A combined intertidal shellfish harvesting device and method

Abstract

The present invention discloses a combined beach shellfish harvesting device and method, which mainly consists of a frame, a walking module, a harvesting module, a sand leakage and cleaning module, and a conveying module; the walking module is installed on both sides of the frame and is responsible for the walking and turning of the frame; the harvesting module includes a roller soil breaker and a rolling shovel picker. The roller soil breaker rotates passively as the device advances and is used for pre-loosening the soil; the rolling shovel picker rotates actively in the reverse direction to shovel up shellfish and surface sand; the sand leakage and cleaning module consists of a vibrating cleaning screen, a planar four-bar linkage mechanism, and a vibrating motor, and drives the screening and cleaning actions through the vibrating motor, and the cleaning nozzle performs hydraulic scouring on the shellfish and sand; the conveying module includes a hollowed-out horizontal conveyor belt and an inclined conveyor belt. The horizontal conveyor belt filters damaged or unqualified shellfish, and the inclined conveyor belt lifts the qualified shellfish to the rear collection area. The present invention realizes the functions of soil loosening, picking, screening, cleaning, and conveying through modular design, and is suitable for efficient harvesting operations of beach shellfish.

Description

Technical Field

[0001] The present invention belongs to the technical field of shellfish harvesting equipment. Specifically, it relates to a combined intertidal shellfish harvesting device and method with adjustable counterweight. Background Art

[0002] Shellfish such as Meretrix meretrix and Ruditapes philippinarum, as a kind of seafood with high nutritional value, are widely used in the catering, food processing and pharmaceutical industries, and the market demand continues to grow. Traditional shellfish collection mainly relies on manual fishing, which has limitations such as low efficiency and strong environmental dependence. Fishermen need to carry out operations in the intertidal zone or shallow sea areas by manual excavation or simple tools (such as rakes and sieves).

[0003] The existing shellfish collection equipment generally has the following deficiencies: ①Insufficient environmental adaptability: Most equipment is only applicable to specific terrains (such as sandy beaches or shallow waters), and it is difficult to operate stably in muddy, rocky or deep-water areas. Moreover, as the center of gravity of shellfish collection moves backward, it will cause longitudinal inclination; ②Low degree of automation: The cleaning and screening links rely on manual labor, the operation continuity is poor, and the functions are single; ③High harvesting damage rate: Most use plow shovels to directly break the soil to excavate shellfish. The impact force of the plow shovel is large, and shellfish are easily damaged or missed during extrusion and collision; ④Lack of intelligence: Lack of dynamic regulation ability based on environmental perception, and unable to optimize the operation path according to the distribution density of Meretrix meretrix.

[0004] With the increasing demand for marine resource development and the rising labor cost, the industry urgently needs shellfish collection equipment that can achieve efficient and low-damage collection, energy conservation and environmental protection, and high automation, so as to promote the development of the shellfish collection industry towards high efficiency, greenness and intelligence, and provide technical support for the sustainable development of marine resources. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a combined intertidal shellfish harvesting device with adjustable counterweight, aiming to promote the development of the shellfish harvesting industry towards high efficiency, intelligence and greenness.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In the first aspect, the present invention provides a combined tidal flat shellfish harvesting device, comprising: a frame; a walking module, arranged on both sides of the frame, used for the walking and turning of the frame; a harvesting module, comprising: a roller breaker, rotatably connected to the frame, and capable of passively rotating as the frame moves forward to pre-loosen the soil; a rolling shovel pickup, arranged at intervals behind the roller breaker and also rotatably connected to the frame, and controlled by a driving member to actively rotate in the opposite direction of the roller breaker to scoop up shellfish and surface soil; a sand leakage cleaning module, comprising: a vibrating cleaning screen, arranged behind the rolling shovel pickup, and used to receive shellfish and sand scooped up by the rolling shovel pickup; a planar four-bar linkage , its action end is connected with the vibration cleaning screen; a vibration motor is arranged on the frame and is transmission-connected with the planar four-bar linkage, and is used to drive the vibration cleaning screen to realize circular translation reciprocating motion through the planar four-bar linkage; a cleaning nozzle is arranged on the planar four-bar linkage located above the vibration cleaning screen, and is used to hydraulically flush the shellfish and sand on the vibration cleaning screen; a conveying module includes: a transverse conveyor belt, which is arranged behind the vibration cleaning screen and adopts a hollow structure, and is used to filter broken or unqualified shellfish, and continue to transport and gather intact shellfish; an inclined conveyor belt, which is arranged on one side of the transverse conveyor belt, and is used to lift the gathered shellfish to the rear collection area.

[0008] Preferably, the walking module comprises:

[0009] The crawler has a raised bionic scale pattern formed on its outer surface, and the bionic scale pattern is composed of a plurality of bionic scales imitating the morphological characteristics of sand snake scales, that is, the leading edge of each bionic scale is in an acute wedge shape, and the trailing edge is in a smooth arc shape, forming a unidirectional friction characteristic, and the scale arrangement curve formed by the adjacent bionic scales in the width direction of the crawler is z =tan y ,in y is the length direction of the crawler track, z The bionic scale pattern forms a corrugated sand guide channel in the length direction of the crawler;

[0010] The grouser comprises a grouser plate and a bionic grouser, wherein the grouser plate is firmly connected to the track, and the bionic grouser imitates the geometric configuration of the front toes of the mole cricket, that is, the inner and outer cross-sectional surfaces of the bionic grouser are arranged in quadratic curves, and the toe tip is slightly bent to form a hook-like structure.

[0011] As a preference, the traction formula of the bionic grouser is:

[0012]

[0013] In the formula, is the traction force of the grouser; It is the component of passive earth pressure of grouser in the direction opposite to the traveling direction; is the cohesive soil pressure per unit area on the side of the grouser caused by cohesion; is the cohesive soil pressure per unit area on the concave and convex surface of the grouser caused by cohesion; b is the grouser width; S ABD is the lateral area of ​​the grouser; H is the height of the grouser;

[0014] The top of the grouser is taken as the origin and the horizontal direction of the grouser is taken as y In the positive direction of the axis, the outer cross-sectional curve of the bionic grouser is , the inner cross-sectional curve of the bionic grouser is , where is the height direction of the bionic grouser.

[0015] Preferably: the walking module also includes a driving wheel, a driven wheel, a sprocket wheel and a track motor; the driving wheel, the driven wheel and the sprocket wheel are all rotatably connected to the side of the frame, the track is mounted on the driving wheel, the driven wheel and the sprocket wheel, and the inner surface of the track is meshed with the driving wheel, the driven wheel and the sprocket wheel, and the track motor is drivingly connected to the driving wheel.

[0016] Preferably, the outer surface of the rolling shovel pickup is provided with a plurality of spirally arranged shovel blades, the shovel blades include an eagle-beak-shaped shovel blade and a wedge-shaped shovel handle, the front tip of the shovel handle is connected to the shovel blade, and the rear thick end of the shovel handle is connected to the rolling shovel pickup.

[0017] As a preferred embodiment, the vibrating cleaning screen adopts a perforated folding plate imitating a mantis arm, that is, the cross section of the perforated folding plate is a continuous and multi-stage "V" shape of varying lengths to form a continuous sharp-angle bending structure;

[0018] The planar four-bar mechanism is connected to the frame via a lifting hydraulic rod, and the lifting and retraction of the lifting hydraulic rod is controlled to achieve synchronous lifting and retraction of the capture module and the sand leakage cleaning module.

[0019] Preferably, a foldable water bag bracket with a multi-stage snap-on slide rail is symmetrically arranged on both sides of the frame, a water bag is placed on the water bag bracket, the water bag is connected to the cleaning nozzle, and the water bag can move back and forth on the water bag bracket to offset the uneven weight distribution caused by the increase of the tail shellfish, thereby achieving dynamic balance of the longitudinal inclination angle.

[0020] Preferably, a control room is provided on the frame for manually controlling the travel speed, steering angle and rotation speed of the rolling shovel picker of the shellfish harvesting device; an engine is provided on the frame at the rear of the control room, and the engine is connected to the walking module through a transmission shaft.

[0021] Preferably, the combined tidal flat shellfish harvesting device also includes a multimodal intelligent decision-making and control module, which includes a binocular camera, a laser radar and an industrial computer. The binocular camera and the laser radar are arranged in the front of the control room. The binocular camera and the laser radar are used to obtain image information of the harvesting area in real time and transmit it to the industrial computer. The industrial computer is integrated with a YOLOv10 algorithm, an A* algorithm and a PID controller. The YOLOv10 algorithm is used to obtain the terrain characteristics of the harvesting area and the positions of dynamic / static obstacles according to the image information of the harvesting area. The A* algorithm is used to plan a harvesting operation path according to the terrain characteristics of the harvesting area and the positions of dynamic / static obstacles. The PID controller is used to adjust the harvesting module height, the roller shovel pickup speed and the travel speed and steering angle of the walking module in real time according to the planned harvesting operation path.

[0022] In a second aspect, the present invention further provides a shellfish harvesting method implemented based on the combined tidal flat shellfish harvesting device described in the first aspect of the present invention, comprising:

[0023] The shellfish harvesting device moves along the planned harvesting operation path, the drum soil breaker pre-loosens the soil during the rotation process, and the roller shovel picker scoops up the shellfish and sand and sends them to the sand leakage cleaning module;

[0024] After the shellfish enter the sand drain cleaning module, the shellfish are initially cleaned by the cleaning nozzle, and at the same time, the vibrating cleaning screen moves back and forth along the circumference, removing the sand and impurities on the surface of the shellfish while continuously vibrating and transporting the shellfish backwards;

[0025] The cleaned shellfish enter the transverse conveyor belt, and the damaged or unqualified shellfish fall through the hollow holes of the transverse conveyor belt, while the intact shellfish continue to be conveyed to the inclined conveyor belt, which transports the shellfish upward to the collection area and falls into the movable collection box. When the collection box is full, the shellfish are poured into the automatic bagging machine for quantitative bagging and sealing;

[0026] The packaged shellfish are transported to the storage area via conveyor belts, awaiting subsequent transportation.

[0027] Preferably, the shellfish harvesting method further comprises the steps of multimodal intelligent decision-making and control:

[0028] The RGB images of the harvesting area are obtained through binocular cameras, and the pixel-level depth information of the terrain in the harvesting area is obtained based on parallax calculation. At the same time, the 3D point cloud array of the harvesting area is obtained through lidar;

[0029] Based on the obtained multi-source data, the industrial control computer uses the YOLOv10 algorithm for dynamic / static obstacle detection, and combines Kalman filtering to fuse multi-source data to obtain the terrain features of the harvesting area and the positions of dynamic / static obstacles;

[0030] Based on the terrain features of the harvesting area and the positions of dynamic / static obstacles, the industrial control computer uses the A* algorithm to generate the initial harvesting operation path;

[0031] At the same time, the industrial control computer deploys a real-time adaptive strategy to monitor the distances of dynamic obstacles and static obstacles ahead: if there is a dynamic obstacle within 1 meter ahead, an emergency brake is triggered; if the distance to the static obstacle is less than the width of the shellfish harvesting device + 20 cm, the harvesting operation path is re-planned;

[0032] The PID controller adjusts the height of the harvesting module, the rotation speed of the rolling shovel picker, the traveling speed and steering angle of the traveling module in real time according to the planned harvesting operation path, and feeds back the execution status in real time to dynamically correct errors, ensuring the continuous and stable execution of the harvesting operation.

[0033] Preferably, when the weight of the shellfish at the tail of the shellfish harvesting device increases and affects its stability, the water bladder can be moved forward and fixed by a buckle to maintain the overall balance of the shellfish harvesting device.

[0034] Due to the adoption of the above technical solutions, the present invention has the following advantages:

[0035] 1. The present invention constructs a coupled harvesting module of passive pre-loosening soil and active excavation. Spiral scrapers are added around the front roller soil breaker, which rotates passively around the axis as the shellfish harvester advances. On the one hand, it can block the shellfish shoveled by the rear rolling shovel picker and promote its lifting. On the other hand, the spiral scrapers around the roller soil breaker can loosen the soil in advance, reduce the soil excavation resistance, and at the same time reduce the shellfish damage rate.

[0036] 2. The present invention constructs a vibrating screen - hydraulic composite sand leakage cleaning module of vibration separation and hydraulic scouring. The sediment can be discharged from the holes under the combined action of the vibration of the vibrating cleaning screen and the flushing of the cleaning nozzle array, so as to realize the integrated operation of shellfish transportation and cleaning. This design greatly improves the transportation efficiency and mud cleaning effect, and provides reliable technical support for the shellfish harvesting operation.

[0037] 3. The present invention constructs a graded sand leakage cleaning module and a conveying module. The first stage is the sand leakage cleaning module, which realizes the cleaning of shellfish while conveying them backward; the second stage is the horizontal conveyor belt module, which converges the whole row of shellfish to one side. At the same time, due to the hollow design of the conveyor belt according to the size of the shellfish, the damaged shellfish will fall from the gap because their size is smaller than the gap size; the third stage is the inclined conveyor belt, which transports the converged shellfish upward and finally lifts them to the rear collection area. Thus, the functions of cleaning sand leakage, converging, screening and collecting are realized while conveying the shellfish.

[0038] 4. The present invention constructs a bionic walking module adapted to different geological environments, which significantly improves the traveling performance and environmental adaptability of the device on various geological conditions. In the walking module, the crawler simulates the geometric shape and arrangement of the scales of the sand snake, and is made of anti-adhesion hydrophobic rubber material, which has the characteristics of light weight, high wear resistance and high elasticity. The surface structure of the crawler is optimized, and the grip, wear resistance and terrain adaptability are improved, enabling flexible movement in complex terrains. The crawler teeth are designed based on the geometric configuration of the front toes of the mole cricket, which can penetrate deeply into soft or uneven ground, significantly improving the grip and overall traction, and realizing terrain self-adaptive adjustment by simulating the movement mode of the mole cricket's foot.

[0039] 5. The present invention symmetrically arranges a multi-stage buckle slide rail structure on both sides of the frame. The operator can horizontally move the water bag filled with cleaning water along the slide rail and buckle it according to the accumulation amount of shellfish at the tail, and use the adjustment of the water bag position to realize the dynamic balance of the longitudinal inclination angle; at the same time, a folding symmetric frame design is adopted. During operation, it can be unfolded to optimize the equipment space layout, and when not in operation, it can be folded and stored to keep the structure compact, taking into account both the operation stability and the transportation convenience.

[0040] 6. The present invention constructs a multi-modal intelligent decision-making and control module. The high-resolution binocular camera combined with the YOLOv10 algorithm is used to collect images in real time to identify surface features. The lidar scans the operation area in real time to construct a three-dimensional topographic map with centimeter-level accuracy, and identify obstacles (reefs, gullies) and terrain slopes. The PID controller can operate autonomously, traverse the entire area, adjust the traveling speed and steering angle of the equipment in real time according to the planned path, and monitor the equipment posture in real time, solving the core problems of high missed collection rate and poor adaptability of traditional shellfish harvesters in unknown terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0042] Figure 1Full view of the combined intertidal shellfish harvesting device provided in Embodiment 1 of the present invention;

[0043] Figure 2 Schematic structural diagram of the roller soil breaker provided in Embodiment 1 of the present invention;

[0044] Figure 3 Schematic structural diagram of the rolling shovel picker provided in Embodiment 1 of the present invention;

[0045] Figure 4 Schematic structural diagram of the sand leakage cleaning module provided in Embodiment 1 of the present invention;

[0046] Figure 5 Schematic structural diagram of the vibrating cleaning screen provided in Embodiment 1 of the present invention;

[0047] Figure 6 Schematic structural diagram of the perforated folding plate provided in Embodiment 1 of the present invention;

[0048] Figure 7 Schematic diagram of the partial details and conveying route of the multi-stage conveying module provided in Embodiment 1 of the present invention;

[0049] Figure 8 Partial enlarged schematic diagram of the crawler and crawler teeth provided in Embodiment 1 of the present invention;

[0050] Figure 9 Enlarged schematic diagram of the crawler pattern provided in Embodiment 1 of the present invention;

[0051] Figure 10 Schematic structural diagram of the traveling module provided in Embodiment 1 of the present invention;

[0052] Figure 11 Schematic diagram of the operation force mode and geometric shape of the crawler and crawler teeth provided in Embodiment 1 of the present invention;

[0053] Figure 12 Schematic structural diagram of the shovel provided in Embodiment 1 of the present invention;

[0054] Figure 13 Flow chart of multi-modal intelligent decision-making and control provided in Embodiment 2 of the present invention.

[0055] The reference numerals in the figures are as follows:

[0056] 1 Harvesting module; 2 Sand leakage cleaning module; 3 Conveying module; 4 Traveling module; 5 Frame; 6 Water bladder bracket; 7 Water bladder; 8 Control room; 9 Engine; 10 Binocular camera; 11 Lidar; 12 - Collection box;

[0057] 1-1 Roller soil breaker; 1-2 Rolling shovel picker; 1-11 Scraper; 1-21 Shovel; 1-211 Shovel edge; 1-212 Shovel handle;

[0058] 21 Vibration cleaning sieve; 22 Planar four-bar linkage; 23 Cleaning nozzle; 24 Vibration motor; 25 Crank; 26 Lifting hydraulic rod; 21-1 Perforated folding plate;

[0059] 31 Horizontal conveyor belt; 32 Inclined conveyor belt;

[0060] 41 Crawler belt; 42 Crawler teeth; 43 Driving wheel; 44 Driven wheel; 45 Support idler wheel; 46 Crawler belt motor; 41-1 Bionic scale pattern; 41-3 Bionic scale; 41-3 Curve; 41-4 Corrugated sand guiding channel; 42-1 Crawler tooth plate; 42-2 Bionic crawler tooth; 42-3 Bolt; 42-4 Threaded hole. Detailed implementation manners

[0061] To make the objectives, technical solutions and advantages of the present invention clearer, the following further describes the detailed implementation manners of the present invention with reference to the accompanying drawings. Although the accompanying drawings show exemplary implementation manners of the present invention, it should be understood that the present invention can be implemented in various forms and should not be limited by the implementation manners described herein. On the contrary, these implementation manners are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0062] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0063] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means more than two unless otherwise specifically defined.

[0064] In the present invention, unless otherwise clearly specified or limited, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral one; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] In the present invention, unless otherwise clearly specified or limited, a first feature being "on" or "under" a second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, a first feature being "above", "over" and "on top of" a second feature may be that the first feature is directly above or obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. A first feature being "under", "below" and "beneath" a second feature may be that the first feature is directly below or obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0066] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0067] The combined intertidal shellfish harvesting device provided by the present invention adopts a modular design concept and is mainly composed of six functional modules: a harvesting module, a sand leakage and cleaning module, a conveying module, a walking module, a multi-modal intelligent decision-making and control module, and a frame. Among them, the harvesting module is responsible for the efficient and low-loss harvesting of shellfish; the sand leakage and cleaning module realizes the cleaning and conveying of shellfish; the conveying module is used for classifying and transporting shellfish according to their size and damage degree; the walking module ensures the stable operation of the device on complex terrains; the multi-modal intelligent decision-making and control module provides real-time data processing and operation decision-making and control support; and the frame provides overall support and positioning guarantee for each functional module. Through the multi-modal intelligent decision-making and control module, the cooperation among the functional modules is realized to ensure the high efficiency and reliability of the overall operation of the device. Through the collaborative design of the above six modules, the present invention realizes the integration of shellfish harvesting, cleaning, sorting, and autonomous operation, significantly improves the operation efficiency, adaptability, and reliability, and provides an innovative technical solution for the shellfish harvesting industry.

[0068] Next, the combined intertidal shellfish harvesting device and method provided by the embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0069] Embodiment 1

[0070] Please refer to Figure 1 , the combined intertidal shellfish harvesting device provided by this embodiment includes a harvesting module 1, a sand leakage and cleaning module 2, a conveying module 3, a walking module 4, and a frame 5.

[0071] Among them, the harvesting module 1 adopts a coupled design and includes a drum breaker 1-1 and a rolling shovel picker 1-2 arranged at intervals front and back. The front drum breaker 1-1 is rotatably connected to the frame 5 and can be rotated passively as the frame 5 advances (driven by the bottom friction); please refer to Figure 2 , a plurality of spiral-shaped scrapers 1-11 are arranged on the outer surface of the drum breaker 1-1 for pre-loosening the soil during rotation, thereby reducing the excavation resistance of the rear rolling shovel picker 1-2 and reducing the probability of shellfish damage. The rolling shovel picker 1-2 is also rotatably connected to the frame 5 and is controlled by a hydraulic motor (not shown in the figure) to rotate actively in the direction opposite to that of the drum breaker 1-1; please refer to Figure 3 , a plurality of independent shovels 1-21 arranged in a spiral shape are arranged on the outer surface of the rolling shovel picker 1-2 for efficiently cutting into the soil and shoveling up shellfish and the surface soil. Through the above settings, the harvesting module 1 significantly improves the harvesting efficiency and the integrity of shellfish through the coupled operation of the passive pre-loosening of the drum breaker 1-1 and the active excavation of the rolling shovel picker 1-2, and solves the problems of high damage rate and poor adaptability of traditional harvesting devices.

[0072] Please refer to Figure 1 , Figure 4 andFigure 5 The sand leakage cleaning module 2 adopts a vibration screen-hydraulic composite design, including a vibration cleaning screen 21, a planar four-bar linkage 22, a cleaning nozzle 23 and a vibration motor 24. The vibration cleaning screen 21 is arranged behind the rolling shovel pickup 1-2, and is used to receive the shellfish and sand scooped up by the rolling shovel pickup 1-2; the vibration motor 24 is arranged on the frame 5 and is connected to the planar four-bar linkage 22 by transmission. The action end of the planar four-bar linkage 22 is connected to the vibration cleaning screen 21 through a crank 25. The vibration motor 24 drives the vibration cleaning screen 22 through the planar four-bar linkage 22 to realize circular translation reciprocating motion; the cleaning nozzle 23 is arranged on the planar four-bar linkage 22 located above the vibration cleaning screen 21, and is used to hydraulically flush the shellfish and sand on the vibration cleaning screen 21. Through the above-mentioned arrangement, the vibration cleaning screen 21 moves back and forth along the circumference under the drive of the planar four-bar linkage 22, and uses inertia to transport the shellfish backwards, saving space while improving the transportation efficiency. Combined with the vibration separation function, the cleaning nozzle 23 adopts a pulse cleaning mode. Through intermittent high-pressure water flow impact, the sludge is discharged from the holes of the vibrating cleaning screen 21 under the combined action of vibration and hydraulic flushing, thereby effectively promoting sludge shedding and improving cleaning efficiency.

[0073] See also Figure 1 , Figure 5 The conveying module 3 includes a transverse conveyor belt 31 located behind the sand draining cleaning module 2 and an inclined conveyor belt 32 located on one side of the transverse conveyor belt 31. The transverse conveyor belt 31 adopts a hollow structure to filter damaged or unqualified shellfish and continue to smoothly convey and gather intact shellfish. The inclined conveyor belt 32 adopts an upward conveying mode to lift the gathered shellfish to the rear collection area. Through the above-mentioned settings, the entire conveying module 3 has a simple structure and reliable operation, which solves the problem of damaged shellfish and other debris mixed in the shellfish collected by the traditional shellfish collecting machine.

[0074] See also Figure 1 The walking modules 4 are arranged on both sides of the frame 5 and are used for the walking and turning of the frame 5 .

[0075] In the above embodiments, preferably, please refer to Figures 8 to 10The walking module 4 includes a crawler 41, a grouser 42, a driving wheel 43, a driven wheel 44, a sprocket wheel 45 and a crawler motor 46. The driving wheel 43, the driven wheel 44 and the sprocket wheel 45 are all rotatably connected to the side of the frame 5, the crawler 41 is sleeved on the driving wheel 43, the driven wheel 44 and the sprocket wheel 45, and the inner surface of the crawler 41 is meshed with the driving wheel 43, the driven wheel 44 and the sprocket wheel 45, and the crawler motor 46 is connected to the driving wheel 43 by transmission. Through the above-mentioned arrangement, when the crawler motor 46 drives the driving wheel 43 to rotate, the crawler 41 is pulled forward or backward, thereby pushing the entire shellfish harvesting device to move. The driven wheel 44 supports and maintains the tension of the crawler 41 to prevent it from loosening or falling off. At the same time, the driven wheel 44 shares the weight of the shellfish harvesting device to a certain extent, thereby improving the walking stability. The support sprockets 45 are evenly distributed between the driving wheel 43 and the driven wheel 44, providing solid support and guidance for the crawler track 41, ensuring that it always maintains the correct track during the movement.

[0076] See also Figure 8 , Figure 9 The outer surface of the crawler 41 is formed with a raised bionic scale pattern 41-1, and the bionic scale pattern 41-1 is composed of a plurality of bionic scales 41-2 that imitate the morphological characteristics of sand snake scales, that is, each bionic scale 41-2 has an acute wedge-shaped front edge and a smooth arc-shaped rear edge, forming a unidirectional friction characteristic, and the scale arrangement curve 41-3 formed by the adjacent bionic scales 41-2 in the width direction of the crawler is z =tan y ,in y is the length direction of the crawler 41, z The width direction of the crawler 41; the bionic scale pattern 41-1 forms a corrugated sand-guiding channel 41-4 in the length direction of the crawler 41, which can quickly guide the surface sand to both sides and discharge it, so as to prevent the sand from accumulating between the gaps of the bionic scales 41-2 or adhering to the surface of the crawler 41 during the movement. This asymmetric scale structure with adaptive friction control can reduce the forward sliding resistance, improve the reverse anti-skid ability, achieve a balance between efficient propulsion and stable residence when traveling on sand, optimize the mechanical properties of the surface of the crawler 41, improve the grip, movement performance and terrain adaptability, reduce the turning radius, and combine with the arrangement of the sand snake bionic scales 41-2 to give it good elasticity and ductility, which significantly improves the flexibility of the device in complex terrain. In addition, the crawler 41 is made of anti-adhesion hydrophobic rubber material as a whole, which not only has the characteristics of lightweight, high wear resistance and high elasticity, but also improves the wear resistance and service life of the crawler 41, ensuring that the shellfish harvesting device travels at a stable speed and enhancing reliability.

[0077] The sprocket teeth 42 include a sprocket tooth plate 42-1 formed by integral casting and bionic sprocket teeth 42-2. The sprocket tooth plate 42-1 is fixedly connected to the crawler 41 by bolts 42-3. The bionic sprocket teeth 42-2 imitate the geometric configuration of the front toes of a mole cricket. Specifically, the curved surfaces of the inner and outer cross-sections of the bionic sprocket teeth 42-2 are arranged in a quadratic curve, and the toe tips are slightly bent to form a hook-like structure. Through the above settings, the top of the bionic sprocket teeth 42-2 is sharp, which can reduce the resistance of the bionic sprocket teeth 42 from piercing into the soil. When the sprocket teeth 42 translate relative to the ground, the special curve geometric configuration on the surface of the sprocket teeth 42 effectively enhances the grip and traction force on various ground surfaces. The bionic sprocket teeth 42-2 are integrally cast with the sprocket tooth plate 42-1, and then the sprocket tooth plate 42-1 is connected to the crawler 41 by bolts 42-3 through threaded holes 42-4. This design not only increases the wall thickness and overall strength of the sprocket teeth 42, but also simplifies the assembly process and facilitates later maintenance. Compared with the traditional welded sprocket teeth, the integral casting process effectively solves the problem that the sprocket teeth are prone to bending deformation under working conditions such as climbing slopes and turning, which may further cause the crawler to crack.

[0078] In the above embodiment, preferably, the working force mode and geometric shape of the bionic sprocket teeth 42-2 are as Figure 11 shown. The traction force formula of the bionic sprocket teeth 42-2 is:

[0079]

[0080] In the formula, is the traction force of the sprocket teeth; is the passive earth pressure of the sprocket teeth in the direction opposite to the traveling direction; is the cohesive soil pressure per unit area on the side surface of the sprocket teeth caused by cohesion; is the cohesive soil pressure per unit area on the concave-convex surface of the sprocket teeth caused by cohesion; b is the width of the sprocket teeth; S ABD is the side area of the sprocket teeth; H is the height of the sprocket teeth.

[0081] Taking the top of the sprocket teeth 42 as the origin and the horizontal traveling direction of the sprocket teeth 42 as the y positive direction of the axis, the outer cross-section curve of the bionic sprocket teeth 42-2 is , and the inner cross-section curve of the bionic sprocket teeth 42-2 is , where

[0082] In the above embodiment, preferably, please refer to Figure 3 、 Figure 12, the shovel blade 1-21 includes an eagle beak-shaped shovel edge 1-211 and a wedge-shaped shovel handle 1-212. The front tip of the shovel handle 1-212 is connected to the shovel edge 1-211, and the thick rear end of the shovel handle 1-212 is connected to the roller shovel picker 1-2. Through the above settings, the design of the eagle beak-shaped shovel edge 1-211 can ensure the accuracy and efficiency of cutting into the soil; the design of the wedge-shaped shovel handle 1-212 can reduce the root area of the shovel blade 1-21 and increase the gap between the shovel blades 1-21, thus effectively preventing soil from accumulating at the root of the shovel blade 1-21. The interval between the roller soil breaker 1-1 and the roller shovel picker 1-2 is about 20 cm, which can not only ensure that the shellfish are smoothly dug out of the soil and lifted, but also avoid the resistance caused by too small a distance between the two.

[0083] In the above embodiment, preferably, please refer to Figure 6 , the vibrating cleaning sieve 21 adopts a perforated folding plate 21-1 that imitates a mantis arm. Specifically, the cross-section of the perforated folding plate 21-1 is a continuous and multi-level "V" shape with uneven lengths, so as to form a continuous acute-angle bending structure. Through the above settings, this continuous acute-angle bending structure can make the shellfish trapped in the "V" groove and difficult to move downward. During the reciprocating vibration of the vibrating cleaning sieve 21, the shellfish can be continuously transported backward under the action of inertia, and then fall into the "V" groove of a higher stage, which can effectively save space compared with the traditional conveyor belt. Please refer to Figure 5 , the planar four-bar mechanism 22 is connected to the frame 5 through a lifting hydraulic rod 26. By controlling the telescopic movement of the lifting hydraulic rod 26, the synchronous lifting of the harvesting module 1 and the sand leakage cleaning module 2 can be realized, ensuring the flexibility and adaptability of the shellfish harvesting device in different working environments.

[0084] In the above embodiment, preferably, during the shellfish collection operation, as the number of shellfish collected at the rear increases, the weight of the tail of the shellfish harvesting device will gradually increase, resulting in the center of gravity of the equipment moving backward and affecting the operation stability. To solve this problem, please refer to Figure 1 , on both sides of the frame 5, there are symmetrically arranged folding water bag brackets 6 with multi-stage snap rails. A water bag 7 is placed on the water bag bracket 6, and the water bag 7 is connected to the cleaning nozzle 23. Through the above settings, the operator can horizontally move the water bag 7 loaded with cleaning water along the multi-stage snap rails according to the accumulation amount of shellfish at the tail and snap it in place, thereby using the position adjustment of the water bag 7 to offset the uneven weight distribution caused by the increase in shellfish at the tail and achieve dynamic balance of the longitudinal inclination angle; at the same time, the water bag bracket 6 adopts a folding design, which can be unfolded during operation to optimize the equipment space layout and folded and stored when not in operation to keep the structure compact, taking into account both operation stability and transportation convenience.

[0085] In the above embodiment, preferably, the surfaces of the horizontal conveyor belt 31 and the inclined conveyor belt 32 are made of flexible anti-slip rubber material, which not only ensures that the shellfish are not damaged during transportation, but also effectively prevents slipping and improves the transportation stability.

[0086] In the above embodiment, preferably, the frame 5 is made of aviation aluminum alloy material, which has both high strength and lightweight characteristics, effectively reduces the overall weight of the equipment, and provides overall support and positioning guarantee for each functional module. Cable channels and hydraulic pipelines are arranged inside the frame 5 to ensure the coordinated operation of each functional module. Through the above arrangement, the overall reliability and adaptability of the shellfish harvesting device are significantly improved, providing a solid foundation for efficient operation.

[0087] In the above embodiments, preferably, please refer to Figure 1 A control room 8 is provided on the frame 5 for manually controlling the height of the harvesting module 1, the rotation speed of the roller shovel picker 1-2, the travel speed and the steering angle of the walking module 4 and other operating parameters. An engine 9 is provided on the frame 5 at the rear of the control room 8, and the engine 9 is connected to the walking module 4 through a transmission shaft to ensure that the shellfish harvesting device moves smoothly in the mudflat or shallow water area.

[0088] In the above embodiments, preferably, please continue to refer to Figure 1 The combined tidal flat shellfish harvesting device also includes a multimodal intelligent decision-making and control module, which includes a binocular camera 10, a laser radar 11 and an industrial computer (not shown in the figure). The binocular camera 10 and the laser radar 11 are arranged in front of the control room 8. The binocular camera 10 and the laser radar 11 are used to obtain image information of the harvesting area in real time and transmit it to the industrial computer (i.e., an industrial control computer). The industrial computer is integrated with a YOLOv10 algorithm, an A* algorithm and a PID controller. The YOLOv10 algorithm is used to obtain the terrain characteristics of the harvesting area and the position of dynamic / static obstacles according to the image information of the harvesting area. The A* algorithm is used to plan a harvesting operation path according to the terrain characteristics of the harvesting area and the position of dynamic / static obstacles. The PID controller is used to adjust the harvesting module 1 height, the rotation speed of the roller shovel picker 1-2, the travel speed and the steering angle of the walking module 4 in real time according to the planned harvesting operation path. The operation parameters ensure the efficiency and safety of autonomous operation.

[0089] Example 2

[0090] Based on the combined tidal flat shellfish harvesting device provided in the above embodiment 1, this embodiment further provides a combined tidal flat shellfish harvesting method, comprising the following steps:

[0091] S100. The shellfish harvesting device moves along a pre-planned harvesting operation path, the drum breaker 1-1 pre-loosens the soil during rotation, and the roller shovel picker 1-2 scoops up the shellfish and sand and sends them to the sand leakage cleaning module 2.

[0092] After the shellfish enter the sand leakage cleaning module 2, they are first preliminarily cleaned by the cleaning nozzles 23 to remove the sediment and impurities on the surface. During this period, due to the circumferential translational reciprocating motion of the vibrating cleaning sieve 21, the shellfish will also vibrate continuously and be transported backward, which is conducive to the shedding of silt.

[0093] S300. The cleaned shellfish enter the horizontal conveyor belt 31. The horizontal conveyor belt 31 adopts a hollow structure. The damaged or unqualified shellfish fall through the hollow holes of the horizontal conveyor belt 31, while the intact shellfish continue to be conveyed to the inclined conveyor belt 32. The inclined conveyor belt 32 conveys the shellfish upward to the collection area and falls into the movable collection box 12 (please refer to Figure 1 ). After the collection box 12 is full, the shellfish are poured into the automatic bagging machine for quantitative bagging and sealing. Moreover, a weighing sensor can be equipped at the bottom of the collection box 12 to monitor the weight of the shellfish in real time and ensure that the weight of each box of shellfish is consistent.

[0094] S400. The bagged shellfish are conveyed to the storage area through the conveyor belt and wait for subsequent transportation.

[0095] In the above embodiments, preferably, please refer to Figure 13 , and this shellfish harvesting method further includes the steps of multi-modal intelligent decision-making and control:

[0096] S101. Obtain the RGB image of the harvesting area through the binocular camera 10, and obtain the pixel-level depth information of the terrain of the harvesting area based on the parallax calculation; at the same time, obtain the 3D point cloud array of the harvesting area through the lidar 11.

[0097] S102. Based on the multi-source data obtained in step S101, the industrial control computer uses the YOLOv10 algorithm for dynamic / static obstacle detection, and combines the Kalman filter to fuse the multi-source data to obtain the terrain features of the harvesting area and the positions of the dynamic / static obstacles.

[0098] S103. Based on the terrain features of the harvesting area and the positions of the dynamic / static obstacles, the industrial control computer uses the A* algorithm to generate the initial harvesting operation path to ensure coverage of the harvesting area.

[0099] S104. At the same time, the industrial control computer deploys a real-time adaptive strategy to monitor the distances of the dynamic obstacles and static obstacles ahead: if there is a dynamic obstacle (such as a staff member) within 1 meter ahead, trigger an emergency brake; if the distance to the static obstacle is less than the width of the shellfish harvesting device + 20 cm, re-plan the harvesting operation path.

[0100] S105. The PID controller adjusts the operation parameters such as the height of the harvesting module 1, the rotation speed of the rolling shovel picker 1-2, the traveling speed and steering angle of the traveling module 4 in real time according to the planned harvesting operation path, and feeds back the execution status in real time to dynamically correct the error, ensuring the continuous and stable execution of the harvesting operation.

[0101] In the above embodiments, preferably, during the execution of step S300, when the weight of the shellfish at the tail of the shellfish harvesting device increases and affects its stability, the operator can move the water bag 7 forward and fix the water bag 7 with a buckle to maintain the overall balance of the shellfish harvesting device and ensure the stability of the operation.

[0102] Thus, through the efficient collaborative work of each functional module, the full process automation of shellfish collection, cleaning, screening, collection and packaging is realized, significantly improving the operation efficiency and economic benefits.

[0103] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be covered by the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A combined intertidal shellfish harvesting device, characterized in that, include: frame; Walking modules, arranged on both sides of the frame, are used for walking and turning of the frame; Capture module, including: A roller soil breaker is rotatably connected to the frame and can passively rotate as the frame moves forward to pre-loosen the soil; A roller shovel picker is arranged at intervals behind the roller breaker and is also rotatably connected to the frame, and is controlled by a driving member to actively rotate in the opposite direction of the roller breaker to scoop up shellfish and surface soil; Sand leak cleaning module, including: a vibrating cleaning screen, arranged behind the rolling shovel picker, for receiving the shellfish and sand scooped up by the rolling shovel picker; A planar four-bar linkage, the action end of which is connected to the vibrating cleaning screen; A vibration motor, arranged on the frame and in transmission connection with the planar four-bar linkage, for driving the vibration cleaning screen to realize circular translation reciprocating motion through the planar four-bar linkage; A cleaning nozzle, arranged on the planar four-bar linkage above the vibrating cleaning screen, for hydraulically flushing the shellfish and sand on the vibrating cleaning screen; The transmission module comprises: A transverse conveyor belt, which is arranged behind the vibrating cleaning screen and adopts a hollow structure, is used to filter out damaged or unqualified shellfish and continue to convey and gather intact shellfish; an inclined conveyor belt, disposed on one side of the transverse conveyor belt, for lifting the gathered shellfish to a rear collection area; The walking module comprises: The crawler belt has raised bionic scale patterns formed on its outer surface. The bionic scale patterns are composed of multiple bionic scales that mimic the morphological characteristics of sand snake scales. That is, the leading edge of each bionic scale presents an acute wedge shape, and the trailing edge is a smooth arc, forming a unidirectional friction characteristic. And the scale arrangement curve formed by the adjacent bionic scales in the width direction of the crawler belt is z =tan y , where y is the length direction of the crawler belt, z is the width direction of the crawler belt; the bionic scale patterns form corrugated sand guiding channels in the length direction of the crawler belt; The grouser comprises a grouser plate and a bionic grouser, wherein the grouser plate is firmly connected to the track, and the bionic grouser imitates the geometric configuration of the front toes of the mole cricket, that is, the inner and outer cross-sectional surfaces of the bionic grouser are arranged in quadratic curves, and the toe tip is slightly bent to form a hook-like structure.

2. The combined intertidal shellfish harvesting device according to claim 1, wherein, The traction force formula of the bionic grouser is: In the formula, F is the traction force of the track teeth; is the component force of the passive earth pressure of the track teeth in the direction opposite to the traveling direction; is the cohesive soil pressure per unit area on the side of the track teeth caused by cohesion; is the cohesive soil pressure per unit area on the concave-convex surface of the track teeth caused by cohesion; b is the width of the track teeth; S ABD is the side area of the track teeth; H is the height of the track teeth; Taking the top of the tread tooth as the origin and the horizontal traveling direction of the tread tooth as the y positive direction of the axis, the outer cross-sectional curve of the bionic tread tooth is , and the inner cross-sectional curve of the bionic tread tooth is , where is the height direction of the bionic tread tooth.

3. The combined intertidal shellfish harvesting device according to claim 1, wherein, The walking module also includes a driving wheel, a driven wheel, a sprocket wheel and a track motor; the driving wheel, the driven wheel and the sprocket wheel are all rotatably connected to the side of the frame, the track is set on the driving wheel, the driven wheel and the sprocket wheel, and the inner surface of the track is meshed with the driving wheel, the driven wheel and the sprocket wheel, and the track motor is drivingly connected to the driving wheel.

4. The combined intertidal shellfish harvesting device according to claim 1, characterized in that, The outer surface of the rolling shovel pickup is provided with a plurality of shovel blades arranged in a spiral shape, wherein the shovel blades include an eagle beak-shaped shovel blade and a wedge-shaped shovel handle, wherein the front tip of the shovel handle is connected to the shovel blade, and the rear thick end of the shovel handle is connected to the rolling shovel pickup.

5. The combined intertidal shellfish harvesting device according to claim 1, wherein, The vibrating cleaning screen adopts a perforated folding plate that imitates a mantis arm, that is, the cross section of the perforated folding plate is a continuous and multi-stage "V" shape with varying lengths to form a continuous sharp-angle bending structure; The planar four-bar linkage is connected to the frame via a lifting hydraulic rod, and the lifting and retraction of the lifting hydraulic rod is controlled to achieve synchronous lifting and retraction of the capture module and the sand leakage cleaning module.

6. The combined intertidal shellfish harvesting device according to any one of claims 1 to 5, characterized in that, Folding water bag brackets with multi-stage snap-on slide rails are symmetrically arranged on both sides of the frame, a water bag is placed on the water bag bracket, the water bag is connected to the cleaning nozzle, and the water bag can move back and forth on the water bag bracket to offset the uneven weight distribution caused by the increase of the tail shellfish, thereby achieving dynamic balance of the longitudinal inclination angle.

7. The combined intertidal shellfish harvesting device according to claim 6, wherein A control room is arranged on the frame for manually controlling the travel speed, steering angle and rotation speed of the rolling shovel picker of the shellfish harvesting device; an engine is arranged on the frame at the rear of the control room, and the engine is connected to the walking module through a transmission shaft.

8. The combined intertidal shellfish harvesting device according to claim 7, characterized in that, It also includes a multimodal intelligent decision-making and control module, which includes a binocular camera, a laser radar and an industrial computer. The binocular camera and the laser radar are arranged in the front of the control room. The binocular camera and the laser radar are used to obtain image information of the capture area in real time and transmit it to the industrial computer. The industrial computer is integrated with a YOLOv10 algorithm, an A* algorithm and a PID controller. The YOLOv10 algorithm is used to obtain the terrain characteristics of the capture area and the positions of dynamic / static obstacles according to the image information of the capture area. The A* algorithm is used to plan a capture operation path according to the terrain characteristics of the capture area and the positions of dynamic / static obstacles. The PID controller is used to adjust the capture module height, the roller shovel pickup speed and the travel speed and steering angle of the walking module in real time according to the planned capture operation path.

9. A method for harvesting shellfish implemented by the combined intertidal shellfish harvesting device according to any one of claims 6 to 8, characterized in that, include: The shellfish harvesting device moves along the planned harvesting operation path, the drum soil breaker pre-loosens the soil during the rotation process, and the roller shovel picker scoops up the shellfish and sand and sends them to the sand leakage cleaning module; After the shellfish enter the sand drain cleaning module, the shellfish are initially cleaned by the cleaning nozzle, and at the same time, the vibrating cleaning screen moves back and forth along the circumference, removing the sand and impurities on the surface of the shellfish while continuously vibrating and transporting the shellfish backwards; The cleaned shellfish enter the transverse conveyor belt, and the damaged or unqualified shellfish fall through the hollow holes of the transverse conveyor belt, while the intact shellfish continue to be conveyed to the inclined conveyor belt, which transports the shellfish upward to the collection area and falls into the movable collection box. When the collection box is full, the shellfish are poured into the automatic bagging machine for quantitative bagging and sealing; The packaged shellfish are transported to the storage area via conveyor belts, awaiting subsequent transportation.

10. The shellfish harvesting method according to claim 9, characterized in that, It also includes the steps of multimodal intelligent decision-making and control: The RGB image of the capture area is obtained through the binocular camera, and the pixel-level depth information of the capture area terrain is obtained based on the parallax calculation; at the same time, the 3D point cloud array of the capture area is obtained through the laser radar; Based on the acquired multi-source data, the industrial computer uses the YOLOv10 algorithm to detect dynamic / static obstacles, and combines the Kalman filter to fuse the multi-source data to obtain the terrain characteristics of the capture area and the location of dynamic / static obstacles; Based on the terrain features of the harvesting area and the locations of dynamic / static obstacles, the industrial computer uses the A* algorithm to generate the initial harvesting operation path; At the same time, the industrial computer deploys a real-time adaptive strategy to monitor the distance of dynamic and static obstacles in front: if there is a dynamic obstacle within 1 meter in front, emergency braking is triggered; if the distance of the static obstacle is less than the width of the shellfish harvesting device + 20cm, the harvesting operation path is replanned; The PID controller adjusts the height of the harvesting module, the rotation speed of the rolling shovel picker, the traveling speed and the steering angle of the traveling module in real time according to the planned harvesting operation path, and feeds back the execution status in real time to dynamically correct errors, ensuring the continuous and stable execution of the harvesting operation.

11. The shellfish harvesting method according to claim 9, wherein, When the weight of the shellfish at the tail of the shellfish harvesting device increases and affects its stability, the water bag can be moved forward and fixed by a buckle to maintain the overall balance of the shellfish harvesting device.

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