Intelligent cultivation and harvesting device for clams

Abstract

The intelligent cultivation and harvesting equipment for clams belongs to the technical field of agricultural cultivation and comprises a bearing body, a walking device, an operation equipment, a clam pond layout and a control management system. The equipment meets the demand of people for the intelligent cultivation and harvesting of clams, realizes the intelligent operation of cultivation, planting, management and harvesting in the whole life cycle of the cultivation of clams on the beach, has the characteristics of automation, mechanization and digitization, solves the problems of low labor efficiency and low harvesting rate, is simple, convenient, safe, reliable, environmentally friendly, practical, improves the degree of mechanization of the cultivation on the beach and economic benefits, and is suitable for the cultivation of various shellfish and marine products on the beach.

Description

Technical Field

[0001] This invention relates to equipment for the cultivation and harvesting of shellfish in tidal flats, belonging to the field of agricultural aquaculture technology. Background Technology

[0002] Razor clams, also known as constricted razor clams, are bivalve mollusks belonging to the order Veneroida. They live in marine mudflats and have tender, plump, white, and delicious meat, earning them the nickname "Xi Shi's Tongue." They are a common and delicious ingredient in coastal areas. The Ningbo area has many mudflats with suitable salinity, abundant food, and loose soil, providing ideal conditions for razor clam farming.

[0003] In recent years, marine aquaculture has developed rapidly, and razor clams have become a major specialty aquatic product in tidal flat aquaculture, a new growth point for the economic development of coastal rural areas. Razor clam farming does not compete with agriculture for land, livestock for feed, or fish and shrimp farming for water surface area, making it a new technology and resource that benefits the people. Vigorously developing aquaculture not only meets the growing market demand but also alleviates the employment problem for a large number of marine fishery workers who have switched to other occupations, which is of great practical significance for the stability of fisheries, fishing villages, and fishermen. However, razor clam shells are thin and fragile, and farming and harvesting are primarily done manually, in harsh working environments and with high labor intensity. Therefore, achieving mechanized and intelligent farming and harvesting of razor clams, including intertidal flat bottom seeding, tidal flat dammed water storage aquaculture, and integrated pond water storage aquaculture, can further leverage the advantages of the marine aquaculture industry and enhance the competitiveness of marine products.

[0004] With the development of digital fisheries on the agenda, systematically promoting the digitalization of fisheries is seen as a crucial approach to accelerating rural revitalization and implementing green and modern fisheries development. Currently, the development of digital fisheries is still in its early stages. Deeply integrating digital technology with fisheries production, based on the needs and trends of modern fisheries development, is an inevitable trend and a significant breakthrough. Developing digital and intelligent aquaculture equipment suitable for the characteristics of aquaculture in my country's waters is also a key area for future scientific and technological research.

[0005] Due to the urgent need for mechanized harvesting machinery for tidal flat shellfish, numerous mechanized and semi-mechanized harvesting techniques have emerged and been reported in the literature. However, because razor clams grow in burrows at varying depths and are affected by tides, the survival rate, harvest rate, and productivity are low. The availability of mobile harvesting devices for tidal flats is a major bottleneck in razor clam farming technology. Existing technologies and equipment are insufficient, and there is currently no suitable harvesting equipment for tidal flat razor clam farming.

[0006] This invention relates to a mechanized and intelligent aquaculture and harvesting device for razor clams. A novelty search of relevant domestic and international papers and patents on harvesting equipment revealed numerous studies and reports, but none involving the same research or technology as this invention. Summary of the Invention

[0007] To meet the demand for mechanized and intelligent razor clam farming and harvesting equipment and to solve the problems of low labor efficiency and low harvest rate, this invention provides a mechanized intelligent razor clam planting, farming, and harvesting equipment and device.

[0008] The technical solution of this invention includes a carrier, a walking device, working equipment, clam pond layout, and a control and management system, characterized in that:

[0009] A. The amphibious walking platform, capable of operating on water, land, and mudflats, comprises a chassis, a floating body, and a walking mechanism. The floating body is available in two types: open hull and sealed buoy. To ensure the entire device does not capsize, sink, or take on water, the displacement of the floating body is determined based on the total weight of the device. The displacement of the open hull is greater than 175% of the total weight, and the displacement of the sealed buoy is greater than 135% of the total weight, ensuring that at least one-fifth of the floating body is above the waterline. The center of gravity of the entire device is located below the deck, and is balanced using counterweights. The chassis has an arc-shaped mud-penetration approach angle of 12–25 degrees at both ends, and the bottom surface is flat but has air grooves to avoid vacuum suction, facilitating gliding on the mudflats. The contact area S between the chassis and the walking mechanism and the mudflat surface should meet the following requirements:

[0010]

[0011] S—Contact area between the chassis running gear and the ground (cm²) 2 )

[0012] W—Total weight of the equipment at full load (kg);

[0013] N—Ultimate bearing capacity of soft tidal flat foundation (kg / cm²) 2 )

[0014] x — Adjustment coefficient. (The value ranges from 0.10 to 0.35 for tracks, 0.25 to 0.50 for bionic wheels, and 0.20 to 0.45 for spiral rollers);

[0015] B. The mobile device includes a power unit, a reducer, bollards, and a winch. The power unit uses an internal combustion engine with purified exhaust or a waterproof and moisture-proof battery motor. Multiple bollards are arranged at the wharf and on the land shoreline. The winch and pulleys are mounted on the carrier. The reducer has a high speed of 5–16 km / h and a low speed of 0.5–3.5 km / h. The mobile device uses three forms: a blade wheel inspired by a buffalo's foot, a track with paddling strips, and an inflatable spiral roller. It is made of rubber-plastic, aluminum alloy, or stainless steel composite materials. The inflatable spiral roller is a combination of a buoy and the mobile device.

[0016] C. The operating equipment includes a harvester, a spreader, a tiller, a subgrade laying machine, and an ozone generator, with connecting lugs and a lifting mechanism installed on the traveling carrier. The harvester includes a bucket equipped with an identification sensor and rollers at the bottom, an L-shaped shovel head made of elastic material, a conveyor belt, a clam mud separator, an intelligent sorting device, and a device for removing necrotic and broken clams. The spreader includes a seeder, a spreader, and a spreading density adjustment device. The tiller includes a tilling plow and a harrow to make the clam mud flat, uniform, and soft. The subgrade laying machine is equipped with a separating membrane roller. When the tiller turns over the mud, the separating membrane is laid, and the mud is covered onto the separating membrane by the bucket and conveyor belt. The tilling, laying, seeding, spreading, and harvesting are carried out according to the time route set in the industrial control computer using a GPS positioning and navigation system, and the results are displayed and recorded on the screen. The ozone generator moves in the pond water while pressing ozone into the water.

[0017] D. The clam pond is divided into three areas: water, land, and mudflats. The water area is used for aquaculture of fish and shrimp, including waterways between the mudflats and a protective riverbank around the pond, connected to the sluice gate and wharf, ensuring seamless water circulation. The land area features entrances and exits around the pond, sloping roads for water access, a floating wharf with a cable-stayed crane, charging piles with permanent magnet connectors, sluice gates with filters, and a base station with an industrial control computer. The mudflats are used for aquaculture of clams or shellfish. After being turned over, raked, and leveled, they are laid out in rows 3m to 7m wide, resembling roads, with a higher center and lower sides to prevent water accumulation. Ditches are left between the rows, and the mudflats cover approximately 1 / 3 to 2 / 5 of the total area. The top surface is lower than the land area, submerged when the water level is high and exposed when the water level is low. An isolation layer is laid at the bottom. The sluice gates control the water level, and the water is changed periodically, periodically raising and lowering the water level above and below the mudflats.

[0018] E. The control and management system consists of positioning and navigation, intelligent remote control, human-machine interaction, and management and monitoring. Positioning and navigation includes antennas and signal transmitters, GPS positioning and navigation devices, and base stations located at the front and rear of the walking vehicle. Intelligent remote control includes a walking operation execution module consisting of automatic sensors, remote controllers, and receivers. Management and monitoring includes intelligent monitoring modules for salinity, oxygen content, pH value, air temperature, water depth, and aquaculture density. The power source for the control and management system is a battery pack. Solar panels are installed on the top of the walking vehicle, and charging piles with electro-permanent magnet connectors are installed at the dock to obtain and store electrical energy from the battery pack.

[0019] The bearing capacity refers to the ability of the coated foundation to bear the load of the superstructure, and is a macroscopic manifestation of the shear strength of the coated foundation soil. It is the maximum allowable load that the coated foundation will not deform, and cannot exceed the characteristic value of the foundation's bearing capacity. Under load, the foundation will deform. As the load increases, the foundation deformation gradually increases. In the initial stage, the foundation is still in an elastic equilibrium state and has a safe bearing capacity. When the load increases to the point in the coated foundation where the shear stress reaches the soil's shear strength, that point or small area will experience shear failure and reach a state of limit equilibrium, and the stress in the soil will redistribute. This small-scale shear failure zone is called the plastic zone. The foundation can usually recover from a small-scale limit equilibrium state to an elastic equilibrium state, and the foundation can still tend to be stable and still have a safe bearing capacity. However, if the foundation deformation is slightly large, exceeding the allowable value, and a large-scale plastic zone appears, it will indicate insufficient foundation bearing capacity, and the equipment will sink into the mud coating. To enable the mobile platform to move freely on water, mudflats, and land, this device addresses the low bearing capacity and tendency to sink into mudflats. The ultimate bearing capacity of the foundation refers to the maximum bearing capacity before the foundation's stability is compromised. This device employs three types of walking systems: biomimetic buffalo leg-inspired impellers, tracks with paddling strips, and inflatable spiral rollers. The bottom contact surface can be adjusted according to the weight of the entire machine. This solves the problems of high resistance, sinking, and low walking efficiency during mudflat movement, providing a mobile platform for mudflat tillage and mechanized harvesting equipment. The chassis, i.e., the platform's bottom, has an arc-shaped mud-approach angle. Considering the characteristic of a layer of floating mud on the surface of the mudflats in southeastern coastal areas, this layer is removed when measuring the surface bearing capacity, and the approach angle is set between 10 and 18 degrees. The flat bottom surface is equipped with air grooves, which facilitates gliding on the mudflats and avoids the vacuum suction of a boat chassis.

[0020] The track's contact area is set according to the bearing capacity of the tidal flat foundation, and the walking device is a floating drive mechanism. The track adopts a triangular arrangement, with each section equipped with a water-carrying strip. At least 3 / 7 of the track is exposed above the waterline. Water-carrying strips are set on the track area and edges to solve the problems of walking on the tidal flat and sinking.

[0021] The aforementioned biomimetic buffalo shank impeller utilizes a combination of three-dimensional geometric design and surface coating technology to reduce drag and increase thrust. The impeller arrangement is designed using topology optimization techniques. Based on bionics theory, and using the buffalo shank impeller—an animal with excellent walking ability on soft ground—as the research subject, reverse engineering is employed to construct the three-dimensional geometry of the impeller, combined with surface coating technology to reduce drag and increase thrust.

[0022] The aforementioned inflatable spiral roller combines a floating body with a walking device. Since the carrier spends most of its time moving on the water surface and mudflats, the hollow inflatable roller with external spiral blades solves the problems of high resistance and low walking efficiency during mudflat movement. This provides a three-dimensional walking and carrying system for mudflat tillage and mechanized harvesting equipment. Achieving the goal of "running on land, walking on mudflats, and navigating on water" is a key technology for mechanized intelligent aquaculture and harvesting equipment.

[0023] The bollards are arranged around the wharf and the shoreline. The bollards are equipped with anchor winches and pulleys. The anchor cables are made of galvanized steel wire rope. The anchor cables of the bollards are hung on the shoreline to control the drive winch to achieve positioning or movement.

[0024] The floating body can be either open or sealed, with its displacement determined by the total weight of the equipment. An open floating body functions like a ship's hull, with the equipment's center of gravity below the deck. A sealed floating body places the equipment's center of gravity below its centerline. This ensures the entire equipment is stable, preventing capsizing, sinking, and water ingress.

[0025] The power system employs either an internal combustion engine or an electric motor. The internal combustion engine, with its exhaust treated for purification, powers the walking mechanism, harvester, seeder, and tiller. The control and management system is powered by a battery pack. Considering the long-term outdoor operation, a solar panel is installed on top of the equipment to protect it from rain and to charge the batteries using solar energy. Solar panels are located on the top of the walking platform, and charging stations with electro-permanent magnet connectors are located at the dock to obtain and store electrical energy from the battery pack. To prevent hydraulic system leaks that could contaminate the fish farm and affect aquaculture quality, the internal combustion engine exhaust is purified, and the use of a waterproof and moisture-proof battery-powered motor is also an advantage.

[0026] The harvester includes a harvesting and sorting device. The harvester has a bucket and a conveyor belt, and the sorting device includes a clam mud separator, an intelligent sorting device, and a necrotic and broken clam removal device.

[0027] The bucket, located at the front of the harvesting device and connected to the conveyor chain, is an L-shaped shovel head made of elastic rubber and plastic. Through experimental research and simulation analysis, the optimal parameters of the shovel head were determined to be between 3 and 12 degrees downward from the horizontal plane to avoid damaging the clams. The bucket is equipped with a posture sensor and a recognition sensor. The recognition sensor uses a ground probe to detect the density of the strata; a uniform density indicates the mud layer, while areas showing different densities indicate the location of the clams. The bucket also contains a posture sensor to maintain the bucket in its optimal position and posture. A submersible vibrator is installed at the rear, and rollers are located at the bottom of the bucket to guide it along the bottom isolation layer, protecting and leveling the bottom film layer. A conveyor belt connects to the end of the bucket, with counter-raking plows installed at equal intervals to transport the clam-containing mud to the clam mud separator. Furthermore, the bucket's width is greater than the traveling device, ensuring overlapping working edges, preventing omissions, waste, and blind spots.

[0028] The sorting device includes a clam mud separator, intelligent sorting, and a necrotic and broken clam removal device; it also includes a mud and clam sieving device, a sorting device, and a high-efficiency non-destructive quality inspection system. The harvesting plow is installed at the front end of the plow box; the main conveyor belt transports materials upwards along the inclined direction of the harvesting plow box; mud-cutting teeth for separating the mud are installed inside the harvesting plow box, realizing continuous mechanized operations of digging, screening, and collecting.

[0029] The hollowed-out conveyor belt is a forward extension of the clam mud separator. The conveyor belt and the clam mud separator are organically combined. Both the conveyor belt and the reverse rake are hollowed out with a size smaller than that of the clam. During the conveying process, a vibrator is used to return the mud and water to the mudflats, and the clam is scooped up. The separation of clam mud is completed directly during the conveying process.

[0030] The aforementioned tillage device, in order not to affect the yield and quality of razor clams, fully considers the properties of the mud and sand on the tidal flats. After one round of aquaculture, the clam fields need to be tilled, raked, and leveled before continued aquaculture can proceed. Therefore, a rod-type mechanism is required to control the tillage depth. A design model of the tillage device is established, and its motion characteristics are analyzed using the finite element method, considering the overall operating resistance of the equipment, the maximum tillage depth at one time, and the harvestable width, to ensure that it achieves efficient tillage, tillage depth, and leveling of mud and sand in the tidal flat environment. According to the coastal mudflats of Zhejiang, under the dynamic action of tides and waves, the tidal flat profile exhibits a binary structure. Therefore, the bottom layer of the clam pond is a silt layer, mainly composed of silt and fine sand, with a low mud content, a denser structure than the upper layer, and a lower water content. The middle layer uses a mixture of 1 / 9 to 1 / 4 mud and sand, and the top layer is covered with sandless soft mud, a silt layer with fine sediment particles, mainly mud, containing a small amount of fine sand and silt, high water content, and a loose structure. The thickness between the surface layer and the isolation layer is between 20cm and 50cm. Most of the shellfish farmed in the mudflats live in the upper silt layer. The living environment of the shellfish in the mudflats dictates that the first technical issues to be addressed during harvesting are how to collect, transport, and efficiently separate the shellfish from the mudflats. Secondly, different shellfish live at different mud depths; clams live at a depth of 30cm to 50cm, while hard clams and other similar species live at a depth of 10cm to 30cm. Therefore, it is necessary to adjust the tillage depth and the adaptability of equipment for harvesting from different mud layers.

[0031] The aforementioned positioning depth controller includes two positioning antennas at the head and tail of the work platform, a depth monitor and a signal transmission antenna, a positioning system, a signal transmitter and receiver in the control room, and an industrial control computer. Homogeneous shellfish farming maintains a uniform depth, but the depth at which shellfish are located varies depending on the season. During harvesting, equipment needs to be deployed to a certain depth below the beach surface to reduce resistance during the harvesting machine's movement and to harvest all shellfish from the aquaculture layer.

[0032] Since different intertidal shellfish inhabit different areas, it is necessary to determine the location and adjust the harvesting depth. By using a 3D model of the intertidal zone, water, and the moving machinery, the potential problems, resistance levels, and impacts on intertidal harvesting that may occur when the harvesting device enters the water at different angles were constructed. Through simulation analysis, the harvesting depth was determined and controlled.

[0033] The seedlings are primarily sourced from wild-caught seedlings and semi-artificially collected seedlings from marine areas. Depending on the season, seedlings need to be sorted by size before undergoing seedling cultivation and finally sowing. Multiple sorting processes are required during seedling collection and cultivation to improve seedling survival rates. Therefore, seedling sorting must consider the impact of different seedling species on sowing distribution, sowing efficiency, and sowing uniformity, optimizing the equipment to ultimately obtain the seedling sowing device.

[0034] The control room is equipped with an industrial control computer base station; the positioning system, combined with the constructed Internet of Things control system, records in real time on the industrial control computer information including salinity, oxygen content, temperature, area, water depth, aquaculture density, and the quantity, time, and location of tilling, sowing, and harvesting.

[0035] The top of the walking carrier is equipped with solar panels, and the dock is equipped with charging piles with electro-permanent magnet connectors to obtain and store electrical energy for the battery pack.

[0036] To achieve operational status monitoring of four types of equipment—plowing, planting, management, and harvesting—and intelligent control of beach tillers and harvesters, core components such as mechanical motion control modules, operation detection modules, navigation modules, and communication modules are integrated with the equipment. This provides data support for intelligent fisheries data platforms and a twin system for tidal flat shellfish aquaculture.

[0037] By adopting the above technical solution, the present invention has the following positive effects.

[0038] 1. Due to the successful fabrication of a amphibious walking device that can move freely on water, land, and mudflats, and through the testing of the ultimate bearing capacity of the mudflat foundation, the configuration of the floating body, the setting of the center of gravity, the arc-shaped mud-eating approach angle at both ends of the chassis, and the setting of the air groove, a amphibious walking mechanism containing a floating body, power, steering mechanism, and reducer was developed, which adopted three forms: tracks, bionic wheels, and spiral rollers; thus solving the problem of moving freely on water, land, and mudflats.

[0039] 2. By mounting working machines such as beach tillers, seedling sorting machines, seeders, and harvesters on the walking mechanism during the aquaculture process, mechanized and digitalized operations are achieved for the entire life cycle of razor clam farming in the mudflats, including tilling, planting, management, and harvesting.

[0040] 3. Based on spatiotemporal multi-source information perception-based adaptive control technology for harvesting depth, an equipment control system with strong compatibility with mobile phones and computers, enabling remote data transmission and remote control, has been developed. It is equipped with an automatic sensing and remote control system and a ship GPS positioning system. This solves the problems of information collection and digital storage, and provides functions such as walking control, motion control, and intelligent reversing. It achieves unmanned operation, enhancing the development level of smart agriculture towards informatization, digitalization, and intelligence.

[0041] In summary, based on the characteristics of marine tidal flats and razor clams, this invention has developed a three-dimensional walking machine, a tidal flat tillage machine, a seed sorting machine, a seeder, and a harvesting machine, realizing intelligent operation throughout the entire life cycle of tidal flat aquaculture. It features automation, mechanization, and digitalization, and is suitable for tidal flat razor clam farming. Attached Figure Description

[0042] Figure 1 This is the front view of Embodiment 1; Figure 2 This is a top view of Embodiment 1; Figure 3This is a partial view of the harvester; Figure 4 It is a layout diagram of the aquaculture ponds; Figure 5 Example 2: Schematic diagram of the impeller of the biomimetic buffalo foot; Figure 6 Example 3 Schematic diagram of inflatable spiral roller; The diagram includes: hull (1), telescopic arm (2), shovel head (3), bucket (4), conveyor belt (5), connecting lug (6), unloading port (7), identifier (8), clam mud sorter (9), sorting bed (10), track (11), baffle plate (12), ozone generator (13), track wheel (14), water-pushing strip (15), attitude identifier (16), shovel head sensor (17), reverse rake (18), fixed pile (19), wire mesh (20), collection hopper (21), collection basket (22), pile (23), winch (24), pulley (25), anchor box (26), roller (27), vibrator (28), shovel transmission chain (29), and stop wheel (30); Figure 4 The system includes: management building (101), water level marker (102), dock (103), charging power supply (104), slope (105), surrounding roads (106), bollards (107), gate (108), filter screen (109), clam coating (110), galvanized steel wire rope (111), work platform (112), color-coded clam coating (113), and pond water area (114). Figure 6 It includes: an air inlet (201), a left-hand rotating drum (202), a left-hand rotating blade (203), a right-hand rotating drum (205), a right-hand rotating blade (206), a timing belt (207), and a fixed shaft (208). Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be described in further detail below with reference to the embodiments.

[0044] Example 1: Tracked amphibious vessel, also known as a tracked winch-type unmanned operating platform (112), such as... Figure 1 Figure 2 As shown. To address the shortcomings of existing technologies, this embodiment provides a device and apparatus for intelligent aquaculture and harvesting of razor clams, including a carrier, a walking and moving device, operating equipment, clam pond layout, and a control and management system.

[0045] The carrier adopts a flat-bottomed hull (1), and the walking device adopts a total weight of 2.1t when fully loaded. The displacement of the hull (1) is 4.3t. Half of the track (11) is above the draft level. The track (11) of the apron (15) is placed below the baffle plate (12). The equipment is made of rubber and plastic composite material. The center of gravity of the entire equipment is set below the deck and is balanced by counterweight. The chassis has a 16-degree arc mud approach angle at both ends and air grooves on the bottom surface, which avoids vacuum suction and facilitates the hull (1) to slide on the mudflat. The contact area between the bottom of the hull and the walking device and the mudflat is the sum of the contact area of ​​the track and the contact area of ​​the bottom of the hull, which meets the ultimate bearing capacity requirements of the soft mudflat foundation. Based on the removal of the surface floating mud layer, the parameters with the smaller mudflat bearing capacity are used for calculation to ensure that the hull (1) will not sink into the mud.

[0046] The mobile device includes a power unit, a reducer, bollards (23), and a winch (24). The power unit is an internal combustion engine with exhaust purification treatment. The internal combustion engine is connected to a starter motor, which is connected to a starter switch and a lithium battery. The starter switch is controlled by an industrial control computer. The reducer speed is adjustable, with a fast speed of 5-15 km / h and a low speed of 0.5-3.5 km / h. Tracks (11) with paddling strips (15) are used. The forward and backward speeds of the left and right track wheels (14) are controlled by the industrial control computer. Multiple bollards (23) are set on the hull (1), and multiple moored bollards (107) are arranged on the dock (103) and the surrounding roads (106) of the land area. During operation, four anchor winches are positioned according to GPS positioning devices. The moored bollards (23), galvanized steel wire ropes (111), winches (24), and pulleys (25) are connected for the movement and positioning of the work platform (112). Both industrial control computers and mobile phones can operate the equipment, enabling automatic operation or remote control. The bollards (23), anchor boxes (26), and winches (24) are used for mooring and mooring of the ship (1), and also...

[0047] The operating equipment includes a harvester, a spreader, a tiller, a subgrade paver, and an ozone generator. Fixed piles (19), connecting lugs (6), and a telescopic boom (2) are installed on the traveling support. The connecting lugs (6) and fixed piles (19) installed on the hull (1) are used to secure the operating equipment. The telescopic boom (2) is used to adjust the height and working depth of the operating equipment.

[0048] The harvester includes a bucket (4) equipped with a shovel head sensor (17), a posture recognizer (16), and a roller (27) at the bottom, a reverse conveyor belt (5), an L-shaped shovel head (3) made of elastic material, and a clam mud sorter (9). The clams are connected to the discharge port (7), wire mesh (20), recognizer (8), sorting bed (10), intelligent sorting device, and necrotic and broken clam removal device via the conveyor belt (5), and then to the collection hopper (21) and collection basket (22).

[0049] The bucket (4) described above Figure 3As shown. After being processed by sheet metal, the stainless steel plate extends upward on both sides and has a flat surface in the middle, forming a trapezoidal structure. It is fixedly installed at the front end of the reverse conveyor belt (5). The bucket (4) is equipped with a bucket attitude identifier (16) and a shovel head sensor (17) to maintain the optimal attitude of the bucket. The shovel head sensor (17) uses a ground probe to detect the density of the stratum. The uniform density is mud layer, and the different density indicates the location of clams. A roller (27) is provided at the bottom of the bucket to guide the bucket along the bottom isolation layer, protecting and leveling the bottom film layer. The L-shaped shovel head (3) is made of elastic rubber and plastic. The angle between the shovel head (3) and the horizontal plane is between 3 and 12 degrees. A submersible vibrator (28) is installed at the rear. During harvesting, one end of the vibrator contacts the bottom of the mudflat, and the other end is connected to the transmission structure, the shovel transmission chain (29), and the guide wheel (30). A conveyor belt (5) is connected to the end of the bucket. Reverse rakes (18) are installed at equal intervals on the conveyor belt (5) to transport the mud containing razor clams to the clam mud separator.

[0050] The seedling sower includes a seeder, a spreader, and a sowing density adjustment device. During sowing, a 40-mesh tidal flat seedling sower is used to achieve a seedling density of 100 million seeds per hour or more, with the seedling damage rate controlled within 3%. During the mechanized seedling sowing process on tidal flats, a seedling efficiency of 2 mu per hour or more is achieved. The seedling speed and seedling density are adjustable and set by an industrial control computer.

[0051] The attitude recognition device (16) includes two positioning antennas at the front and rear of the hull (1), sonar depth sounding, and a bucket (4) level detector. It performs tillage, laying, sowing, spreading, and harvesting according to the time route set in the industrial control computer, and displays and records the data on the screen. For example, the implemented data is marked as color clam mudskipper (113), and the unimplemented data is marked as original clam mudskipper (110). A dedicated ecological information database is used to store all data information generated during the development of this project. It stores all information data of the entire life cycle of tidal flat shellfish for later data mining and the information-based aquaculture needs of tidal flat shellfish.

[0052] Aerators and oxygen content detectors are distributed in the pond water area (114). When the oxygen content is low, the aerators are turned on.

[0053] The ozone generator (13) is on the amphibious vehicle. When it detects that the density of aquaculture in the pond is greater than the set value, it automatically moves in the water area of ​​the pond while pressing air ozone into the water.

[0054] Clam pond layout: To improve efficiency, a shrimp-clam polyculture method is adopted. Selecting a suitable breeding site and constructing a standard clam pond is crucial. The clam pond is divided into three areas: water, land, and mudflats. Figure 4As shown, the water area (114) in the pond is used for aquaculture of fish and shrimp, including waterways between the mudflats and a protective riverbank around the pond, which is connected to the sluice gate (108) and the dock (103). The sluice gate (108) is equipped with a 50-80 mesh filter screen (109) to control the water level of the mudflats, change the water regularly, and periodically keep the water level above and below the mudflat surface. When the water level is high, the mudflats (110) are submerged, and when the water level is low, the mudflats (110) are exposed. Water is supplied and drained at least once a day, submerging when the water level is high and exposing when the water level is low. The land area is arranged around the clam pond, including roads (106), surrounding entrances and exits and drainage slopes (105), a floating dock (103) with bollards (107) and cranes, charging piles (104) with permanent magnet power connectors and water level markers (102) on the floating dock, dividing the entire clam mudflat into small plots 3-7 meters wide, covering an area of ​​about 1 / 3 to 1 / 5 of the total area. The top surface is lower than the land area, and ditches are left between the plots. The plot surface is road-shaped and does not accumulate water. The mudflat is tilled, laid, and leveled to make it flat, uniform, and soft. The bottom layer laying machine is equipped with a separating film roller. When the tiller turns up the mud, the bottom separating layer is laid. The mud is covered onto the separating film by the bucket and conveyor belt. Pond bottom composition, area, and water depth: Two ponds, each covering 50 mu (approximately 3.3 hectares), with soft mud bottoms, an effective water depth of 1.5 to 2.0 meters, and a clam bed water level of 0.8 to 1.2 meters, with a minimum depth of 40 to 60 centimeters. The ponds are long and narrow, with a raised platform in the center. The surrounding ditches of the shrimp ponds will be deepened and widened. The soil from the ditches will be piled on the inner side of the raised beds and then leveled. This will create a 2-3 meter wide, inwardly sloping platform around the shrimp ponds for stocking razor clams.

[0055] The control and management system consists of positioning and navigation, intelligent remote control, human-machine interaction, and management and monitoring. The positioning and navigation system includes antennas and signal transmitters at the front and rear of the walking carrier, a GPS positioning and navigation device, and a base station. The intelligent remote control system includes a walking operation execution module consisting of an automatic sensor, a remote controller, and a receiver. The management and monitoring system includes an intelligent sensor monitoring module for salinity, oxygen content, air temperature, water depth, and aquaculture density. The power source for the control and management system is a battery pack. The management room (101) includes a control room and a base station with an industrial control computer.

[0056] To address the challenges of high labor intensity, low efficiency, high labor costs, and a aging workforce, this project leverages technologies such as artificial intelligence, autonomous driving, and intelligent control to automate equipment operation, aquaculture, and harvesting, thereby freeing up manpower and achieving breakthroughs in fully intelligent equipment technology for shellfish farming. Research is being conducted on a GPS / INS / UWB joint navigation algorithm, which integrates multi-source heterogeneous information to provide high-precision navigation for the walking system, while also providing full attitude information parameters. Ultrasonic sensors are used to perceive the surrounding environment of the equipment, preventing collisions during automated operation. PID control and adaptive control algorithms are combined to control the walking system, and path planning, tilling, and harvesting depth control technologies are integrated to achieve unmanned operation in the tilling and harvesting stages.

[0057] To ensure a bumper harvest of shrimp and razor clams and achieve better economic benefits, the following key measures must be implemented. The following describes the four main tasks of shrimp and razor clam polyculture in Example 1: pond clearing and tilling, sowing and stocking, aquaculture management, and harvesting and selection.

[0058] Pond preparation and clearing: Whether using prepared or unprepared ponds, shrimp and clam farming requires tilling, raking, and leveling before stocking. The clam beds in shrimp-clam polyculture ponds should be limited to no more than 1 / 3 of the total area, spaced 3-7 meters wide in rows resembling a road, higher in the center and lower on the sides to prevent water accumulation, with ditches between the rows. The bottom of the shrimp-clam polyculture pond must be treated to remove the black mud; a bottom substrate of soft mud and a mixture of mud and sand is ideal. The pond should be calm with a certain current, and the bottom substrate should have distinct layers: a top layer of 3-5 cm of soft, sedimentary mud; a middle layer of 20-30 cm of mud and sand; and a bottom layer of pure sand and a separating membrane.

[0059] Select the edge and some middle sections of the pond, and harrow and till the soil 20 days in advance. Areas with hard bottoms require tilling, harrowing, and leveling to make the soil fine and soft, which is beneficial for razor clams to burrow into. Fifteen days before stocking, disinfect the pond with 60 ppm bleaching powder. After 3-5 days, drain the disinfectant solution, then use 20 ppm tea seed cake to clean the pond. This is to kill predators such as fish, crabs, and snails, which would otherwise consume large numbers of juvenile razor clams.

[0060] Sowing and stocking: Carefully select clam seedlings, sow at the appropriate time, and ensure reasonable planting density. Early sowing is encouraged during the suitable sowing season, generally completed before the Qingming Festival. Sowing should be carried out during the spring tide. For outdoor aquaculture, 70 kg of clam seedlings with shell length less than 1 cm can be sown per mu (approximately 0.067 hectares), while for indoor ponds, 80 kg can be sown per mu. Avoid overcrowding. If there is rain and abundant freshwater before sowing, based on calculations from the industrial control computer, 6-12 kg of coarse salt can be spread per mu to facilitate clam seedling burrowing.

[0061] Select high-quality razor clam seedlings that are white and robust, with intact shells and no broken shells, to improve their survival rate. The seedlings must be clean and free of mud. During transportation, ensure ventilation and cover them with tarpaulins to prevent sun and rain exposure. Sprinkle them with seawater every 4-6 hours during transit. Besides transportation time, temperature is a crucial factor affecting seedling survival; lower temperatures result in higher survival rates, but the temperature should not drop below zero.

[0062] Sowing Method. When sowing razor clam seedlings, first shake the container a few times to shrink the water pipes of the seedlings and increase their burrowing rate. Then, evenly scatter the seedlings on the surface of the pond. The water depth in the clam pond should be 20-30 cm. Do not sow seedlings in a completely dry pond. About a week before sowing, filter 20-30 cm of fresh water through a 60-80 mesh silk screen before sowing. After the clam seedlings are in the pond, add 20-25 cm of water weekly. Maintain the water level at 80 cm before mid-June and at 100 cm after mid-June. Change the water and fertilize the water as needed, depending on the water color and level. The actual sowing area for razor clams should not exceed 25% of the shrimp pond area. After the high tide recedes, add 20-30 cm of water to the pond. Healthy seedlings will begin burrowing into the soil within ten minutes of sowing. If they still cannot burrow after 20 minutes, it indicates that the clam seedlings are weak or have died. Based on the conditions of the clam pond, and taking the pond water surface as a unit of measurement, the seeding density is 5 kg of clam seedlings per mu (approximately 0.067 hectares) that are 2-2.5 cm in length, 3000 seedlings per kg, with unbroken shells, robust, and uniform in size. This is equivalent to 100 seedlings per square meter of clam pond.

[0063] Aquaculture Management: From stocking to harvesting, razor clam farming requires strengthened management of the mudflats. The farming period can last from 6-7 months to 15-16 months, and this strengthened management is crucial for protecting and increasing yields. At the initial stocking stage, check the survival rate of clam seedlings in the mudflats and replenish them promptly. After strong winds and waves, level the mudflat surface immediately. In summer, weed regularly to loosen the mudflat surface; after low tide in summer, prevent waterlogging to avoid scalding the razor clams. During the breeding season, protect against typhoons and heavy rains around the time of the White Dew solar term, and promptly remove fish and disease pests. After the clam season begins, cover the mudflats immediately. For razor clam and shrimp polyculture, ensure sufficient shrimp feed to prevent shrimp from eating the razor clams due to insufficient food, which could reduce yields. After shrimp harvesting, fertilize and cultivate feed to ensure the razor clams thrive. Water Quality and Source: Select shrimp ponds along the Dingzi Bay area, where razor clam farming is widespread, prioritizing natural tidal intake and convenient water inflow and drainage. The seawater has a specific gravity between 1.010 and 1.025, a water temperature between 3℃ and 32℃, and a pH value between 8.01 and 8.15. The beach and water quality are not polluted.

[0064] Fertilization and Feeding: About one week before sowing, add fresh water to the breeding pond at a depth of 20-30 cm through a 50-80 mesh silk screen, and apply 50 kg of chicken manure per mu (approximately 0.067 hectares). Provide basic feed organisms in the breeding pond. Key Points of Aquaculture Management

[0065] (1) The area for raising razor clams should be appropriately controlled, and the stocking density of razor clam seedlings should be suitable. Generally, the area for raising razor clams in shrimp ponds should be controlled at about 1 / 3 to 1 / 5 of the total pond area. Otherwise, if the area for raising razor clams is too large, the growth of shrimp and shellfish will be affected due to insufficient feed. The total number of razor clam seedlings stocked should be controlled within 50,000 per mu.

[0066] (2) Arrange the stocking time reasonably. Razor clam seedlings should be stocked first, followed by shrimp seedlings half a month later. This allows the razor clam seedlings to burrow into the mud as soon as possible. Feed them regularly every day to ensure the shrimp are well-fed. If feeding is insufficient, the shrimp will be hungry and will often drag and eat the razor clams, especially when the seedlings are first released. Otherwise, the shrimp seedlings will grow up and often drag and eat the razor clam seedlings, causing economic losses. At the same time, the fertile water in the pond can breed more plankton, providing more live food for the razor clams.

[0067] (3) Arrange the location for raising razor clams reasonably. It is advisable to choose the middle beach between the edge of the shrimp pond and the inner side of the ring ditch; razor clams should not be raised in the ring ditch and feeding area to avoid affecting the normal life of the shrimp.

[0068] (4) Strengthen polyculture management. After stocking razor clam larvae, the water depth in the clam pond should be 20-30 cm. After stocking shrimp larvae, add 20-25 cm of water weekly. Adjust water and fertilize appropriately based on the pond's water color to maintain freshness and vibrancy. Fertilizer should be applied sparingly and frequently. After harvesting shrimp, continue fertilizing and strengthen the management of razor clams. During periods of high temperature or cold air, raise the water level to stabilize the water temperature. All indicators should be within the normal range.

[0069] Harvesting and Selection: Harvest at the appropriate time, returning each clam to its natural habitat. Harvest a portion when shrimp and razor clams are too densely packed; harvest a portion when the season is at its peak and the clams are at their best. Razor clams, averaging 5-6 cm in length and plump, can be drained and harvested for sale. Clams not harvested in the current year can continue to be cultured in water, but winter management must be strengthened, and harvesting and sale can resume in January or February of the following year. The harvesting season for razor clams is from July to August, or around the Spring Festival to Qingming Festival. Finally, ensure thorough and complete harvesting. Clam harvesting must be thorough, leaving no old or dead clams, otherwise hydrogen sulfide will accumulate at the bottom, affecting yield and impacting the following year's aquaculture.

[0070] During harvesting, the shovel first contacts the bottom of the mudflat, and the mechanical walking device continues to move forward. The mudflat slowly rises and is then transported by a conveyor to a screening device. Along with the underlying diaphragm, harvesting gradually begins. Based on the characteristics of the mudflat, the mixing of mudflat and razor clams, and the characteristics of the razor clams themselves, kinematic simulation analysis of parameters such as amplitude, frequency, and vibration force of the screening device is required to ensure that the mudflat falls off the screening device, the razor clams separate from the mudflat, and the razor clam shell damage rate is less than 1%. Because the mudflat is highly viscous and tightly bound to the razor clams, seawater is used to dilute it during screening to facilitate clam separation. In this process, parameters such as water pressure and flow rate must be considered. Theoretical calculations are performed in simulation analysis and numerical simulation to determine these parameters, and experimental verification is conducted to determine the functional performance parameters of each part of the screening device.

[0071] During harvesting, a harvester is installed on the bow of the hull (1). The harvester consists of a roller (27), vibrator (28), sled conveyor chain (29), shovel (30), shovel head (3), bucket (4), and conveyor belt (5). The bucket is located at the front of the harvesting device and connected to the conveyor chain. The shovel head is made of elastic rubber and plastic material, and its installation angle is between 3 and 12 degrees downward from the horizontal. A sensor (17) is installed in the bucket (4), and a submersible vibrator (28) is installed at the rear. A roller (27) is installed at the bottom of the bucket (4) to guide the bucket (4) along the bottom isolation layer, protecting and leveling the bottom film layer. This system can lift the mixture of mudflats and clams, separate and sort mudflat clam mud, and harvest 100 kg of mudflat shellfish per hour. - 200kg, harvesting rate 95%, breakage rate less than 5%; contains a smart control system for monitoring and identification, a sorting bed (10); the sorting bed is divided into three functions, the first is the separation of mud and clams, the second is identification, removal of dead and bad clams. The third is the sorting of clams by size. Finally, they are loaded into different frames.

[0072] Example 1: Shrimp and razor clams are polycultured in a pond, achieving two benefits at once with significant advantages.

[0073] 1. In polyculture of razor clams and shrimp, the pond maintains a constant water level, keeping the razor clams constantly in the water. They need to wait for the shrimp to feed them daily, as the pond is rich in live food. This extended foraging time accelerates the growth rate of the razor clams.

[0074] 2. The shrimp pond water should be comprehensively utilized to fully tap its potential. A medicated pond cleaning must be carried out before stocking shrimp and razor clam larvae. Because there are fewer biological predators in the pond than in the ocean, this creates a safe living environment for the razor clams. This allows for shrimp farming in the water and razor clam farming on the pond bottom. If both are combined well, they can promote each other, benefit each other, and grow together.

[0075] 3. Raising razor clams in shrimp ponds is simple to operate. After the shrimp pond is drained in winter (i.e., the pond is not waterlogged), the surface of the pond to be used for raising razor clams is loosened and raked. Before stocking the shrimp fry, the pond is cleared and filled with water. After the effects of the medication have worn off, the razor clam fry can be sown. Usually, no special personnel are required to manage the razor clam fry from sowing to harvest.

[0076] 4. Short production cycle and quick results. As long as the shrimp pond is well managed, and the water is regularly fed and changed to keep the water quality fresh, it is fine.

[0077] They can usually be harvested within 5 to 6 months, which is more than half the production cycle of razor clams farmed on tidal flats.

[0078] Example 2: Similar to Example 1. The difference lies in the use of a bionic wheel as the walking device, such as... Figure 5 The aforementioned biomimetic wheel is a bladed impeller inspired by the foot of a buffalo. The biomimetic wheel utilizes a three-dimensional geometric shape for the blades, combined with surface coating technology, to reduce drag and increase thrust. The impeller arrangement is designed based on topology optimization technology. Using animals with good walking ability on soft ground as the research subject, reverse engineering techniques were employed to construct the three-dimensional geometry of the blades, combined with surface coating technology to reduce drag and increase thrust. Four sealed floats, two at the front and two at the rear, are directly strapped to the chassis as buoyancy.

[0079] Lithium iron batteries are used as the power source. A solar panel is placed on top of the work platform to charge the lithium batteries using solar energy. When the lithium batteries are below 30% charge, they automatically go to the charging pile (104) of the permanent magnet power connector on the dock (103) for automatic charging, so as to obtain and store electrical energy for the battery pack.

[0080] Another difference lies in the organic combination of the conveyor chain and the clam mud separator. The method is that both the conveyor chain and the conveyor belt are perforated with a size smaller than that of the clam. During the conveying process, the vibrator works, the mud and water return to the mudflat, the clam is scooped up, and the clam mud is separated during the conveying process.

[0081] The seeder, tiller, sorting device, positioning system, and intelligent controller are described. The harvester is 1.8 meters wide, which is 20 centimeters wider than the hull.

[0082] Example 3: Its difference lies in using a spiral inflatable roller as the walking device, such as... Figure 6It is an organic combination of a walking device and a floating body, using a hollow inflatable roller with external spiral blades, and synchronous belts (207) and fixed shafts (208) at both ends; including an air inlet (201), a left-hand rotating roller (202), a left-hand rotating blade (203), a right-hand rotating roller (205), and a right-hand rotating blade (206), with the spiral inflatable roller replacing the tracks and floating body. It can move forward, backward, left, right, and turn around on the spot. It is both a floating body and a walking mechanism. It greatly compresses the structure of the working platform, saving space and parts. It solves the problems of high resistance and low walking efficiency during tidal flat walking, thus providing a three-way carrying system for tidal flat tillage and mechanized harvesting equipment.

[0083] Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. Intelligent razor clam planting, cultivation, and harvesting equipment, comprising a carrier, a walking device, operating equipment, clam pond layout, and a control and management system, characterized in that: A. The amphibious walking platform, capable of operating on water, land, and mud, comprises a chassis, a floating body, and a walking mechanism. The floating body is available in two types: open hull and enclosed buoy. The center of gravity of the entire system is located below the deck, and is balanced by counterweights. The chassis has curved mud-penetration approach angles of 12–25 degrees at both ends, and its flat bottom surface has air grooves. The contact area S between the chassis and the walking mechanism and the mud surface meets the following requirements: S—Contact area between the chassis running gear and the ground (cm²) 2 ); W—Total weight of the equipment at full load (kg); N—Ultimate bearing capacity of soft tidal flat foundation (kg / cm²) 2 ); x——Adjustment coefficient (track value range: 0.10~0.35, bionic wheel value range: 0.25~0.50, spiral roller value range: 0.20~0.45); B. The walking device includes a power unit, a reducer, a bollard, and a winch. The walking device adopts three forms: a blade wheel inspired by the feet of a buffalo, a track with paddling strips, and an inflatable spiral roller. C. The operating equipment includes harvesters, spreaders, tillers, subgrade laying machines, and ozone generators. The GPS positioning and navigation system performs tilling, laying, sowing, spreading, and harvesting according to the time route set in the industrial control computer, and displays and records the data on the screen. D. The clam pond is divided into three areas: water, land, and mudflats. The water area includes waterways between the clam mudflats, a protective riverbank around the pond, and connections to the sluice gate and wharf, used for aquaculture of fish and shrimp. The land area includes roads with inlets and outlets and sloping access, a floating wharf with a bollard, charging piles with permanent magnet connectors, sluice gates with filters, and a base station with an industrial control computer. The mudflats account for 1 / 3 to 2 / 5 of the total area and are used for aquaculture of clams or shellfish. E. The control and management system consists of positioning and navigation, intelligent remote control, human-computer interaction, and management and monitoring.

2. The intelligent razor clam sowing, cultivation, and harvesting equipment according to claim 1, characterized in that: The tracks are arranged in a triangular pattern, with at least 3 / 7 of the tracks exposed above the waterline. Each section of the track is equipped with a water-carrying strip. The contact area between the track and the bottom is set according to the bearing capacity of the tidal flat foundation to solve the problems of walking on the tidal flat and sinking.

3. The intelligent razor clam sowing, cultivation, and harvesting equipment according to claim 1, characterized in that: Harvesting includes catching and sorting. The harvester consists of a bucket and a conveyor belt, while the sorting system includes a clam mud separator, an intelligent sorting device, and a device to remove necrotic and broken clams. The bucket is located at the front of the harvesting device and is connected to the conveyor chain. The L-shaped shovel head is made of elastic rubber and plastic material, with an angle of 3 to 12 degrees between the shovel head and the horizontal plane. A submersible vibrator is installed at the rear. The bucket is equipped with a bucket attitude sensor and an identification sensor to maintain the bucket in the optimal position. The shovel head sensor uses a ground probe to detect the density of the strata. The uniform density indicates the mud layer, while the areas with different densities are where the clams are located. Rollers are installed at the bottom of the bucket to guide the bucket along the bottom isolation layer, protecting and leveling the bottom film layer. The end of the bucket is connected to a conveyor belt, on which are installed at equal intervals to transport the clam-containing mud to the clam mud separator.

4. The intelligent razor clam sowing, cultivation, and harvesting equipment according to claim 3, characterized in that: The hollowed-out conveyor belt is a forward extension of the clam mud separator. The organic combination of the conveyor belt and the clam mud separator involves hollowing out both the conveyor belt and the reverse rake plow with holes smaller than the size of the clam. During the conveying process, a vibrator is used to return the mud and water to the mudflats, and the clam is scooped up. The separation of clam mud is completed directly during the conveying process.

5. The intelligent razor clam sowing, cultivation, and harvesting equipment according to claim 1, characterized in that: The displacement of the float should be set according to the total weight of the equipment. The displacement of the open hull should be greater than 175% of the total weight, and the displacement of the sealed float should be greater than 135% of the total weight, ensuring that at least one-fifth of the float is above the waterline.

6. The intelligent razor clam sowing, cultivation, and harvesting equipment according to claim 1, characterized in that: The area of ​​the shrimp and razor clam polyculture pond should be controlled within 1 / 3 of the total area. The pond should be 3m to 7m wide, with rows resembling a road, higher in the middle and lower on the sides to prevent water accumulation, and ditches between the rows.

7. The intelligent razor clam sowing, cultivation, and harvesting equipment according to claim 1, characterized in that: The positioning and navigation system includes antennas and signal transmitters, GPS positioning and navigation devices, and base stations located at the front and rear of the walking vehicle; the intelligent remote control system includes a walking operation execution module consisting of automatic sensors, remote controllers, and receivers; the management and monitoring system includes intelligent monitoring modules for salinity, oxygen content, pH value, air temperature, water depth, and aquaculture density; the power source for the control and management system is a battery pack, with solar panels on the top of the walking vehicle and charging piles with electro-permanent magnet connectors at the dock.

8. The intelligent razor clam sowing, cultivation, and harvesting equipment according to claim 1, characterized in that: Multiple bollards are arranged at the wharf and on the land shore. Winches and pulleys are set on the load-bearing body. The anchor cable is made of galvanized steel wire rope. The anchor cable of the load-bearing body is hung on the bollards on the shore to control the drive of the anchor winch to achieve positioning or movement.

9. The intelligent razor clam sowing, cultivation, and harvesting equipment according to claim 1, characterized in that: While plowing, a bottom membrane is laid, and then the soil from the waterways on both sides is dug up and piled on top of the clam mudflats to form a mudflat area.

10. The intelligent razor clam sowing, cultivation, and harvesting equipment according to claim 1, characterized in that: The inflatable spiral roller, as a terrestrial walking device, is an organic combination of a walking device and a floating body. It adopts a hollow inflatable roller with spiral blades on the outside, and synchronous belts and fixed shafts at both ends. It includes an air nozzle, a left-hand rotating roller, a left-hand rotating blade, a right-hand rotating roller, and a right-hand rotating blade, using the inflatable spiral roller to replace the tracks and the floating body.

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