Hardening material cleaning robot and control system thereof

Abstract

The hardened material cleaning robot comprises a machine body, a spiral driving walking device, a hardened material cleaning device arranged on the machine body and a machine body pitching posture adjusting device, the spiral driving walking device comprises spiral wheels arranged on the two sides of the machine body, and the spiral wheels are installed on the two sides of the machine body through spiral wheel supports; the fuselage pitch attitude adjusting device comprises a rotary joint and a telescopic rod, the spiral wheel support is positioned on the fuselage through the rotary joint, one end of the telescopic rod is hinged to the fuselage, the other end of the telescopic rod is hinged to the spiral wheel support, and when the telescopic rod stretches out and draws back, the spiral wheel support rotates relative to the fuselage, so that the angle between the spiral wheel and the fuselage is changed; the function that the spiral wheel drives the robot to drill out grain piles is achieved. And the robot has strong emergency self-rescue capability, and can be quickly separated from the dilemma by virtue of a machine body pitch attitude adjusting device when the robot is buried. And autonomous and flexible advancing can be achieved on soft materials through a unique driving mechanism of the spiral wheel, and the complex material environment is effectively dealt with.

Description

Technical Field

[0001] The present invention relates to a granary robot, and specifically to a hardening material cleaning robot and its control system. Background Art

[0002] The problem of hardening materials, including but not limited to the problem of hardening materials in granaries. Taking granaries as an example, the center and both sides of the granary are fed, and impurities and dust accumulate into an impurity layer, which will harden under the action of moisture, pressure, and temperature. Currently, there is a problem that it is difficult to handle the hardening of silo materials.

[0003] Most of the existing methods for cleaning hardening materials in confined spaces require personnel to enter the warehouse with a suspension rope and operate with shovels and pickaxes. The environment in the confined space is extremely dark and dusty, posing a great safety risk. For example, the collapse of materials threatens personal safety, and the efficiency is low. In the face of large-area or stubborn hardening materials, the cleaning is slow, and it is difficult to meet the needs of large-scale warehousing. The cost is high, and a large amount of manpower and material resources need to be invested. It is difficult to ensure consistent and stable cleaning effects. Differences among different operators may cause incomplete cleaning of some hardening materials, and in severe cases, it may lead to damage to the silo wall, causing a large amount of economic losses. A small number of existing robots use robots to clean confined spaces and move in a suspended manner. The travel control is difficult, the driving freedom is poor, and the cleaning effect with a hard brush is poor. Summary of the Invention

[0004] Object of the Invention: In view of the above problems, the present invention provides a hardening material cleaning robot with self-rescue ability and automatic tool changing.

[0005] The present invention also provides a control system for the above-mentioned hardening material cleaning robot.

[0006] Technical Solution: To solve the above problems, the present invention adopts a hardening material cleaning robot, which includes a fuselage, a spiral drive walking device, a hardening material cleaning device arranged on the fuselage, and a fuselage pitch attitude adjustment device. The hardening material cleaning device is used to clean hardening materials. The spiral drive walking device includes spiral wheels arranged on both sides of the fuselage. The spiral wheels are installed on both sides of the fuselage through spiral wheel brackets. The fuselage pitch attitude adjustment device includes a rotary joint and a telescopic rod. The spiral wheel bracket is positioned on the fuselage through the rotary joint, and the spiral wheel bracket rotates relative to the fuselage with the rotary joint as the axis. One end of the telescopic rod is hinged to the fuselage, and the other end of the telescopic rod is hinged to the spiral wheel bracket. When the telescopic rod expands and contracts, the spiral wheel bracket rotates relative to the fuselage, thereby changing the angle between the spiral wheel and the fuselage, and realizing the function of the spiral wheel driving the robot to drill out of the grain pile.

[0007] Furthermore, the hardpan cleaning device includes staggered rotating cleaning cutter heads, chain shock heads, and a cleaning drive device. The staggered rotating cleaning cutter heads and the chain shock heads are respectively located at the front and rear ends of the fuselage. Both the staggered rotating cleaning cutter heads and the chain shock heads are driven by the cleaning drive device. The cleaning drive device includes a chain belt, a chain drive bracket, a first DC servo motor, and a first planetary reducer. Both ends of the staggered rotating cleaning cutter heads and the chain shock heads are positioned on the fuselage through the chain drive bracket. The first DC servo motor is fixed on the fuselage. The output end of the first DC servo motor is fixedly connected to the input end of the first planetary reducer. The output end of the first planetary reducer is fixedly connected to the driving sprocket. Driven sprockets are arranged on the rotating shafts of the staggered rotating cleaning cutter heads and the chain shock heads. The chain belt is sleeved on the driving sprocket and the driven sprockets. The first DC servo motor drives the staggered rotating cleaning cutter heads or the chain shock heads to rotate.

[0008] Furthermore, the staggered rotating cleaning cutter heads include a first main shaft and a plurality of cutter heads with staggered curved surfaces fixedly sleeved on the first main shaft; the chain shock heads include a second main shaft and a chain. One end of the chain is fixed on the second main shaft, and the other end is connected to a solid ball. The chains are staggeredly distributed on the second main shaft.

[0009] Furthermore, the spiral wheel, the staggered rotating cleaning cutter heads, the chain shock heads, and the chain belt are all made of copper materials.

[0010] Furthermore, the spiral drive walking device further includes a first bearing, a second DC servo motor, and a second planetary reducer. The first bearing is fixed on the spiral wheel bracket. The fixed end of the second DC servo motor is connected to the spiral wheel bracket. The output end of the second DC servo motor is connected to the input end of the second planetary reducer. The output end of the second planetary reducer is fixedly connected to one end of the spiral wheel. The other end of the spiral wheel is connected to the spiral wheel bracket through the first bearing. A groove is arranged at the end of the spiral wheel. The second planetary reducer is placed in the groove.

[0011] The present invention also adopts a control system for the above-mentioned hardpan cleaning robot, including a robot status detection system, a robot positioning system in a limited space, a robot remote control system, and a robot drive control system. The robot status detection system is used to obtain the operation data of the robot. The robot positioning system in a limited space is used to obtain the space coordinates of the robot. The robot remote control system is used to perform 3D twin scene interaction control on the robot according to the operation data of the robot and the space coordinates of the robot, and send control instructions. The robot drive control system is used to execute the control instructions.

[0012] Further, the robot status detection system includes an attitude sensor and a vision system. The attitude sensor is used to measure the pitch attitude angle, acceleration, and angular velocity of the robot body; the vision system is used to observe the working state of the copper staggered rotating cleaning cutter head in the caking cleaning device.

[0013] Further, the robot positioning system in a limited space includes a number of positioning base stations, a UWB positioning tag arranged on the robot body, and a calculation unit. The positioning base stations are used to receive UWB signals and record the time; the calculation unit is used to calculate the distance between the positioning base stations and the robot according to the time when the positioning base stations receive signals, calculate the spatial coordinates of the robot in space through three-dimensional triangulation based on the calculated distance, and optimize the positioning error using the least squares method.

[0014] Further, the robot remote control system includes a wireless transceiver module, a robot remote controller, and a number of remote control UI interfaces. The wireless transceiver module is used to obtain the data detected by the robot status detection system and the robot positioning system in a limited space. The remote control UI interfaces are used to display the real-time working state of the robot, including the pitch attitude angle of the robot body, the position of the robot in space, and the working state of the copper staggered rotating cleaning cutter head; the robot remote controller is used to send control commands.

[0015] Further, the robot drive control system includes a path planning unit, a drive control unit, and a motion execution unit. The path planning unit is used to plan the target speed of the robot according to the pitch attitude and position information of the robot; the drive control unit is used to calculate the target rotational speeds of the motors of the two spiral wheels according to the planned target speed of the robot, and is also used to receive the control commands of the robot remote controller. The motion execution unit is used to drive the motors of the spiral wheels to rotate according to the target rotational speeds of the motors or these control commands.

[0016] Beneficial effects: Compared with the prior art, the significant advantage of the present invention is that it has a strong emergency self-rescue ability. With the help of the body pitch attitude adjustment device, when the robot is buried, it can quickly get out of trouble. It can also move autonomously and flexibly on soft materials by virtue of the unique drive mechanism of the spiral wheels, effectively coping with complex material environments. At the same time, it shows excellent cleaning efficiency for caked materials, ensuring the smooth progress of operations in a limited space. The robot can accurately monitor the pitch attitude of the body and locate the spatial coordinates by using advanced sensor technology, and further build a 3D virtual scene interaction control function based on this. Operators can observe the working state of the robot in real time through this function on the remote control interface, so as to achieve more intuitive, convenient and efficient remote operation, greatly improving the control accuracy and operation experience. Description of the Drawings

[0017] Figure 1This is a schematic diagram of the overall structure of the hardening material cleaning robot in the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the spiral wheel in the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of the spiral drive walking device in the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the hardening material cleaning device of the hardening material cleaning robot in the present invention.

[0021] Figure 5 This is a schematic diagram of the principle structure of the fuselage pitch attitude adjustment device in the present invention.

[0022] Figure 6 This is a schematic diagram of the overall structure of the control system of the hardening material cleaning robot in the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the positioning system in the present invention.

[0024] Figure 8 This is a schematic diagram of the structure of the robot interactive remote control system in the present invention.

[0025] Figure 9 This is a schematic diagram of the structure of the robot drive control system in the present invention. Detailed implementation mode

[0026] Example 1

[0027] As Figure 1 shown, a hardening material cleaning robot in this embodiment includes a spiral drive walking device 1, a hardening material cleaning device 2, a fuselage pitch attitude adjustment device, and a fuselage 4; as Figure 2 and Figure 3 shown, the spiral drive walking device 1 includes a first bearing 131, a spiral wheel 11, a DC servo motor 12, a spiral wheel bracket 13, and a planetary reducer 14. Two copper spiral wheels 11 with opposite helix directions are fixed on both sides of the robot fuselage through the spiral wheel bracket 13. The first bearings 131 are respectively fixed at both ends of the spiral wheel bracket 13. The fixed end of the DC servo motor 12 is connected to the spiral wheel bracket. The output end of the DC servo motor 12 is connected to the input end of the planetary reducer 14. The output end of the planetary reducer 14 is fixedly connected to one end of the spiral wheel 11. The other end of the spiral wheel 11 is connected to the spiral wheel bracket through the first bearing 131. The spiral wheel is driven by the servo motor 12 and the planetary gear reducer 14.

[0028] For the soft storage bin driving environment, the spiral drive walking device 1 selects the spiral wheel 11 as the driving mechanism. The spiral wheel 11 is designed with a hollow interior and is provided with a keyway inside. The planetary reducer 14 is installed in the keyway inside the spiral wheel 11 to save space. The DC servo motor 12 is externally installed with a protective shell and fixed to the rear side of the spiral wheel 11 for easy heat dissipation. By controlling the rotation speed and steering of the spiral wheels 11 on both sides of the robot, forward, backward, clockwise rotation, and counterclockwise rotation movement modes can be achieved, enabling the robot to move forward stably and autonomously on the material surface. The hollow design of the spiral wheel support frame can reserve space for the motor to arrange cables. The cylindrical barrel-shaped structures at the front and rear ends of the support frame reserve space for placing bearings, and the bearings provide support for the spiral wheel 11. The support frame is mostly designed with inclined surfaces or cones to reduce the resistance generated by the material during the movement of the robot.

[0029] As Figure 4 shown, the hardening cleaning device 2 includes copper staggered rotating cleaning cutter heads 21, copper chain shock heads 26, and a cleaning drive device. The copper staggered rotating cleaning cutter heads 21 and the copper chain shock heads 26 are placed at the front and rear ends of the fuselage. Both the copper staggered rotating cleaning cutter heads 21 and the copper chain shock heads 26 are driven by the cleaning drive device. The cleaning drive device includes a copper chain belt 22, a chain drive support 23, a DC servo motor 24, and a planetary reducer 25. Both ends of the copper staggered rotating cleaning cutter heads 21 and the copper chain shock heads 26 are positioned on the fuselage 4 through the chain drive support 23. The first DC servo motor 24 is fixed to the fuselage 4. The output end of the first DC servo motor 24 is fixedly connected to the input end of the first planetary reducer 25. The output end of the first planetary reducer 25 is fixedly connected to the driving sprocket. Driven sprockets are arranged on the rotating shafts of the copper staggered rotating cleaning cutter heads 21 and the copper chain shock heads 26. The copper chain belt 22 is sleeved on the driving sprocket and the driven sprockets. The first DC servo motor 24 drives the copper staggered rotating cleaning cutter heads 21 or the copper chain shock heads 26 to rotate. The chain drive support 23 is positioned on the fuselage 4 through a rotating shaft. When the chain drive support 23 rotates, it drives the copper staggered rotating cleaning cutter heads 21 or the copper chain shock heads 26 to rotate and lift relative to the fuselage, so as to achieve the purpose of cleaning the hardened materials at different positions. The DC servo motor 24 and the planetary gear reducer 25 are placed in the front-end chamber inside the fuselage, and power is transmitted to the cleaning cutter heads 21 outside the fuselage and the copper chain shock heads 26 through a transmission shaft for cleaning.

[0030] The copper staggered rotary cleaning cutter head 21 in the hardpan cleaning device 2 has a curved surface staggered cutter head blade spacing of 16 mm and a thickness of 9 mm, with a total of 8. The reasonable spacing enables the cutter head to be evenly stressed while preventing the hardpan from clogging. The curved surface cutter head effectively breaks and removes the hardpan in the limited space through multi-dimensional cutting methods. Driven sprocket wheels are installed on both sides of the central axis of the cleaning cutter head for connecting the copper chain belt 22; the copper chain shock head 26 of the chain is composed of multiple chain links. The shock head drives the chain to operate through the rotation of the intermediate shaft, and the chain then drives the solid copper balls, which are used to strike the hardpan. At the same time, the two cleaning devices can rotate and lift relative to the fuselage to achieve the purpose of cleaning the hardpan at different positions. The chain drive bracket 23 serves as an enveloping shell for the sprocket chain belt 22, providing support for the sprocket chain belt 22 while providing sealing protection. The spiral wheel 11, the staggered rotary cleaning cutter head 21, and the sprocket 22 adopt copper structures to avoid electrostatic ignition during the cleaning process of the robot moving in the granary. The system is powered by a ternary iron lithium battery with good safety, meeting the requirements of material fire prevention.

[0031] As Figure 5 shown, the fuselage pitch attitude adjustment device includes a rotary joint 132 and a telescopic rod. In this embodiment, the telescopic rod adopts a micro electric cylinder 31. The rotary joint 132 connects the spiral wheel support frame 13 to the robot fuselage, and the spiral wheel support rotates relative to the fuselage with the rotary joint as the axis. One end of the micro electric cylinder 31 is hinged to the fuselage, and the other end is hinged to the spiral support frame 13. The micro electric cylinder 31 connects the spiral wheel support frame 13 to the robot fuselage. By the telescopic movement of the micro electric cylinder 31, the function of the pitch attitude of the spiral wheel walking device 1 relative to the robot fuselage is achieved; the inside of the robot fuselage is used to place the power drive and control system hardware equipment, and the outside is used to provide support for the robot spiral drive walking device 1, the hardpan cleaning device 2, and the fuselage pitch attitude adjustment device.

[0032] The rotary support of the spiral wheel 11 in the fuselage pitch attitude adjustment device is connected to the robot housing through the rotary joint 132. Both ends of the micro electric cylinder 31 are respectively connected to the robot box body 4 and the spiral wheel support frame 13. When the trolley is buried by grains, the micro electric cylinder 31 extends. With the rotary joint 132 as the fulcrum, the force of the micro electric cylinder causes the spiral wheel support frame 13 to rotate around the rotary joint 132. Through the lever movement principle, the front end of the spiral wheel support frame 13 is lifted, thereby driving the front end of the spiral wheel to lift, realizing the angle of upward movement. The telescopic movement of the micro electric cylinder 31 can accurately control the pitch angle of the spiral wheel 11, thereby realizing the function of the spiral wheel 11 driving the robot to drill out of the grain pile, ensuring that the robot can get out of trouble and continue to execute tasks.

[0033] The inside of the robot fuselage 4 forms two chambers, as Figure 1As shown in the figure, the front chamber 41 is used to place the power system of the hardening material cleaning device 2, which includes a DC servo motor 24 and a planetary gear reducer 25. The front end face 411 of the chamber adopts a curved surface design to reduce the resistance of the robot during movement. A square opening with a size of 25mm×30mm is opened at the middle side position of the front end of the chamber. By inlaying tempered glass, a clear field of view is provided for the vision device. The rear chamber 42 is used to place the control hardware unit of the drive system and the battery. Since the micro-electric cylinder 31 of the pitching mechanism is connected to the rear side of the fuselage, to ensure the stroke of the micro-electric cylinder 31, the height of the fuselage needs to be raised. To ensure that the running resistance and the overall weight of the robot are not increased, an ear-type structure 44 is used to raise the height of the rotating pair support end of the micro-electric cylinder 31. The top of the fuselage is designed with an open cover 43, which is convenient for debugging the internal structure and achieving a sealing effect at the same time.

[0034] Embodiment 2

[0035] As Figure 6 shown in the figure, in this embodiment, a control system of a hardening material cleaning robot is remotely controlled based on a 3D twin scene interaction control system, including a robot status detection system, a robot in-warehouse positioning system 5, a robot remote control system 6, and a robot drive control system 7; the robot status detection system includes an attitude sensor (YIS130) and a vision system. The attitude sensor can measure the pitching attitude angle, acceleration, and angular velocity information of the vehicle body. The vision system is placed on the front side of the fuselage to observe the working state of the rotating cutter head; the robot in-warehouse positioning system 5 places positioning base stations 51 at the four corners of the middle height inside the limited space, as Figure 7 shown in the figure; the robot emits UWB signals, and the robot in-warehouse positioning system 5 calculates and obtains the spatial coordinates of the robot in the granary; the robot remote control system 6 includes a wireless transceiver module 65, a robot remote controller 62, and a remote control UI interface (61, 63, 64). Based on the pitching attitude and spatial coordinates of the fuselage obtained by the wireless transceiver module 65, a 3D twin scene interaction control function is realized. The operator observes the working state of the robot through the 3D twin scene UI control interface, realizes 3D twin scene 63, 64 interaction control, and improves the operation experience and control accuracy; the robot drive control system includes an stm32 single-chip microcomputer controller 45, a servo motor driver 47, a reducer 14, a DC servo motor 12, and a power supply 48.

[0036] The following is the detailed working process of the more spiral-driven hardening material cleaning robot in a limited space:

[0037] As Figure 6As shown in the figure, at the four corners of the middle height inside the silo, install the positioning base stations of the UWB positioning system at the predetermined positions, and ensure that the base stations are firmly fixed and will not be displaced due to environmental factors inside the silo (such as material flow, vibration, etc.). After installation, turn on the power of the positioning base stations and check whether their signal transmission is normal to ensure that the subsequent robot can accurately calculate the spatial coordinates of the robot in the granary through this system. The UWB positioning system 5 is started. The robot emits UWB signals, such as Figure 7 As shown in the figure, after the four positioning base stations 51 distributed at the four corners of the middle height inside the limited space of the grain receive the signals, they immediately record the time when the signals arrive. Then, calculate the distances between the robot and each positioning tag through the TDOA (Time Difference of Arrival) algorithm. According to these distance data, use the three-dimensional triangulation method to calculate the X, Y, and Z three-dimensional spatial coordinates of the robot in the granary. To improve the positioning accuracy, the system will also use the least squares method to optimize the positioning error and real-time feedback the accurate position information to the control system and the remote control system, so that the operator can accurately master the position of the robot on the remote control interface.

[0038] Conduct a comprehensive inspection on the robot for cleaning the compacted materials in the limited space of the screw drive. Confirm that the components such as the screw wheel 11, DC servo motor 12, planetary reducer 14, and screw wheel bracket 13 of the screw drive walking device are not damaged and are firmly connected; check whether the copper staggered rotating cleaning cutter heads 21, copper chain sprockets 22, chain drive brackets 23, DC servo motor 25, and planetary reducer 24 of the compacted material cleaning device are normal; ensure that the rotating joints 132 and micro electric cylinders 31 of the fuselage pitch attitude adjustment device can operate flexibly; connect the ternary iron lithium battery 48 used to power the robot to a suitable charger and fully charge the battery according to the standard charging process to ensure that the robot has sufficient, safe, and stable power supply when performing cleaning tasks in the limited space of the grain.

[0039] After the preparatory work is completed, the robot for cleaning the compacted materials in the limited space of the screw drive enters the granary through a lifting rope. In the safe area outside the granary, the staff remotely control the start of the power system of the robot. As the power is turned on, the 3D twin scene interaction control system is also started, and the system automatically enters the self-check program.

[0040] During the self-check process, the system will detect each sensor in sequence. The attitude sensor 46 starts to work, measures the pitch attitude angle, acceleration, and angular velocity information of the vehicle body, and transmits this data to the control system. The control system verifies the accuracy and integrity of the data to ensure the normal operation of the attitude sensor. At the same time, the vision system is activated, and the camera module and the lighting device 411 start to work. The camera captures the image of the rotating cutter head and transmits the image data back to the control system. The control system checks the clarity and stability of the image to confirm that the vision system can provide a clear and accurate image of the working state of the rotating cutter head for the operator. In addition, hardware devices such as the motor driver and the wireless transceiver module also perform self-checks to ensure normal communication with the control system and that each device can respond to the instructions of the control system, preparing for the normal operation of the subsequent robot.

[0041] When the system self-check is completed and no abnormalities are found, the operator issues a start command through the remote control system, and the screw drive walking device starts to work. After receiving the start signal sent by the control system, the DC servo motors 12 and 24 transmit the power to the screw wheels 11 through the planetary reducers 14 and 25, causing the screw wheels 11 to start rotating.

[0042] The operator controls the rotation speed and direction of the screw wheels 11 on both sides of the robot according to the actual situation in the limited space of the grain and the requirements of the cleaning task. For example, when the robot needs to move forward, the operator operates the remote control system to make the screw wheels 11 on both sides rotate clockwise at the same speed (assuming the rotation direction is like this), and the robot can stably move forward autonomously on the surface of the material; if steering is to be achieved, it is realized by adjusting the speed difference between the screw wheels on both sides. The hollow design of the screw wheel and the unique structure of the support frame 13 effectively reduce the resistance generated by the material during the movement of the robot, while providing a concealed and safe channel for the laying of the motor cables and a suitable placement space for the bearing 131, ensuring the stable rotation of the screw wheel.

[0043] As the robot moves in the limited space of the grain, when it reaches the area of the compacted material, the operator starts the compacted material cleaning device through the remote control system. The DC servo motor 24 and the planetary gear reducer 25 in the front chamber inside the fuselage start to work after receiving the start command, and transmit the power to the sprocket chain belt 22 outside the fuselage through the transmission shaft. The sprocket chain belt 22 starts to operate under the drive of the power, driving the copper staggered rotating cleaning cutter head 21 and the chain oscillation device 26 to rotate at high speed. The curved surface staggered design of the cutter head, as well as the designed blade spacing (16 mm) and thickness (9 mm), enable the cleaning device to rotate and lift during rotation, so that it can cut the compacted material from multiple dimensions, effectively crushing and removing the compacted material in the limited space. At the same time, this design can also prevent the compacted material from blocking the cutter head during the cleaning process, ensuring the continuous progress of the cleaning work.

[0044] During the operation of the cutter head, the operator observes the working state of the cutter head in real time through the vision system, including the rotation speed of the cutter head, the cutting effect, and whether there is any foreign object entanglement. If it is found that the cleaning effect is not good, for example, the caked material is not completely broken or there is residue, the operator can adjust the position of the robot through the remote control system to make the cutter head act more precisely on the caked material area, or adjust the working parameters such as the rotation speed of the cutter head to improve the cleaning efficiency and quality.

[0045] During the process of the robot performing the cleaning task, if an unexpected situation such as material burial occurs, the fuselage pitch attitude adjustment device will come into play. When the attitude sensor of the robot detects abnormal changes in the body attitude, such as excessive tilt angle or being blocked by materials during travel, it will immediately transmit this data to the control system. The control system judges that the robot needs to perform a self-rescue operation based on the data fed back by the attitude sensor, and then sends an instruction to the micro-electric cylinder of the fuselage pitch attitude adjustment device. After receiving the instruction, the micro-electric cylinder starts to extend and retract, with the rotary joint 132 as the fulcrum, and pushes the spiral wheel support frame to rotate around the rotary joint. Through the principle of lever movement, the front section of the spiral wheel support frame gradually tilts up, driving the spiral wheel to lift a certain angle. As the spiral wheel lifts, the robot can gradually drill out under the rotation of the spiral wheel, restore the normal attitude and travel ability, and ensure that the robot can get out of trouble and continue to perform the cleaning task. During the entire self-rescue process, the attitude sensor continuously monitors the changes in the body attitude and feeds the data back to the control system in real time. The control system precisely controls the telescopic movement of the electric cylinder based on this data to achieve precise adjustment of the pitch angle of the spiral wheel and ensure the safety and effectiveness of the self-rescue action.

[0046] During the entire operation of the robot, the operator realizes the remote control of the robot through the robot remote controller and the remote control UI interface. The wireless transceiver module 65 is installed on the robot, which continuously receives the body pitch attitude and spatial coordinate information of the robot and sends this information to the robot remote controller 6 through wireless signals. The operator holds the robot remote controller and can observe the working state of the robot in real time through the remote control UI interface on it. For example, on the interface, the body pitch angle 61 of the robot can be clearly seen, the specific position 64 of the robot in the granary can be understood, and the working state 63 of the cutter head cleaning the caked material can be known, including the rotation direction, speed, and cleaning effect of the cutter head, as Figure 8 shown.

[0047] such as Figure 9As shown in the figure, the hardware of the control system includes: an STM32 single-chip microcomputer 45 (model STM32F407ZET6), which communicates with other devices through UART, embeds the FreeRTOS system, and is responsible for receiving control signals, performing calculations, and outputting PWM signals. The motor driver 47 controls the motor speed. The IMU inertial sensor 46 obtains the motion data of the robot and estimates the attitude. The UWB positioning sensor 51 provides in-warehouse positioning. The robot remote control and receiver 61 has a remote control distance of 500 meters. The power supply 48 uses a buck circuit to supply power to the drive, control, and other units. According to the working state of the robot observed on the remote control UI interface, the operator combines the actual situation in the warehouse and issues corresponding control instructions through the operation buttons and joystick 62 on the robot remote control. These instructions are transmitted back to the control system of the robot through wireless signals, and the control system adjusts the movement and work of the robot according to the instructions. For example, if the operator finds that the robot has deviated from the predetermined cleaning path, the operator can adjust the traveling direction of the robot by operating the joystick; if it is found that the cleaning effect of the caking is not ideal, the working parameters of the cutter head can be adjusted through the button.

[0048] At the same time, the architecture of the robot control system is mainly divided into three layers, and each layer cooperates closely. The path planning layer uses the ROS system for path planning, connects the attitude sensor and the positioning sensor through USB, and obtains the pitch attitude and position information of the robot in real time. Then, based on this information, as well as the preset cleaning tasks and granary environment data, it plans the target speed of the robot and transmits it to the drive control layer. The drive control layer is based on the FreeRTOS system, performs motion calculation through STM32, receives the target speed of the robot from the path planning layer through the serial port, and combines the mechanical structure parameters and motor performance parameters of the robot. Through calculation, it obtains the target speeds of the left and right wheel motors. At the same time, this layer also connects to the remote control receiver 65 through 2.4G wireless communication, receives the remote control instructions of the operator, realizes the remote control function, and sends the processed motor control instructions to the motion execution layer. The motion execution layer includes a motor driver, which receives the target speeds of the left and right wheel motors from the motion control layer and converts them into electrical signals that the motor can recognize, driving the left spiral wheel drive motor and the right spiral wheel drive motor to rotate at a predetermined speed and direction, so as to achieve the precise movement and operation of the robot. Through the information transfer and processing between different layers of the entire system, the organic combination of the robot's autonomous positioning and remote control function is realized, improving the operation efficiency and intelligent level of the robot.

[0049] After all the work of clearing the hard-packed substances in the confined space is completed, the operator issues a shutdown command through the remote control system. This command is transmitted to the control system of the robot via a wireless signal. After receiving the command, the control system first sends a stop signal to the screw-driven walking device, the DC servo motor stops running, the screw wheel stops rotating, and the robot stops moving. After the operator confirms that the robot has stopped all actions, the power switch of the robot is turned off to cut off the power supply, and the robot is lifted out of the confined space by a lifting rope. Then, appropriate tools (such as brooms, brushes, etc.) are used to clean the remaining grains and dust on the surface of the robot to avoid the impact of these impurities on the performance of the robot during the next use. Finally, a comprehensive maintenance and servicing work is carried out on the robot, carefully checking the wear conditions of each component, such as the wear degree of the screw wheel, the sharpness of the cutter head, the meshing condition of the chain and sprocket, and the working status of each motor, sensor and other equipment. For the problems found, repairs or component replacements are carried out in a timely manner to ensure that the robot can maintain good performance and working status during the next operation, making full preparations for the next task of clearing the hard-packed substances in the confined space.

[0050] In the whole workflow, each device and system of the screw-driven robot for clearing hard-packed substances in the confined space cooperate closely, giving full play to their respective functional advantages, ensuring that the robot can efficiently and safely complete the task of clearing hard-packed substances in the confined space, while having good adaptability and emergency handling capabilities, effectively solving many problems existing in the existing methods for clearing silo materials, significantly improving the efficiency and safety of clearing hard-packed substances in the silo, and providing strong technical support for the modern development of the material storage industry.

Claims

1. A robot for cleaning plate aggregates, characterized in that: The invention comprises a fuselage (4), a spiral drive walking device (1), a plate-crusted material cleaning device (2) arranged on the fuselage (4), and a fuselage pitch attitude adjustment device, wherein the plate-crusted material cleaning device (2) is used to clean the plate-crusted material, the spiral drive walking device (1) comprises spiral wheels (11) arranged on both sides of the fuselage (4), the spiral wheels (11) are installed on both sides of the fuselage (4) through spiral wheel brackets (13), and the fuselage pitch attitude adjustment device comprises a rotating joint (132) and a telescopic rod (31). The spiral wheel bracket (13) is positioned on the machine body (4) through a rotating joint (132), and the spiral wheel bracket rotates relative to the machine body with the rotating joint as an axis. One end of the telescopic rod (31) is hinged on the machine body (4), and the other end of the telescopic rod (31) is hinged on the spiral wheel bracket (13). When the telescopic rod is extended or retracted, the spiral wheel bracket (13) rotates relative to the machine body (4), thereby changing the angle between the spiral wheel (11) and the machine body (4), thereby realizing the function of the spiral wheel (11) driving the robot to drill out of the grain pile.

2. The robot for cleaning the plate-crusted material according to claim 1, characterized in that: The plate-crust cleaning device (2) comprises an interlaced rotating cleaning blade head (21), a chain oscillating head (26), and a cleaning driving device. The interlaced rotating cleaning blade head (21) and the chain oscillating head (26) are respectively located at the front and rear ends of the machine body (4). The interlaced rotating cleaning blade head (21) and the chain oscillating head (26) are both driven by the cleaning driving device. The cleaning driving device comprises a chain belt (22), a chain drive bracket (23), a first DC servo motor (24), and a first planetary reducer (25). Both ends of the interlaced rotating cleaning blade head (21) and the chain oscillating head (26) are driven by The chain drive bracket (23) is positioned on the machine body (4), the first DC servo motor (24) is fixed on the machine body (4), the output end of the first DC servo motor (24) is fixedly connected to the input end of the first planetary reducer (25), the output end of the first planetary reducer (25) is fixedly connected to the driving chain wheel, the rotating shafts of the staggered rotating cleaning head (21) and the chain oscillating head (26) are both provided with driven chain wheels, the chain belt (22) is sleeved on the driving chain wheel and the driven chain wheel, and the first DC servo motor (24) drives the staggered rotating cleaning head (21) or the chain oscillating head (26) to rotate.

3. The robot for cleaning the plate-crusted material according to claim 2, characterized in that: The staggered rotating cleaning blade (21) comprises a first main shaft and a plurality of blades with staggered curved surfaces fixedly mounted on the first main shaft; the chain oscillating head (26) comprises a second main shaft and a chain, one end of the chain is fixed on the second main shaft, and the other end is connected to a solid ball, and the chain is staggered on the second main shaft.

4. The robot for cleaning the plate-crusted material according to claim 2, characterized in that: The spiral wheel (11), the staggered rotating cleaning blade head (21), the chain oscillating head (26) and the chain belt (22) are all made of copper material.

5. The robot for cleaning the plate-crusted material according to claim 2, characterized in that: The spiral drive walking device (1) further comprises a first bearing (131), a second DC servo motor (12) and a second planetary reducer (14); the first bearing (131) is fixed on the spiral wheel bracket (13); the fixed end of the second DC servo motor (12) is connected to the spiral wheel bracket; the output end of the second DC servo motor (12) is connected to the input end of the second planetary reducer (14); the output end of the second planetary reducer (14) is fixedly connected to one end of the spiral wheel (11); the other end of the spiral wheel (11) is connected to the spiral wheel bracket via the first bearing (131); a groove is provided at the end of the spiral wheel (11); and the second planetary reducer (14) is placed in the groove.

6. A control system for the plate-crushed material cleaning robot according to any one of claims 1 to 5, characterized in that: The invention comprises a robot state detection system, a robot limited space positioning system (5), a robot remote control system (6), and a robot drive control system (7), wherein the robot state detection system is used to obtain robot operation data, the robot limited space positioning system (5) is used to obtain the robot's spatial coordinates, the robot remote control system (6) is used to perform 3D twin scene interactive control on the robot according to the robot operation data and the robot's spatial coordinates, and send control instructions, and the robot drive control system (7) is used to execute the control instructions.

7. The control system according to claim 6, characterized in that: The robot state detection system includes a posture sensor and a visual system. The posture sensor is used to measure the pitch posture angle, acceleration and angular velocity of the robot body; the visual system is used to observe the working state of the copper staggered rotating cleaning blade in the plate-crust cleaning device.

8. The control system according to claim 6, characterized in that: The robot limited space positioning system (5) comprises a plurality of positioning base stations (51), a UWB positioning tag arranged on the robot body and a computing unit, wherein the positioning base station (51) is used to receive UWB signals and record time; the computing unit is used to calculate the distance between the positioning base station and the robot according to the time when the positioning base station receives the signal, and to obtain the spatial coordinates of the robot in space by using a three-dimensional triangulation positioning method according to the calculated distance, and to optimize the positioning error using a least squares method.

9. The control system according to claim 8, characterized in that: The robot remote control system (6) comprises a wireless transceiver module (65), a robot remote control (62) and a plurality of remote control UI interfaces, wherein the wireless transceiver module (65) is used to obtain data detected by the robot state detection system and the robot's limited space positioning system, and the remote control UI interface is used to display the real-time working status of the robot, including the pitch attitude angle of the robot body, the position of the robot in space, and the working status of the copper staggered rotating cleaning blade; and the robot remote control (62) is used to send control instructions.

10. The control system according to claim 9, characterized in that: The robot drive control system (7) comprises a path planning unit, a drive control unit and a motion execution unit. The path planning unit is used to plan the target speed of the robot according to the pitch posture and position information of the robot; the drive control unit is used to calculate the target rotation speed of the motors of the two spiral wheels according to the planned target speed of the robot, and is also used to receive control instructions from the robot remote controller. The motion execution unit is used to drive the motors of the spiral wheels to rotate according to the target rotation speed of the motors or the control instructions.

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