Design And Research Of Grain Leveling Robot For Precise Operation Of Granary

At present,the decline in the number of workers and the rise in labor costs in all walks of life automation and intelligence speed up the pace,but in the field of grain storage,the degree of automation and intelligence compared to other popular areas is relatively backward.However,food is the root of the people,and grain storage is a top priority.It is necessary to improve the efficiency of grain storage operations and reduce work intensity,so it is important to develop an automated or even intelligent grain leveling robot for precise operation in grain storage.This paper focuses on the operational environment and work requirements of the granary and conducts research on the grain leveling robot,the main research content is as follows:(1)This paper reviews and analyzes the research status of grain levelers at home and abroad,clarifies the application scenarios and functional requirements of the robots in this paper,and designs a truss-type grain leveling robot.The mobile mechanism,flat grain actuator,and drive system of the robot prototype were designed,and the principle prototype was fabricated.(2)This paper establishes the surface model of grain surface based on image technology and distance measurement technology,obtains information on the surface features of the grain pile,and quantify the working target of the robot,and designs the path of robot information acquisition.MATLAB software is also used for programming implementation and pre-processing of the acquired images.Finally,the target leveling height of the robot is obtained by processing the grain surface feature information based on image stitching and the micro-element method to quantify the working target of the robot.(3)In this paper,we obtain the optimal path of the robot based on genetic algorithm,and design the automatic grain leveling scheme of the grain leveling robot by changing the grain leveling actuator and improving its working range.And proposing the region classification method based on the target leveling height.Combining the height of the robot scraper and the power of the motor generates a two-dimensional map from a threedimensional map.The overall optimal path of this two-dimensional map is obtained by genetic algorithm,and to realize multi-angle switching by adjusting the orientation of the scraper clamping angle,which is convenient for two-axis linkage walking and handling the corner position.(4)Testing the grain leveling capability of the grain leveling robot prototype.By designing two types of experiments,grain pile coarse leveling and grain pile fine leveling,the robot’s grain surface leveling effect is tested.The tests proved that the grain leveling robot has good grain leveling ability and verified the feasibility of the grain leveling solution based on machine vision and path planning.