Study on Leveling Grain Method Based on Grain Surface Morphology
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.
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