A robot for cleaning up hardened materials and its control system

Abstract

This invention discloses a robot for cleaning up sludge, comprising a body, a helical drive walking device, a sludge cleaning device mounted on the body, and a body pitch attitude adjustment device. The helical drive walking device includes helical wheels on both sides of the body, which are mounted on both sides of the body via helical wheel brackets. The body pitch attitude adjustment device includes a rotary joint and a telescopic rod. The helical wheel bracket is positioned on the body via the rotary joint. One end of the telescopic rod is hinged to the body, and the other end is hinged to the helical wheel bracket. When the telescopic rod extends or retracts, the helical wheel bracket rotates relative to the body, thereby changing the angle between the helical wheels and the body, enabling the helical wheels to drive the robot out of the grain pile. It possesses strong emergency self-rescue capabilities, allowing the robot to quickly escape from burial situations using the body pitch attitude adjustment device. It can also achieve autonomous and flexible movement on soft materials thanks to the unique helical wheel drive mechanism, effectively coping with complex material environments.

Description

Technical Field

[0001] This invention relates to grain storage robots, specifically to a robot for cleaning hardened materials and its control system. Background Technology

[0002] The problem of caking materials includes, but is not limited to, the problem of caking materials in grain silos. Taking grain silos as an example, when materials are fed into the center and sides of the silo, impurities and dust accumulate into an impurity layer. Under the influence of moisture, pressure and temperature, the material will caking. Currently, there is a problem that caking of materials in silos is difficult to deal with.

[0003] Currently, most methods for cleaning confined spaces containing hardened material require personnel to be hoisted into the warehouse using shovels and picks. These methods are problematic due to the dark, dusty environment and significant safety risks, such as material collapse threatening personnel safety. They are also inefficient, slow to clean large areas or stubborn hardened material, and fail to meet the needs of large-scale storage. Furthermore, they are costly, requiring substantial manpower and resources, and the cleaning results are inconsistent. Differences between operators can lead to incomplete cleaning of some hardened material, potentially causing damage to warehouse walls and significant economic losses. A small number of existing methods use robots for cleaning confined spaces, but these robots, which move by suspension, are difficult to control and have limited freedom of movement. Using hard brushes for cleaning is also ineffective. Summary of the Invention

[0004] Purpose of the invention: To address the above problems, this invention provides a self-rescue robot with automatic reloading capability for cleaning up hardened materials.

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

[0006] Technical Solution: To solve the above problems, this invention employs a slab-clearing robot, comprising a body, a helical drive walking device, a slab-clearing device mounted on the body, and a body pitch attitude adjustment device. The slab-clearing device is used to clear slabs. The helical drive walking device includes helical wheels mounted on both sides of the body, which are installed on both sides of the body via helical wheel brackets. The body pitch attitude adjustment device includes a rotary joint and a telescopic rod. The helical wheel bracket is positioned on the body via the rotary joint and rotates relative to the body about the rotary joint. One end of the telescopic rod is hinged to the body, and the other end is hinged to the helical wheel bracket. When the telescopic rod extends or retracts, the helical wheel bracket rotates relative to the body, thereby changing the angle between the helical wheel and the body, thus enabling the helical wheel to drive the robot out of the grain pile.

[0007] Furthermore, the slab removal device includes an alternating rotating cleaning head, a chain oscillating head, and a cleaning drive device. The alternating rotating cleaning head and the chain oscillating head are located at the front and rear ends of the machine body, respectively. Both the alternating rotating cleaning head and the chain oscillating head 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 alternating rotating cleaning head and the chain oscillating head are positioned on the machine body through the chain drive bracket. The first DC servo motor is fixed to the machine body. 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 drive sprocket. A driven sprocket is provided on the rotating shaft of both the alternating rotating cleaning head and the chain oscillating head. The chain belt is sleeved on the drive sprocket and the driven sprocket. The first DC servo motor drives the alternating rotating cleaning head or the chain oscillating head to rotate.

[0008] Furthermore, the staggered rotating cleaning head includes a first main shaft and a plurality of curved surfaces staggered on the first main shaft; the chain oscillating head includes 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.

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

[0010] Furthermore, the spiral drive walking device also 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 provided at the end of the spiral wheel, and the second planetary reducer is placed in the groove.

[0011] The present invention also employs a control system for the aforementioned slab-cleaning robot, comprising a robot state detection system, a robot positioning system within a confined space, a robot remote control system, and a robot drive control system. The robot state detection system is used to obtain robot operating data, the robot positioning system within a confined space is used to obtain the robot's spatial coordinates, the robot remote control system is used to perform 3D twin scene interactive control of the robot based on the robot operating data and the robot's spatial coordinates, and to send control commands, and the robot drive control system is used to execute the control commands.

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

[0013] Furthermore, the robot positioning system within a limited space includes several positioning base stations, UWB positioning tags mounted on the robot body, and a computing unit. The positioning base stations are used to receive UWB signals and record the time. The computing unit is used to calculate the distance between the positioning base station and the robot based on the time the positioning base station receives the signal, calculate the robot's spatial coordinates in space using a three-dimensional triangulation method based on the calculated distance, and optimize the positioning error using the least squares method.

[0014] Furthermore, the robot remote control system includes a wireless transceiver module, a robot remote controller, and several remote control UI interfaces. The wireless transceiver module is used to acquire data detected by the robot state detection system and the robot positioning system within a limited space. The remote control UI interfaces are used to display the robot's real-time working status, including the robot's pitch angle, the robot's position in space, and the working status of the copper staggered rotating cleaning head. The robot remote controller is used to send control commands.

[0015] Furthermore, 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 based on the robot's pitch attitude and position information. The drive control unit is used to calculate the target rotation speed of the motors of the two helical wheels based on the planned target speed of the robot, and is also used to receive control commands from the robot remote controller. The motion execution unit is used to drive the motors of the helical wheels to rotate according to the target rotation speed of the motors or the control commands.

[0016] Beneficial Effects: Compared to existing technologies, the significant advantages of this invention are its powerful emergency self-rescue capabilities. Utilizing its tilt and pitch adjustment device, the robot can quickly escape when buried. It can also move autonomously and flexibly on soft materials thanks to its unique helical wheel drive mechanism, effectively handling complex material environments. Simultaneously, it exhibits excellent cleaning efficiency for compacted materials, ensuring smooth operations in confined spaces. The robot can utilize advanced sensor technology to accurately monitor its tilt and pitch attitude and locate its spatial coordinates. Based on this, a 3D virtual scene interactive control function is further developed. Operators can use this function to observe the robot's working status in real time through the remote control interface, achieving more intuitive, convenient, and efficient remote operation, greatly improving control accuracy and the work experience. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the overall structure of the slab removal robot in this invention.

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

[0019] Figure 3 This is a schematic diagram of the spiral-driven walking device in this invention.

[0020] Figure 4 This is a schematic diagram of the slab removal device of the slab removal robot in this invention.

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

[0022] Figure 6 This is a schematic diagram of the overall structure of the control system for the slab removal robot in this invention.

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

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

[0025] Figure 9 This is a schematic diagram of the robot drive control system in this invention. Detailed Implementation

[0026] Example 1

[0027] Depend on Figure 1 As shown, this embodiment of a slab-clearing robot includes a helical-driven walking device 1, a slab-clearing device 2, a body pitch attitude adjustment device, and a body 4; as shown Figure 2 and Figure 3 As shown, the helical drive walking device 1 includes a first bearing 131, a helical wheel 11, a DC servo motor 12, a helical wheel bracket 13, and a planetary reducer 14. Two copper helical wheels 11 with opposite directions of rotation are fixed to both sides of the robot body through the helical wheel bracket 13. The first bearing 131 is fixed to both ends of the helical wheel bracket 13. The fixed end of the DC servo motor 12 is connected to the helical 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 helical wheel 11. The other end of the helical wheel 11 is connected to the helical wheel bracket through the first bearing 131. The helical wheel is driven by the servo motor 12 and the planetary reducer 14.

[0028] The spiral-driven walking device 1 uses a spiral wheel 11 as its driving mechanism to navigate the soft environment of the grain silo. The spiral wheel 11 has a hollow design 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 protected by a housing and fixed to the rear of the spiral wheel 11 for heat dissipation. The rotation speed and direction of the spiral wheels 11 on both sides of the robot are controlled to achieve forward, backward, clockwise, and counterclockwise rotation, enabling the robot to move stably and autonomously on the material surface. The hollow design of the spiral wheel support frame provides space for the motor cable routing. The cylindrical structures at the front and rear of the support frame provide space for bearings, which support the spiral wheels 11. The support frame often uses a sloping or conical design to reduce the resistance generated by the material during the robot's movement.

[0029] like Figure 4 As shown, the slab removal device 2 includes a copper staggered rotating cleaning head 21, a copper chain vibrating head 26, and a cleaning drive device. The copper staggered rotating cleaning head 21 and the copper chain vibrating head 26 are located at the front and rear ends of the machine body. Both the copper staggered rotating cleaning head 21 and the copper chain vibrating head 26 are driven by the cleaning drive device, which includes a copper chain belt 22, a chain drive bracket 23, a DC servo motor 24, and a planetary reducer 25. Both ends of the copper staggered rotating cleaning head 21 and the copper chain vibrating head 26 are connected by a chain drive. The transmission 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 drive chain wheel. Driven chain wheels are provided on the shafts of the copper staggered rotating cleaning cutter head 21 and the copper chain oscillating head 26. The copper chain belt 22 is sleeved on the drive chain wheel and the driven chain wheel. The first DC servo motor 24 drives the copper staggered rotating cleaning cutter head 21 or the copper chain oscillating head 26 to rotate. The chain drive bracket 23 is positioned on the machine body 4 via a rotating shaft. When the chain drive bracket 23 rotates, it drives the copper interlaced rotating cleaning head 21 or the copper chain oscillating head 26 to rotate and rise relative to the machine body, so as to clean the slabs in different locations. The DC servo motor 24 and the planetary gear reducer 25 are placed in the front cavity inside the machine body. The power is transmitted to the cleaning head 21 and the copper chain oscillating head 26 on the outside of the machine body through the drive shaft for cleaning.

[0030] The copper staggered rotating cleaning head 21 in the slab removal device 2 uses eight curved, staggered blades with a blade spacing of 16mm and a thickness of 9mm. This reasonable spacing ensures even force distribution on the blades while preventing slab blockage. The curved blades effectively break down and remove slabs within a limited space through multi-dimensional cutting. Driven chain wheels are installed on both sides of the central shaft of the cleaning head to connect to the copper chain belt 22. The copper chain oscillating head 26 consists of multiple chain links. The oscillating head drives the chain through the rotation of its central shaft. The chain then drives solid copper balls, which strike the slabs. Simultaneously, both cleaning devices can rotate and lower relative to the machine body to clean slabs in different locations. The chain drive bracket 23 acts as a protective shell for the sprocket and chain belt 22, providing support and sealing protection. The spiral wheel 11, the staggered rotating cleaning head 21, and the sprocket 22 are made of copper to prevent static electricity from causing fires during the robot's movement and cleaning in the grain silo. The system is powered by a ternary lithium iron phosphate battery, which is safe and meets the requirements for material fire prevention.

[0031] like Figure 5 As shown, the body pitch attitude adjustment device includes a rotary joint 132 and a telescopic rod. In this embodiment, the telescopic rod is a miniature electric cylinder 31. The rotary joint 132 connects the helical wheel support frame 13 to the robot body, and the helical wheel support rotates relative to the robot body about the rotary joint as an axis. One end of the miniature electric cylinder 31 is hinged to the robot body, and the other end is hinged to the helical support frame 13. The miniature electric cylinder 31 connects the helical wheel support frame 13 to the robot body. The extension and retraction of the miniature electric cylinder 31 achieves the pitch function of the helical wheel walking device 1 relative to the robot body. The inside of the robot body is used to house the power drive and control system hardware, and the outside is used to provide support for the robot helical drive walking device 1, the sludge removal device 2, and the body pitch attitude adjustment device.

[0032] In the tilt and pitch adjustment device, the rotating bracket of the spiral wheel 11 is connected to the robot housing via a rotating joint 132. The two ends of the micro electric cylinder 31 are connected to the robot housing 4 and the spiral wheel bracket 13, respectively. When the trolley is buried by grain, the micro electric cylinder 31 extends. With the rotating joint 132 as the fulcrum, the force of the micro electric cylinder causes the spiral wheel bracket 13 to rotate around the rotating joint 132. Through the lever principle, the front end of the spiral wheel support 13 is tilted up, thereby causing the front end of the spiral wheel to tilt up and achieve an upward angle. The extension and retraction of the micro electric cylinder 31 can precisely control the tilt angle of the spiral wheel 11, thereby enabling the spiral wheel 11 to drive the robot out of the grain pile, ensuring that the robot can escape and continue to perform its tasks.

[0033] The robot's body 4 is internally divided into two chambers, such as Figure 1As shown, the front chamber 41 is used to house the power system of the slab removal device 2, including a DC servo motor 24 and a planetary gear reducer 25. The front end face 411 of the chamber adopts a curved design to reduce the resistance of the robot during movement. A square opening of 25mm×30mm is opened at the middle position of the front end of the chamber, and tempered glass is inlaid to provide a clear field of view for the vision device. The rear chamber 42 is used to house the control hardware unit of the drive system and the battery. Since the micro electric cylinder 31 of the pitch mechanism is connected to the rear side of the machine, the height of the machine body needs to be raised to ensure the stroke of the micro electric cylinder 31. In order to ensure that the movement resistance and overall weight of the robot are not increased, an ear-type structure 44 is adopted to raise the height of the rotating support end of the micro electric cylinder 31. The top of the machine body is designed with an opening cover 43 to facilitate the debugging of the internal structure while achieving a sealing effect.

[0034] Example 2

[0035] like Figure 6 As shown, this embodiment describes a control system for a slab-cleaning robot. Based on a 3D twin scene interaction control system, it enables remote control and includes a robot state detection system, a robot in-cabin positioning system 5, a robot remote control system 6, and a robot drive control system 7. The robot state detection system includes an attitude sensor (YIS130) and a vision system. The attitude sensor measures the robot's pitch angle, acceleration, and angular velocity. The vision system, positioned at the front of the robot, allows observation of the rotating blade's working status. The robot in-cabin positioning system 5 places positioning base stations 51 at the four corners of the confined space at mid-height. Figure 7 As shown; the robot emits a UWB signal, and the robot's in-warehouse positioning system 5 calculates and obtains the robot's spatial coordinates in the grain warehouse; the robot remote control system 6 includes a wireless transceiver module 65, a robot remote controller 62, and remote control UI interfaces (61, 63, 64). Based on the body pitch attitude and spatial coordinates obtained by the wireless transceiver module 65, it realizes the 3D twin scene interactive control function. The operator observes the robot's working status through the 3D twin scene UI control interface, realizes the interactive control of 3D twin scenes 63 and 64, and improves the operating experience and control accuracy; the robot drive control system includes an STM32 microcontroller controller 45, a servo motor driver 47, a reducer 14, a DC servo motor 12, and a power supply 48.

[0036] The following is a detailed workflow of a spiral-driven robot for cleaning up hardened material in confined spaces:

[0037] like Figure 6As shown, the positioning base stations of the UWB positioning system are installed at the four corners of the warehouse at the mid-height level, ensuring they are firmly fixed and will not shift due to environmental factors within the warehouse (such as material flow, vibration, etc.). After installation, the positioning base station power is turned on, and its signal transmission is checked to ensure that the robot can accurately calculate its spatial coordinates within the grain warehouse using this system. The UWB positioning system 5 is then started. The robot transmits UWB signals, such as... Figure 7 As shown, after receiving a signal, the four positioning base stations 51, located at the four corners of the mid-height area within the confined space of the grain silo, immediately record the signal arrival time. Then, the distance between the robot and each positioning tag is calculated using the TDOA (Time Difference of Arrival) algorithm. Based on this distance data, the X, Y, and Z spatial coordinates of the robot within the grain silo are calculated using a three-dimensional triangulation method. To improve positioning accuracy, the system also uses the least squares method to optimize the positioning error and feeds back the precise position information to the control and remote control systems in real time, enabling operators to accurately determine the robot's position on the remote control interface.

[0038] A comprehensive inspection was conducted on the spiral-driven confined space cleaning robot to confirm that the spiral wheel 11, DC servo motor 12, planetary reducer 14, and spiral wheel bracket 13 of the spiral-driven walking device were undamaged and securely connected. The copper staggered rotating cleaning head 21, copper chain sprocket 22, chain drive bracket 23, DC servo motor 25, and planetary reducer 24 of the confined space cleaning device were checked for proper functioning. The rotation joint 132 and miniature electric cylinder 31 of the body pitch attitude adjustment device were ensured to operate flexibly. The ternary lithium iron phosphate battery 48, which powers the robot, was connected to a suitable charger and fully charged according to the standard charging procedure to ensure a sufficient, safe, and stable power supply for the robot when performing cleaning tasks in confined spaces.

[0039] After preparation, the spiral-driven robot for cleaning up hardened material in a confined space enters the grain silo via a hoisting rope. Outside the silo in a safe area, staff remotely activate the robot's power system. With the power on, the 3D twin scene interactive control system also starts, automatically entering a self-test program.

[0040] During the self-test, the system sequentially checks each sensor. Attitude sensor 46 begins operation, measuring the vehicle's pitch angle, acceleration, and angular velocity, and transmitting this data to the control system. The control system verifies the accuracy and completeness of the data to ensure the attitude sensor is functioning correctly. Simultaneously, the vision system activates, and the camera module and lighting 411 begin operation. The camera captures images of the rotating cutter head and transmits the image data back to the control system. The control system checks the image clarity and stability to confirm that the vision system can provide the operator with a clear and accurate image of the rotating cutter head's working status. Furthermore, hardware devices such as motor drivers and wireless transceiver modules also perform self-tests to ensure normal communication with the control system and that each device can respond to the control system's commands, preparing for the robot's subsequent normal operation.

[0041] Once the system completes its self-test and no abnormalities are found, the operator issues a start command via the remote control system, and the screw drive walking device begins to work. After receiving the start signal from the control system, the DC servo motors 12 and 24 transmit power to the screw wheel 11 through the planetary reducers 14 and 25, causing the screw wheel 11 to start rotating.

[0042] Based on the actual conditions within the confined space and the requirements of the cleaning task, the operator controls the rotation speed and direction of the two spiral wheels 11 on both sides of the robot via a remote control system. For example, when the robot needs to move forward, the operator operates the remote control system to make the two spiral wheels 11 rotate clockwise at the same speed (assuming the direction of rotation is like this), and the robot can then move forward autonomously and stably on the material surface. To achieve steering, the difference in rotation speed between the two spiral wheels is adjusted. The hollow design of the spiral wheels and the unique support frame 13 structure effectively reduce the resistance generated by the material during the robot's movement, while providing a concealed and safe passage for the laying of motor cables and a suitable placement space for the bearings 131, ensuring the stable rotation of the spiral wheels.

[0043] As the robot moves within the confined space of the grain yard, upon reaching the area of ​​hardened material, the operator activates the hardened material removal device via a remote control system. Upon receiving the start command, the DC servo motor 24 and planetary gear reducer 25 in the front chamber inside the machine body begin operating, transmitting power through the drive shaft to the sprocket and chain belt 22 on the outside of the machine body. Driven by this power, the sprocket and chain belt 22 rotates, causing the copper staggered rotating cleaning cutter head 21 and the chain oscillation device 26 to rotate at high speed. The staggered curved design of the cutter head, along with the designed blade spacing (16mm) and thickness (9mm), allows the cleaning device to rotate and lower during rotation, enabling it to cut the hardened material from multiple dimensions, effectively breaking down and removing the hardened material from the confined space. Simultaneously, this design prevents the hardened material from clogging the cutter head during cleaning, ensuring continuous cleaning operation.

[0044] During the operation of the cutting head, the operator observes its working status in real time through a vision system, including the cutting head's rotation speed, cutting effect, and whether there are any foreign objects entangled. If the cleaning effect is found to be unsatisfactory, such as incomplete breaking of slabs or residual material, the operator can adjust the robot's position via the remote control system to make the cutting head more precisely target the slab area, or adjust the cutting head's rotation speed and other operating parameters to improve cleaning efficiency and quality.

[0045] During the robot's cleaning tasks, if unexpected situations such as material burial occur, the robot's pitch attitude adjustment device will come into play. When the robot's attitude sensors detect abnormal changes in its posture, such as excessive tilting or obstruction due to material burial, they immediately transmit this data to the control system. Based on the data from the attitude sensors, the control system determines that the robot needs to perform a self-rescue operation and sends a command to the miniature electric cylinder 31 of the pitch attitude adjustment device. Upon receiving the command, the miniature electric cylinder begins to extend and retract, using the rotary joint 132 as a fulcrum to drive the spiral wheel support frame to rotate around the rotary joint. Through the lever principle, the front section of the spiral wheel support frame gradually tilts up, causing the spiral wheel to rise at a certain angle. As the spiral wheel rises, the robot, under the rotation of the spiral wheel, can gradually emerge, regaining its normal posture and mobility, ensuring that the robot can escape and continue performing its cleaning tasks. Throughout the self-rescue process, the attitude sensors continuously monitor changes in the robot's posture and feed the data back to the control system in real time. The control system uses this data to precisely control the extension and retraction of the electric cylinder, achieving precise adjustment of the spiral wheel's pitch angle and ensuring the safety and effectiveness of the self-rescue action.

[0046] Throughout the robot's operation, the operator remotely controls the robot via a remote controller and a remote control UI interface. A wireless transceiver module 65 is installed on the robot, continuously receiving the robot's pitch attitude and spatial coordinates, and transmitting this information wirelessly to the robot remote controller 6. The operator holds the robot remote controller and can observe the robot's working status in real time through its remote control UI interface. For example, the interface clearly displays the robot's pitch angle 61, its specific position 64 within the grain silo, and the working status 63 of the blade cleaning the hardened material, including the blade's rotation direction, speed, and cleaning effect. Figure 8 As shown.

[0047] like Figure 9As shown, the control system hardware includes: an STM32 microcontroller 45 (model STM32F407ZET6), which communicates with other devices via UART, embeds a FreeRTOS system, and is responsible for receiving control signals, performing calculations, and outputting PWM signals. A motor driver 47 controls the motor speed. An IMU inertial sensor 46 acquires robot motion data and estimates attitude. A UWB positioning sensor 51 provides in-cabin positioning. A robot remote control and receiver 61 has a remote control range of 500 meters. A power supply 48 uses a step-down circuit to power the drive, control, and other units. Based on the robot's working status observed on the remote control UI, the operator, combined with the actual situation inside the cabin, issues corresponding control commands through the operation buttons and joystick 62 on the robot remote control. These commands are transmitted back to the robot's control system via wireless signals, and the control system adjusts the robot's movement and work according to the commands. For example, if the operator finds that the robot has deviated from the predetermined cleaning path, they can adjust the robot's direction of travel by operating the joystick; if the cleaning effect of the sludge is not ideal, the operating parameters of the cutter head can be adjusted by pressing the buttons.

[0048] Meanwhile, the robot control system architecture is mainly divided into three layers, with each layer working closely together. The path planning layer uses the ROS system for path planning, connecting to attitude and positioning sensors via USB to acquire the robot's pitch and position information in real time. Based on this information, along with preset cleaning tasks and grain silo environment data, it plans the robot's target speed and transmits it to the drive control layer. The drive control layer, based on the FreeRTOS system, uses STM32 for motion calculation. It receives the robot's target speed from the path planning layer via serial port and, combined with the robot's mechanical structure parameters and motor performance parameters, calculates the target rotational speeds of the left and right wheel motors. This layer also connects to a remote control receiver 65 via 2.4G wireless communication to receive remote control commands from the operator, enabling remote control functionality, and sends the processed motor control commands to the motion execution layer. The motion execution layer contains motor drivers that receive the target rotational speeds of the left and right wheel motors from the motion control layer, convert them into electrical signals that the motors can recognize, and drive the left and right helical wheel drive motors to operate at predetermined speeds and directions, thereby achieving precise robot movement and operational tasks. The entire system achieves an organic combination of autonomous positioning and remote control functions for robots through information transmission and processing between different layers, thereby improving the robot's operational efficiency and intelligence level.

[0049] Once the cleaning of the hardened material in the confined space is complete, the operator issues a stop command via the remote control system. This command is transmitted wirelessly to the robot's control system. Upon receiving the command, the control system first sends a stop signal to the screw drive mechanism, stopping the DC servo motor and the screw wheel, thus halting the robot's movement. After confirming that the robot has stopped all movement, the operator turns off the robot's power switch, cutting off the power supply. The robot is then lifted out of the confined space by a hoisting rope. Next, appropriate tools (such as brooms and brushes) are used to clean any remaining grains and dust from the robot's surface to prevent these impurities from affecting its performance in future uses. Finally, a comprehensive maintenance and upkeep of the robot is performed, carefully inspecting the wear and tear of each component, such as the wear of the screw wheel, the sharpness of the cutter head, the meshing of the chain and sprockets, and the operational status of the motors, sensors, and other equipment. Any problems discovered are promptly repaired or components are replaced to ensure the robot maintains good performance and working condition for the next operation, making full preparations for the next confined space hardened material cleaning task.

[0050] Throughout the entire workflow, the various devices and systems of the spiral-driven confined space material cleaning robot work closely together, giving full play to their respective functional advantages. This ensures that the robot can efficiently and safely complete the task of cleaning confined space materials, while also possessing good adaptability and emergency response capabilities. It effectively solves many problems existing in current silo material cleaning methods, significantly improves the efficiency and safety of silo material cleaning, and provides strong technical support for the modernization of the material storage industry.

Claims

1. A concrete-hardening object cleaning robot characterized by comprising: The system includes a fuselage (4), a spiral drive walking device (1), a slab removal device (2) mounted on the fuselage (4), and a fuselage pitch attitude adjustment device. The slab removal device (2) is used to remove slabs. The spiral drive walking device (1) includes spiral wheels (11) mounted on both sides of the fuselage (4). The spiral wheels (11) are mounted on both sides of the fuselage (4) via spiral wheel brackets (13). The fuselage pitch attitude adjustment device includes a rotary joint (132) and a telescopic rod (31). The spiral wheel bracket (13) is positioned on the body (4) via a rotating joint (132), and the spiral wheel bracket rotates relative to the body with the rotating joint as the axis. One end of the telescopic rod (31) is hinged to the body (4), and the other end of the telescopic rod (31) is hinged to the spiral wheel bracket (13). When the telescopic rod extends or retracts, the spiral wheel bracket (13) rotates relative to the body (4), thereby changing the angle between the spiral wheel (11) and the body (4), thus realizing the function of the spiral wheel (11) driving the robot to drill out of the grain pile.

2. The boarder cleaning robot according to claim 1, characterized in that, The slab removal device (2) includes an alternating rotating cleaning head (21), a chain oscillating head (26), and a cleaning drive device. The alternating rotating cleaning head (21) and the chain oscillating head (26) are located at the front and rear ends of the machine body (4), respectively. Both the alternating rotating cleaning head (21) and the chain oscillating head (26) are driven by the cleaning drive device. The cleaning drive device includes 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 alternating rotating cleaning head (21) and the chain oscillating head (26) are driven by the cleaning drive device. 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 drive chain wheel, the driven chain wheel is provided on the shaft of the staggered rotating cleaning cutter head (21) and the chain oscillating head (26), the chain belt (22) is sleeved on the drive chain wheel and the driven chain wheel, and the first DC servo motor (24) drives the staggered rotating cleaning cutter head (21) or the chain oscillating head (26) to rotate.

3. The boarder cleaner robot according to claim 2, wherein, The staggered rotating cleaning head (21) includes a first main shaft and a number of curved surfaces staggered on the first main shaft; the chain oscillating head (26) includes 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 boarder cleaner robot according to claim 2, wherein, The spiral wheel (11), the staggered rotating cleaning head (21), the chain oscillating head (26), and the chain belt (22) are all made of copper.

5. The slab-clogging robot according to claim 2, characterized in that, The spiral drive walking device (1) further includes 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 second DC servo motor (12) is fixed 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 through 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 concretion cleaning robot of claim 4, characterized by The system includes a robot state detection system, a robot positioning system in a confined space (5), a robot remote control system (6), and a robot drive control system (7). The robot state detection system is used to obtain robot operation data. The robot positioning system in a confined space (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 based on the robot operation data and the robot's spatial coordinates, and send control commands. The robot drive control system (7) is used to execute the control commands.

7. The control system of claim 6, wherein, The robot state detection system includes an attitude sensor and a vision system. The attitude sensor is used to measure the pitch angle, acceleration, and angular velocity of the robot body. The vision system is used to observe the working status of the copper staggered rotating cleaning head in the slab removal device.

8. The control system of claim 6, wherein, The robot positioning system (5) within a limited space includes several positioning base stations (51), UWB positioning tags set on the robot body, and a calculation unit. The positioning base station (51) is used to receive UWB signals and record the time. The calculation unit is used to calculate the distance between the positioning base station and the robot based on the time when the positioning base station receives the signal. Based on the calculated distance, the spatial coordinates of the robot in space are calculated using the three-dimensional triangulation method, and the positioning error is optimized using the least squares method.

9. The control system of claim 8, wherein, The robot remote control system (6) includes a wireless transceiver module (65), a robot remote controller (62), and several remote control UI interfaces. The wireless transceiver module (65) is used to acquire data from the robot state detection system and the robot positioning system within a limited space. The remote control UI interface is used to display the robot's real-time working status, including the robot's pitch angle, the robot's position in space, and the working status of the copper interlaced rotating cleaning head. The robot remote controller (62) is used to send control commands.

10. The control system of claim 9, wherein, The robot drive control system (7) 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 based on the robot's pitch attitude and position information. The drive control unit is used to calculate the target speed of the motors of the two helical wheels based on the planned target speed of the robot, and is also used to receive control commands from the robot remote controller. The motion execution unit is used to drive the motors of the helical wheels to rotate according to the target speed of the motors or the control commands.

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