Traversal based mixture of moist granular material in a bulk store

A method of mixing bulk stored granular material, the method comprising:

• controlling movement of a robot, via an auger-based drive system of the robot, to traverse about atop a surface of a piled granular material in a bulk store;
• capturing, by a moisture sensor of the robot during the traversal, measurements of moisture content of the piled granular material;
• and
• directing, by a processor of the robot, the robot to mix and distribute portions of the piled granular material having differing measurements of moisture content, wherein the mixing and distribution is effected through agitation by auger rotation of the auger-based drive system via additional traversal atop surfaces of the portions.

A non-transitory computer readable storage medium comprising instructions embodied thereon which, when executed, cause a processor to perform a method of mixing bulk stored granular material, the method comprising:

• controlling movement of a robot, via an auger-based drive system of the robot, to traverse about atop a surface of a piled granular material in a bulk store;
• directing capture, by a moisture sensor of the robot during the traversal, of measurements of moisture content of the piled granular material;
• and
• directing the robot to mix and distribute portions of the piled granular material having differing measurements of moisture contents, wherein the mixing and distribution is effected through agitation by auger rotation of the auger-based drive system via additional traversal atop surfaces of the portions.