基于粮面形貌的平粮方法研究

Study on Leveling Grain Method Based on Grain Surface Morphology

为了实现粮仓内粮堆的快速平整,提出一种基于粮面形貌的平粮方法。根据粮面形貌的高度标准差制定粮面平整性指标,并将其作为平粮作业完成的判断依据;为了让平粮机器人能够实现自动化、智能化作业,提出采用基于蚁群算法和多运输调度的粗平路径规划算法及全区域“S”型细平路径规划算法,分别完成粮堆的粗平操作和细平操作。通过仿真环境进行路径规划实验,结果表明了所规划路线的有效性和最优性。

In order to realize the quick leveling of grain pile in granary,a leveling method based on grain surface morphology is proposed.According to the height standard deviation of grain surface morphology,the grain surface evenness index is formulated and used as the judgment basis for the completion of leveling operation.In order to enable the flat-grain robot to realize automatic and intelligent operation,the rough leveling path planning algorithm based on ant colony algorithm and multi-transportation scheduling and the whole region"S"type fine leveling path planning algorithm are proposed to complete the rough leveling operation and fine leveling operation of the grain pile respectively.The path planning experiment is carried out in simulation environment,and the results show that the planned route is effective and optimal.