Surface management of piled granular material
A piled grain surface management robot comprises an auger-based drive system, a memory, and a processor coupled with the memory. The processor is configured to control movement of the robot via the auger-based drive system. The processor is also configured to direct a traversal of a surface of piled grain in a bulk store, wherein a crust layer of the surface is broken up by auger rotation of the auger-based drive system during the traversal.
1. A piled granular material surface management robot, the robot comprising:
an auger-based drive system comprising bilateral augers;
a memory; and
a processor coupled with the memory and configured to:
control movement of the robot via the bilateral augers of the auger-based drive system; and
direct a traversal, by the robot, about a surface of a piled granular material in a bulk store, wherein a crust layer of the surface is broken up by auger rotation of the bilateral augers of the auger-based drive system during the traversal.
2. The robot of claim 1 , wherein the processor is further configured to:
direct traversal, by the robot, of a sloped portion of the piled granular material to incite sediment gravity flow in the sloped portion of the piled granular material by disruption of viscosity of the sloped portion of the piled granular material through agitation of the sloped portion of the piled granular material by the auger rotation of the auger-based drive system, wherein the sediment gravity flow reduces a slope of the sloped portion.
3. The robot of claim 1 , wherein the processor is further configured to:
capture, by a sensor of the robot, a measurement of a characteristic of a portion of the piled granular material during the traversal of the portion of the piled granular material.
4. The robot of claim 1 , wherein the processor is further configured to:
capture, by a sensor of the robot, a temperature measurement of a portion of the piled granular material during the traversal of the portion of the piled granular material.
5. The robot of claim 1 , wherein the processor is further configured to:
deliver a probe onto the surface of the piled granular material during the traversal.
6. The robot of claim 1 , wherein the traversal comprises the processor being configured to direct the traversal of a portion of the piled granular material according to a predetermined pattern of movement stored in the memory.
7. The robot of claim 1 , wherein the traversal comprises traversal under remote control of a human operator.
8. The robot of claim 1 , wherein the traversal comprises traversal according to instructions sent from a computer located remotely from the robot, wherein the instructions are wirelessly received by the robot.
9. The robot of claim 1 , wherein the crust layer comprises a grain bridge.
10. The robot of claim 1 , wherein the piled granular material is grain.
11. The robot of claim 1 , wherein the piled granular material is nuts.
12. The robot of claim 1 , wherein the piled granular material is non-grain plant seeds.
13. The robot of claim 1 , wherein the piled granular material is one of a pelletized product, a milled product, and an aggregate.
14. The robot of claim 1 , wherein the bulk store is one of: a bin, an open storage pile, a transport container, and a building.
15. A method of piled granular material surface management, the method comprising:
receiving at a robot, instructions to traverse a surface of a piled granular material in a bulk store;
controlling, by a processor according to the instructions, movement of the robot via bilateral augers of an auger-based drive system to traverse about the surface of the piled granular material in the bulk store, wherein a crust layer of the surface is broken up by auger rotation of the bilateral augers of the auger-based drive system during the traversal; and
directing, by the processor according to the instructions, traversal by the robot of a sloped portion of the piled granular material to incite sediment gravity flow in the sloped portion of the piled granular material by disruption of viscosity of the sloped portion of the piled granular material through agitation of the sloped portion of the piled granular material by the auger rotation of the auger-based drive system, wherein the sediment gravity flow reduces a slope of the sloped portion.
16. The method of granular material surface management as recited in claim 15 , further comprising:
capturing, by a sensor of the robot, a measurement of a characteristic of a portion of the piled granular material during the traversal of the portion of the piled granular material.
17. The method of granular material surface management as recited in claim 15 , further comprising:
capturing, by a sensor of the robot, a temperature measurement of a portion of the piled granular material during the traversal of the portion of the piled granular material.
18. The method of granular material surface management as recited in claim 15 , further comprising:
delivering a probe onto the surface of the piled granular material during the traversal.
19. The method of granular material surface management as recited in claim 15 , wherein the receiving at a robot, instructions to traverse a surface of piled granular material in a bulk store comprises:
receiving instructions to follow a predetermined pattern of movement to traverse the surface of the piled granular material.
20. The method of granular material surface management as recited in claim 15 , wherein the receiving at a robot, instruction to traverse a surface of piled granular material in a bulk store comprises:
receiving the instructions as remote-control instructions from a human operator.
21. The method of grain surface management as recited in claim 15 , wherein the receiving at a robot, instructions to traverse a surface of piled grain in a bulk store comprises:
receiving the instructions from a computer located remotely from the robot, wherein the instructions are wirelessly received by the robot.
22. A non-transitory computer readable storage medium comprising instructions embodied thereon which, when executed, cause a processor to perform a method of piled granular material surface management, the method comprising:
receiving at a robot, instructions to traverse a surface of a piled granular material in a bulk store;
controlling, by a processor according to the instructions, movement of the robot via bilateral augers of an auger-based drive system to traverse about the surface of the piled granular material in the bulk store, wherein a crust layer of the surface is broken up by auger rotation of the bilateral augers of the auger-based drive system during the traversal; and
directing, by the processor according to the instructions, traversal by the robot of a sloped portion of the piled granular material to incite sediment gravity flow in the sloped portion of the piled granular material by disruption of viscosity of the sloped portion of the piled granular material through agitation of the sloped portion of the piled granular material by the auger rotation of the auger-based drive system, wherein the sediment gravity flow reduces a slope of the sloped portion.
23. The non-transitory computer readable storage medium of claim 22 , wherein the method further comprises:
capturing, by a sensor of the robot, a measurement of a characteristic of a portion of the piled granular material during the traversal of the portion of the piled granular material.
24. The non-transitory computer readable storage medium of claim 22 , wherein the method further comprises:
capturing, by a sensor of the robot, a temperature measurement of a portion of the piled granular material during the traversal of the portion of the piled granular material.
25. The non-transitory computer readable storage medium of claim 22 , wherein the method further comprises:
delivering a probe onto the surface of the piled granular material during the traversal.
26. The non-transitory computer readable storage medium of claim 22 ,
wherein the receiving at a robot, instructions to traverse a surface of piled granular material in a bulk store comprises:
receiving instructions to follow a predetermined pattern of movement to traverse the surface of the piled granular material.
27. The non-transitory computer readable storage medium of claim 22 , wherein the receiving at a robot, instruction to traverse a surface of piled granular material in a bulk store comprises:
receiving the instructions as remote-control instructions from a human operator.
28. The non-transitory computer readable storage medium of claim 22 , wherein the receiving at a robot, instruction to traverse a surface of piled grain in a bulk store comprises:
receiving the instructions from a computer located remotely from the robot.