spiral wheel 131 rotating clockwise is from... Figure 2 The direction label indicates a clockwise rotation when observing from "back" to "forward".

[0037] In this embodiment, the flattening robot 100's working unit 130 includes a first spiral wheel 131, a second spiral wheel 132, a third spiral wheel 133, and a fourth spiral wheel 134. Each spiral wheel includes a wheel cylinder and blades, with the blades spirally arranged around the wheel cylinder. The blades of the first spiral wheel 131 rotate in the same direction as the second spiral wheel 132, and their rotation direction is opposite to that of the third spiral wheel 133 and the fourth spiral wheel 134. By controlling the rotation direction of the four spiral wheels separately, and utilizing different combinations of rotation of the four spiral wheels, different motion states of the flattening robot 100 can be controlled, making the flattening operation of the flattening robot 100 more flexible. During the leveling operation, after the detection unit 110 detects the height of the grain surface, the control unit 120 can automatically control the leveling robot 100 to reach the more prominent position of the grain surface based on the detection results. The control unit 120 controls the rotation direction of the first spiral wheel 131 to be opposite to that of the second spiral wheel 132 and the third spiral wheel 133, and the rotation direction of the first spiral wheel 131 to be the same as that of the fourth spiral wheel 134. This causes the leveling robot 100 to sink down at the prominent position, turning the grain at that position to other positions, thereby leveling the grain at the prominent position. This achieves leveling operation at a fixed position on the grain surface, eliminating the need for reciprocating motion on the grain surface. This saves a lot of time that would otherwise be spent on reciprocating motion of the leveling robot 100, thereby improving the efficiency of the leveling operation.

[0038] like Figure 3 As shown, in some optional embodiments, the first helical wheel assembly further includes a first drive motor 135 and a second drive motor 136, the output shaft of the first drive motor 135 being connected to the first helical wheel 131, and the output shaft of the second drive motor 136 being connected to the second helical wheel 132; the second helical wheel assembly further includes a third drive motor 137 and a fourth drive motor 138, the output shaft of the third drive motor 137 being connected to the third helical wheel 133, and the output shaft of the fourth drive motor 138 being connected to the fourth helical wheel 134.

[0039] The control unit 120 can control the rotation of the first spiral wheel 131 to the fourth spiral wheel 134 by controlling the rotation of the output shafts of the first drive motor 135 to the fourth drive motor 138. Each drive motor can be controlled individually or in groups. When controlled in groups, the first drive motor 135 and the second drive motor 136 of the first spiral wheel group form one group, and the third drive motor 137 and the fourth drive motor 138 of the second spiral wheel group form another group. The first drive motor 135 to the fourth drive motor 138 can be servo motors or other suitable motors, all of which are within the protection scope of the embodiments of this application.

[0040] In this embodiment, the output shaft of the first drive motor 135 is connected to the first spiral wheel 131, the output shaft of the second drive motor 136 is connected to the second spiral wheel 132, the output shaft of the third drive motor 137 is connected to the third spiral wheel 133, and the output shaft of the fourth drive motor 138 is connected to the fourth spiral wheel 134. That is, each of the first spiral wheel 131 to the fourth spiral wheel 134 is matched with a separate drive motor, so that the rotation state of each spiral wheel can be controlled separately, making the control unit 120 more flexible in controlling each spiral wheel.

[0041] In some optional embodiments, the control unit 120 further includes a remote control unit for receiving remote control signals and controlling the operating status of the first drive motor 135, the second drive motor 136, the third drive motor 137 and the fourth drive motor 138 according to the remote control signals.

[0042] The remote control unit may include a wireless antenna such as a 433 RF antenna to receive remote control signals. It should be understood that the warehouse clearing robot 100 may be equipped with a remote controller that matches the remote control unit. The remote controller can transmit remote control signals to operate the warehouse clearing robot 100. The remote control unit receives these remote control signals and controls the operating state of the first drive motor 135 to the fourth drive motor 138 according to the remote control signals. By controlling the first drive motor 135 to the fourth drive motor 138, the unit controls the rotation state of the first spiral wheel 131 to the fourth spiral wheel 134.

[0043] In this embodiment, the control unit 120 may also be equipped with a remote control unit, which can receive remote control signals and control the operation of the first drive motor 135 to the fourth drive motor 138 according to the control signals, so as to control the rotation of the first spiral wheel 131 to the fourth spiral wheel 134, thereby entering the manual operation mode and performing the flattening operation under manual control, making the control mode of the flattening robot 100 more comprehensive and better meeting the needs of users.

[0044] In some optional embodiments, the movement mode of the flattening robot 100 includes a two-drive mode; in the two-drive mode, the rotation direction of the first spiral wheel 131 is the same as that of the second spiral wheel 132, and the rotation direction of the third spiral wheel 133 is the same as that of the fourth spiral wheel 134.

[0045] In the real-time example of this application, when the warehouse leveling robot 100 receives a remote control signal through the remote control unit and controls the drive motor according to the remote control signal, that is, when it enters the manual operation mode, the movement mode of the warehouse leveling robot 100 can include a two-drive mode. In the two-drive mode, the first spiral wheel 131 and the second spiral wheel 132 in the first spiral wheel group rotate in the same direction, and the third spiral wheel 133 and the fourth spiral wheel 134 in the second spiral wheel group rotate in the same direction.

[0046] Through the embodiments of this application, users can control the rotation states of the first spiral wheel 131 and the second spiral wheel 132 of the first spiral wheel group together, and control the rotation states of the third spiral wheel 133 and the fourth spiral wheel 134 of the second spiral wheel group together, without having to control the rotation states of each spiral wheel individually, making it easier for users to control the movement of the flattening robot 100.

[0047] In some optional embodiments, the movement mode of the flattening robot 100 also includes a four-wheel drive mode; in the four-wheel drive mode, the rotation directions of the first spiral wheel 131, the second spiral wheel 132, the third spiral wheel 133 and the fourth spiral wheel 134 are independent.

[0048] In this real-time example, when the leveling robot 100 enters the manual control mode, its movement mode can include a four-wheel drive mode. In the four-wheel drive mode, the rotation state of each of the first spiral wheel 131 to the fourth spiral wheel 134 can be controlled independently. Through this embodiment, the user can control the rotation direction of the first spiral wheel 131 to the fourth spiral wheel 134 separately, allowing the user to control the movement and operation state of the leveling robot 100 more flexibly.

[0049] In some alternative embodiments, the flattening robot 100 is equipped with a searchlight, such as... Figure 2 As shown, the searchlight may include a front light 141 and a rear light 142 so as to illuminate the space in front of and behind the flattening robot 100.

[0050] In this embodiment of the application, the flattening robot 100 is equipped with a searchlight on its body, which can illuminate the space around the flattening robot 100 so that when entering the manual control mode, it can provide a bright field of vision for the user operating the flattening robot 100, thereby ensuring that the user can operate the flattening robot 100 normally.

[0051] like Figure 2As shown, in some optional embodiments, the flattening robot 100 also includes a locator 150, which is used to locate the flattening robot 100 by detecting the distance between the locator 150 and at least three calibrated locations.

[0052] In this embodiment, the locator 150 can receive a positioning signal sent by a signal transmitter at the calibration location, and measure the distance from the locator 150 to the calibration location based on the phase change of the positioning signal. The specific calculation method can be found in related technologies and will not be elaborated here. The locator 150 can be connected to a positioning antenna that matches the signal transmitter at the calibration location, and receives the positioning signal sent by the signal transmitter at the calibration location through this positioning antenna.

[0053] As a feasible approach, positioning stakes can be set up around the grain silo, and their locations can be used as markers. For example... Figure 6 As shown, four positioning stakes 151 can be set around the grain warehouse. One position on each positioning stake 151 is taken as a calibration position, and a signal transmitting device for sending positioning signals is installed at the calibration position. Of course, multiple different positions on the same positioning stake 151 can also be taken as multiple calibration positions, and this embodiment does not impose any restrictions on this.

[0054] In this embodiment of the application, the flattening robot 100 also includes a locator 150. By using the locator 150 to detect the distance between the locator 150 and at least three calibrated positions, the flattening robot 100 can be located, so that the user can accurately know the location of the flattening robot 100, thereby facilitating the flattening operation of the flattening robot 100.

[0055] In some optional embodiments, the clearing robot 100 also includes an attitude sensor for detecting the attitude of the clearing robot 100. Optionally, the attitude sensor may be a gyroscope or other suitable device.

[0056] In this embodiment, the posture of the flattening robot 100 can be detected by the posture sensor, so that the flattening robot 100 can control the movement state of each spiral wheel according to the current posture, and avoid the flattening robot 100 from tipping over or other situations during movement.

[0057] In some optional embodiments, a power protection cover is provided outside the power switch of the leveling robot 100 to prevent accidental activation of the power switch. In this embodiment of the application, the power protection cover outside the power switch of the leveling robot 100 can prevent accidental activation of the power switch, thereby ensuring stable operation of the leveling robot 100 during leveling operations.

[0058] like Figure 3As shown, in some optional embodiments, a temperature and humidity sensor 160 is also installed under the chassis 140 of the leveling robot 100. The temperature and humidity sensor 160 is used to detect the temperature and humidity of the grain. The temperature and humidity sensor 160 can be installed under the chassis 140 of the leveling robot 100 at a position in contact with the grain, so that the temperature and humidity sensor 160 can accurately measure the temperature and humidity of the grain.

[0059] In this embodiment of the application, by installing a temperature and humidity sensor 160 under the chassis 140 of the grain leveling robot 100, the user can understand the temperature and humidity changes of the grain in the grain warehouse, so as to take timely countermeasures when the temperature or humidity is high, and avoid losses caused by temperature and humidity changes.

[0060] like Figures 2-4 As shown, in some optional embodiments, the leveling robot 100 may also include a rangefinder 170, such as an infrared rangefinder, to measure the distance from the leveling robot 100 to the protruding position after the detection unit 110 detects the protruding position on the grain surface, so that the control unit 120 can control the leveling robot 100 to accurately reach the protruding position based on the distance.

[0061] In some optional embodiments, the leveling robot 100 may also be equipped with a location display device, such as a tablet or mobile phone. After the locator 150 detects the location of the leveling robot 100 in the grain warehouse, the location information detected by the locator 150 can be sent to the location display device so that the user can intuitively understand the operation of the leveling robot 100 through the location display device.

[0062] In this embodiment, when the grain leveling robot 100 is in automatic mode, under the control of the control unit 120, it can automatically identify protruding positions on the grain surface through the detection unit 110, measure the distance from the grain leveling robot 100 to the protruding positions through the rangefinder 170, detect the posture of the grain leveling robot 100 through the posture sensor, and detect the position of the grain leveling robot 100 in the grain silo through the positioning device 150. The control unit 120 can control the rotation of the first drive motor 135 to the fourth drive motor 138 based on the protruding positions on the grain surface, the distance from the grain leveling robot 100 to the protruding positions, the posture of the grain leveling robot 100 itself, and the position of the grain leveling robot 100 in the grain silo. This controls the rotation of the spiral wheel, and through the reciprocating rotation of the spiral wheel, the grain in the grain silo is leveled, achieving the effect of leveling the grain in the grain silo.

[0063] For ease of understanding, the above two-wheel drive mode and four-wheel drive mode will be further explained through the following optional embodiments.

[0064] Exemplary embodiments of this application may provide, as follows: Figure 7The remote controller 200 shown is used by the control unit 120 of the flattening robot 100 to receive the control signals from the remote controller 200.

[0065] like Figure 7 As shown, the remote controller 200 may include a telescopic antenna, a horn, indicator lights, and buttons such as WL, WR, "Two-Drive," and "ON." The telescopic antenna is used to send remote control signals to the remote control unit of the leveling robot, and the indicator lights are used to indicate the operating status of the remote controller and / or the leveling robot. The directional buttons (WL, AL, DL, SL, WR, AR, DR, SR) are used to control the rotation of the first drive motor 135 to the fourth drive motor 138. The "Auto" button is used to control the leveling robot 100 to enter automatic mode. The "Manual" button is used to control the leveling robot 100 to enter manual mode. The "Two-Drive" button is used to control the leveling robot 100 to enter manual mode. The "Four-Drive" button is used to control the leveling robot 100 to enter manual mode. The ON and OFF buttons are used to control the on / off state of the remote controller 200. It should be understood that the selection of two-drive and four-drive modes is only required in manual mode.

[0066] Figure 2 and Figure 3 The direction pointed to by the "forward" arrow can be understood as the direction in which the flattening robot 100 moves forward, the direction pointed to by the "backward" arrow is the direction in which the flattening robot 100 moves backward, the direction pointed to by the "left" arrow is the direction in which the flattening robot 100 turns left, and the direction pointed to by the "right" arrow is the direction in which the flattening robot 100 turns right.

[0067] The first drive motor 135 and the second drive motor 136 can form a first motor group, and the third drive motor 137 and the fourth drive motor 138 can form a second motor group. In two-drive mode, to ensure that the rotation direction of the first helical wheel 131 is the same as that of the second helical wheel 132, and the rotation direction of the third helical wheel 133 is the same as that of the fourth helical wheel 134, Figure 3 In the first motor group of the flattening robot 100 shown, the first drive motor 135 and the second drive motor 136 rotate in opposite directions. In its second motor group, the third drive motor 137 and the fourth drive motor 138 rotate in opposite directions. It should be understood that the rotation direction of each drive motor in this embodiment is the rotation direction of the output shaft as observed from the drive motor body in the direction extending from the output shaft.

[0068] The following is based on Figure 5 The first spiral wheel shown is used as the first spiral wheel of the closing robot 100 to illustrate an example of operating the closing robot 100.

[0069] It should be noted that in two-wheel drive mode, Figure 7The AL, DL, AR, and DR buttons on the remote control 200 are invalid. If the rotation direction of the first drive motor 135 is taken as the rotation direction of the first motor group, and the rotation direction of the third drive motor 137 is taken as the rotation direction of the second motor group, then the operation example of the two-drive mode of the warehouse clearing robot 100 is as follows:

[0070] When the warehouse leveling robot 100 needs to move forward, the WL and WR buttons on the remote control 200 can be pressed simultaneously to control the rotation direction of the first motor group to be clockwise and the rotation direction of the second motor group to be counterclockwise, so that the warehouse leveling robot 100 moves forward and the headlight 141 automatically turns on.

[0071] When the warehouse leveling robot 100 needs to move backward, the SL and SR buttons on the remote control 200 can be pressed simultaneously to control the rotation direction of the first motor group to be counterclockwise and the rotation direction of the second motor group to be clockwise, so that the warehouse leveling robot 100 moves backward and the rear light 142 automatically lights up.

[0072] When the closing robot 100 is performing a closing operation at a high point and needs to turn left in place, the SL and WR buttons on the remote control 200 can be pressed simultaneously to control the rotation direction of the first motor group to be counterclockwise, and the rotation direction of the second motor group to also be counterclockwise, so that the closing robot 100 turns left in place and the left front light 141 flashes.

[0073] When the closing robot 100 is performing a closing operation at a high point and needs to turn right in place, the WL and SR buttons on the remote control 200 can be pressed simultaneously to control the rotation direction of the first motor group to be clockwise, and the rotation direction of the second motor group to also be clockwise, so that the closing robot 100 turns right in place and the right front light 141 flashes.

[0074] When the flattening robot 100 needs to move to the left and forward, the WR button on the remote control 200 can be pressed to control the first motor group to brake / stop, and the second motor group to rotate counterclockwise, so that the flattening robot 100 turns to the left and the left front light 141 flashes.

[0075] When the flattening robot 100 needs to move to the right, the WL button on the remote control 200 can be pressed to control the rotation direction of the first motor group to rotate clockwise, control the second motor group to brake / stop, so that the flattening robot 100 moves to the right and the right front light 141 flashes.

[0076] When the flattening robot 100 needs to turn left and rear, the SR button of the remote control 200 can be pressed to control the first motor group to brake / stop, and the second motor group to rotate clockwise, so that the flattening robot 100 turns left and rear and the rear light 142 automatically lights up.

[0077] When the warehouse leveling robot 100 needs to turn right and rear, the SL button on the remote control 200 can be pressed to control the rotation direction of the first motor group to be counterclockwise, and the second motor group to brake / stop, so that the warehouse leveling robot 100 turns right and rear and the rear light 142 automatically lights up.

[0078] In four-wheel drive mode, the first drive motor 135 to the fourth drive motor 138 can be controlled separately. Figure 3 The following is an example of how to operate the closing robot 100 in four-wheel drive mode:

[0079] By pressing the WL button on the remote control 200, the first drive motor 135 can be controlled to rotate clockwise, the second drive motor 136 to rotate counterclockwise, and the third drive motor 137 and the fourth drive motor 138 can be braked, causing the flattening robot 100 to move to the right and forward.

[0080] By pressing the SL button on the remote control 200, the first drive motor 135 can be rotated counterclockwise, the second drive motor 136 can be rotated clockwise, and the third drive motor 137 and the fourth drive motor 138 can be braked, causing the flattening robot 100 to move to the right and rear, and the rear light 142 can be turned on.

[0081] By pressing the WR button on the remote control 200, the third drive motor 137 can be controlled to rotate counterclockwise, the fourth drive motor 138 can be controlled to rotate clockwise, and the first drive motor 135 and the second drive motor 136 can be braked, causing the flattening robot 100 to move to the left and forward.

[0082] By pressing the SR button on the remote control 200, the third drive motor 137 can be controlled to rotate clockwise, the fourth drive motor 138 can be controlled to rotate counterclockwise, and the first drive motor 135 and the second drive motor 136 can be braked, causing the flattening robot 100 to move to the left and rear, and the rear light 142 to light up.

[0083] By simultaneously pressing the WL and WR buttons on the remote control 200, the first drive motor 135 and the fourth drive motor 138 can be controlled to rotate clockwise, while the third drive motor 137 and the second drive motor 136 rotate counterclockwise, causing the flattening robot 100 to move forward and the headlight 141 to illuminate.

[0084] By simultaneously pressing the SL and SR buttons on the remote control 200, the first drive motor 135 and the fourth drive motor 138 can be controlled to rotate counterclockwise, while the third drive motor 137 and the second drive motor 136 rotate clockwise, causing the flattening robot 100 to move backward and illuminating the rear light 142.

[0085] By simultaneously pressing the WL and SR buttons on the remote control 200, the first drive motor 135 and the third drive motor 137 can be controlled to rotate clockwise, and the second drive motor 136 and the fourth drive motor 138 can rotate counterclockwise, causing the flattening robot 100 to turn to the right in place and turn on the headlight 141.

[0086] By simultaneously pressing the SL and WR buttons on the remote control 200, the first drive motor 135 and the third drive motor 137 can be controlled to rotate counterclockwise, while the second drive motor 136 and the fourth drive motor 138 can rotate clockwise, causing the flattening robot 100 to turn to the left in place and the headlight 141 to light up.

[0087] By pressing the AL button on the remote control 200, the first drive motor 135 and the second drive motor 136 can be controlled to rotate clockwise, while the third drive motor 137 and the fourth drive motor 138 can be braked, causing the left side of the flattening robot 100 to tilt downward.

[0088] By pressing the DL button on the remote control 200, the first drive motor 135 and the second drive motor 136 can be controlled to rotate counterclockwise, and the third drive motor 137 and the fourth drive motor 138 can be braked, causing the left side of the flattening robot 100 to be raised upward.

[0089] By pressing the AR button on the remote control 200, the third drive motor 137 and the fourth drive motor 138 can be controlled to rotate counterclockwise, while the first drive motor 135 and the second drive motor 136 are braked, causing the right side of the flattening robot 100 to tilt downward.

[0090] By pressing the DR button on the remote control 200, the third drive motor 137 and the fourth drive motor 138 can be controlled to rotate clockwise, while the first drive motor 135 and the second drive motor 136 are braked, causing the right side of the flattening robot 100 to be raised.

[0091] By simultaneously pressing the AL and AR buttons on the remote control 200, the first drive motor 135 and the second drive motor 136 can be controlled to rotate clockwise, while the third drive motor 137 and the fourth drive motor 138 can rotate counterclockwise, causing the leveling robot 100 to sink downwards. At this time, the leveling operation on the high point of the grain plane can be realized.

[0092] By simultaneously pressing the DL and DR buttons on the remote control 200, the first drive motor 135 and the second drive motor 136 can be controlled to rotate counterclockwise, while the third drive motor 137 and the fourth drive motor 138 can rotate clockwise, causing the flattening robot 100 to rise.

[0093] Other button combinations not listed can be identified as erroneous input states. Of course, appropriate drive motor control commands can also be set for them, all of which are within the protection scope of the embodiments of this application.

[0094] In some optional embodiments, the total weight of the leveling robot 100 can be controlled to 50 catties, thereby providing downward pressure gravity protection for the movement and leveling operation of the leveling robot 100 and preventing the leveling robot 100 from overturning.

[0095] like Figures 2-4 As shown, in some optional embodiments, the grain leveling robot 100 may also include devices such as a horn 180 and a running status indicator light 190. The horn 180 is used to remind workers inside the grain silo, and the running status indicator light 190 displays the operating status of the grain leveling robot 100, such as normal operation, low power, or malfunction. The grain leveling robot 100 may also include a tow hook 191, so that when the grain leveling robot 100 malfunctions or runs out of power, it can be towed out of the grain silo for repair or charging.

[0096] like Figure 8 As shown, in some optional embodiments, the control unit 120 may include a core control unit, an audio-visual control unit, an infrared control unit, a drive motor control unit, a radio frequency control unit, a charging control unit, etc. The core control unit can send control commands to the audio-visual control unit, causing the audio-visual control unit to control the horn and searchlight according to the control commands. The core control unit can send control commands to the infrared control unit, causing the drive motor control unit to control the infrared rangefinder for distance measurement according to the control commands. The core control unit 120 can send control commands to the drive motor control unit, causing the drive motor control unit to control the rotation of each drive motor according to the control commands. The core control unit can send control commands to the drive radio frequency control unit, causing the radio frequency control unit to control the radio frequency communication of the remote control unit according to the control commands. The core control unit can send control commands to the charging control unit, causing the charging control unit 120 to control the battery charging of the warehousing robot according to the control commands.

[0097] In this embodiment, the leveling robot 100 may include an energy storage unit, an uninterruptible power supply (UPS), a fuse unit, and an indicator unit. The energy storage unit, such as a lithium battery, provides power to the leveling robot 100. The UPS can replace the energy storage unit to supply power to the leveling robot 100 when the energy storage unit fails. The fuse unit, such as a power protection cover, ensures the normal operation of the leveling robot 100. The indicator unit, such as the aforementioned operating status indicator light, indicates the operating status of the leveling robot 100. In this embodiment, easily worn components in the leveling robot 100 can also be classified into consumable units for labeling, facilitating timely maintenance of these components.

[0098] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0099] In this document, nouns and pronouns relating to persons in this patent application are not limited to specific genders. Relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying 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 limitation, 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 the element.

[0100] Finally, it should be noted that the above are merely preferred embodiments of this application, used only to illustrate the technical solution of this application, and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A flatting robot, characterized in that, include: The detection unit, located above the body of the leveling robot, is used to detect the height of the grain surface; The control unit is used to control the working unit to perform the closing operation based on the detection results detected by the detection unit; The working unit is located below the chassis of the flattening robot and is used to perform flattening operations under the control of the control unit; The working unit includes a first spiral wheel group and a second spiral wheel group arranged in parallel. The first spiral wheel group includes a first spiral wheel and a second spiral wheel with parallel rotation axes. The second spiral wheel group includes a third spiral wheel and a fourth spiral wheel with parallel rotation axes. Each spiral wheel includes a wheel cylinder and a blade. The blade is spirally arranged around the wheel cylinder. The blade of the first spiral wheel has the same rotation direction as the second spiral wheel. Furthermore, the blade of the first spiral wheel has the opposite rotation direction to the third and fourth spiral wheels. The leveling robot also includes a rangefinder and a locator; correspondingly, the detection unit is also used to detect protruding positions on the grain surface; the rangefinder is used to measure the distance from the leveling robot to the protruding position after the detection unit detects the protruding position on the grain surface; the locator is used to detect the distance between it and at least three calibration positions to locate the leveling robot. The control unit is used to control the leveling robot to reach the protruding position according to the distance and its position in the grain warehouse, and to drive the working unit to control the rotation direction of the first spiral wheel to be opposite to that of the second and third spiral wheels, and the rotation direction of the first spiral wheel to be the same as that of the fourth spiral wheel, so that the leveling robot can perform a sinking movement at the protruding position, thereby realizing the leveling operation at a fixed position on the grain surface.

2. The warehouse clearing robot according to claim 1, characterized in that, The first helical wheel assembly further includes a first drive motor and a second drive motor, wherein the output shaft of the first drive motor is connected to the first helical wheel, and the output shaft of the second drive motor is connected to the second helical wheel; The second helical wheel assembly also includes a third drive motor and a fourth drive motor. The output shaft of the third drive motor is connected to the third helical wheel, and the output shaft of the fourth drive motor is connected to the fourth helical wheel.

3. The warehouse clearing robot according to claim 2, characterized in that, The control unit further includes a remote control unit, which is used to receive remote control signals and control the operating status of the first drive motor, the second drive motor, the third drive motor and the fourth drive motor according to the remote control signals.

4. The warehouse clearing robot according to claim 3, characterized in that, The movement modes of the flattening robot include a two-drive mode; in the two-drive mode, the rotation direction of the first spiral wheel is the same as that of the second spiral wheel, and the rotation direction of the third spiral wheel is the same as that of the fourth spiral wheel.

5. The warehouse clearing robot according to claim 4, characterized in that, The movement modes of the flattening robot also include a four-wheel drive mode; in the four-wheel drive mode, the rotation directions of the first spiral wheel, the second spiral wheel, the third spiral wheel and the fourth spiral wheel are independent.

6. The warehouse clearing robot according to any one of claims 1-5, characterized in that, The flattening robot is equipped with a searchlight.

7. The warehouse clearing robot according to any one of claims 1-5, characterized in that, The flattening robot also includes an attitude sensor, which is used to detect the attitude of the flattening robot.

8. The warehouse clearing robot according to any one of claims 1-5, characterized in that, The power switch of the flattening robot is equipped with a power protection cover to prevent the power switch from being accidentally touched.

9. The warehouse clearing robot according to any one of claims 1-5, characterized in that, The flattening robot is also equipped with a temperature and humidity sensor on its chassis, which is used to detect the temperature and humidity of the grain.

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