A beach cleaning device and method

Abstract

The present invention discloses a beach cleaning device and method, including a vehicle body, a collection - screening module and a walking module; the vehicle body includes a vehicle shell and an internal support, and the walking modules are arranged on both sides to achieve walking and steering; the collection - screening module includes a rotary collection head, a sand shoveling plate, a vibrating screen and a material box: the rotary collection head drives the driving rod through a motor to drive the helically arranged rake teeth to rotate, turning the objects to be collected in the sand to the surface layer; the inclined sand shoveling plate guides the objects - sand to be collected into the vibrating screen, and the vibrating screen realizes horizontal reciprocating vibration through a front - rear double - vibration transmission component, and the power is provided by an independent motor driving the transmission component, effectively separating the sand and the objects to be collected; the objects to be collected after screening slide into the tail material box through the vibrating screen for centralized collection. The present invention adopts a modular design, and through the synergistic effect of the rotary rake teeth and the vibrating screen, realizes the automatic collection, efficient screening and centralized recycling of the objects to be collected on the beach, and has the characteristics of compact structure, strong operation continuity and high environmental adaptability.

Description

Technical Field

[0001] The present invention belongs to the technical field of beach cleaning equipment, and in particular, relates to an environment-adaptive, high-efficiency, high-reliability beach cleaning device and method. Background Art

[0002] With the booming development of beach tourism, the number of tourists has increased significantly, and the problem of beach environmental protection has become increasingly serious. According to statistics, some popular beaches generate up to several tons of garbage every day during the peak tourist season. In order to keep the beaches clean, each scenic spot needs to invest a lot of manpower and financial resources. However, the traditional manual cleaning method is not only inefficient but also costly. Cleaners need to work intensively in a high temperature and high humidity environment, and the cleaning effect is limited. To solve this problem, a variety of beach garbage cleaning vehicles have emerged on the market in recent years. However, the existing cleaning equipment is generally large in size, noisy, and mostly requires tractor towing and specialist operation, so there are many inconveniences when operating on beaches with dense tourists. For example, large cleaning equipment is difficult to turn flexibly in crowded beach areas, and its operating noise affects tourists' leisure experience.

[0003] The basic principles of existing cleaning equipment for handling garbage, gravel and other materials to be collected are mostly similar, that is, the overall propulsion is provided by traditional crawler or tire travel methods, the materials to be collected are collected with the help of traditional mechanical structures such as buckets, and then the collected sand and materials to be collected are transported to the vibrating screen for separation using a conveyor belt. However, the above existing cleaning equipment has several shortcomings: ① Most of them are driven by diesel, with large carbon emissions and serious pollution. The noise of the power generation process affects the experience of tourists and hinders the economic development of tourist cities; the traditional crawler or tire travel mode is prone to sinking, resulting in insufficient propulsion; ② Most of them have a low degree of automation and rely on high-cost manual operations. Personnel need to work continuously for a long time in a high temperature environment, which poses a major safety hazard; ③ Most of them use traditional crawler or tire travel modes. Under complex terrain conditions (such as sand and muddy land), they face the problem of insufficient propulsion, resulting in low travel efficiency or even unable to move normally; the structure of the conveyor belt and the vibrating screen is complex, prone to failure and high maintenance cost; ④ Most of them use traditional mechanical structures such as buckets to collect the objects to be collected. When collecting the objects to be collected, the bucket is prone to shoveling up a large amount of sand and soil, which is not only obstructed and energy-consuming, but also increases the workload of subsequent screening; ⑤ Most of them use conveyor belts and vibrating screens to transport and screen the objects to be collected, but cannot screen impurities such as sand and soil, the process is complicated, and the structure of the conveyor belt and vibrating screen is complex, prone to failure and high maintenance cost. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an environment-adaptive high-efficiency and high-reliability beach cleaning device and method, aiming to provide a more efficient and environmentally friendly solution for cleaning and collecting beach garbage, gravel, ore, shellfish and other materials to be collected.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a beach cleaning device, including: a vehicle body, including a vehicle shell and a vehicle body bracket disposed inside the vehicle shell; a walking module disposed on both sides of the vehicle shell for the vehicle body to walk and turn; a collection-screening module, including: a fixed bracket connected to the vehicle body bracket; a rotary collection head disposed on the front side of the vehicle shell, including a rotary driving rod, rake teeth, a collection head motor and a transmission belt; the rotary driving rod is rotatably installed on the front side of the vehicle shell, and the rake teeth are composed of a plurality of rods arranged in an equidistant spiral manner on the rotary driving rod; the collection head motor is disposed on the fixed bracket and is in transmission connection with the rotary driving rod through the transmission belt, and the collection head motor drives the rotary driving rod to rotate synchronously through the transmission belt, thereby driving the rake teeth to rotate in a downward direction; a sand shovel plate disposed on the fixed bracket behind the rotary collection head, the sand shovel plate is obliquely disposed and biased towards the movement direction as a whole, and the front end of the sand shovel plate is slightly lower than the sand surface; a vibrating screen obliquely disposed inside the vehicle shell behind the sand shovel plate, including a vibrating screen mesh, a vibration transmission assembly, a motor transmission assembly and a vibrating screen motor; the vibrating screen mesh is inclined with the front end lower and the rear end higher below the fixed bracket, and the front end of the vibrating screen mesh is connected to the rear end of the sand shovel plate; the vibration transmission assembly is composed of two groups arranged front and rear, the front vibration transmission assembly is connected between the motor transmission assembly and the front end of the vibrating screen mesh, and the rear vibration transmission assembly is connected between the fixed bracket and the rear end of the vibrating screen mesh to suspend the vibrating screen mesh on the fixed bracket; the vibrating screen motor is disposed on the fixed bracket and is in transmission connection with the front vibration transmission assembly through the motor transmission assembly, and the vibrating screen motor drives the vibrating screen mesh to reciprocate horizontally through the motor transmission assembly and the front vibration transmission assembly; a material box disposed at the rear side of the vehicle shell and below the rear end of the vibrating screen for collecting the materials to be collected after screening.

[0007] Preferably: the material box is supported on the rear side of the vehicle shell through the vehicle body bracket, the top of the material box is open, and the bottom is a detachable material box screen; a vibrating screen-material box connecting piece is disposed between the material box and the vibrating screen, and both ends of the vibrating screen-material box connecting piece are respectively hinged to the material box and the vibrating screen.

[0008] Preferably: the walking module includes:

[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 fastened to the track, and the bionic grouser imitates the geometric configuration of the front toes of a mole cricket, that is, the inner and outer cross-sectional curved surfaces of the bionic grouser are arranged in quadratic curves, and the toe tip is slightly bent to form a hook-like structure; a depth sensor is arranged in the bionic grouser to monitor the sinking depth of the bionic grouser in real time.

[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 ,in It is the height direction of the bionic grouser 32-2.

[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 vehicle shell, 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 transmission-connected to the driving wheel.

[0016] Preferably, the beach cleaning device further comprises an intelligent recognition module, which comprises a remote object recognition and path planning unit and a local automatic control unit, wherein the remote object recognition and path planning unit plans a walking path based on the density distribution of the objects to be collected; the local automatic control unit realizes the object recognition and posture adjustment of the beach cleaning device at a close distance, and at the same time comprehensively inputs the information, adjusts the input power of the collection-screening module to respectively control the rotation speed of the rotary collection head and the frequency of the vibrating screen, and controls the linear speed of the crawler to adjust the collection speed and operation direction of the beach cleaning device.

[0017] Preferably, the remote object identification and path planning unit includes a tethered drone connected to the vehicle shell via a tether. The tethered drone can stay in the air continuously when in operation to provide continuous and accurate navigation for the object cleaning operation. After the operation is completed, the drone can be recovered via the tether and placed on the helipad on top of the vehicle shell.

[0018] The local automatic control unit includes RTK antennas arranged on both sides of the front of the vehicle shell and on-board cameras arranged on the vehicle shell on both sides of the rotary collection head. The RTK antenna receives satellite data sent in real time by the base station through radio equipment, locates, blocks and weights the area around the beach cleaning device, and finds the shortest path from the starting point to all other vertices in the weighted directed graph through an artificial intelligence algorithm, and finally feeds back to the walking module to adjust the posture; during the operation, the on-board camera continuously records and analyzes the visual signals of the objects to be collected with different burial degrees, different postures and different surface roughness in the collection area, and uses the artificial intelligence algorithm to identify the density distribution of the objects to be collected in the collection area, and controls the input power of the collection-screening module and the collection speed and operation direction of the beach cleaning device.

[0019] Preferably, the cross section of the vibrating screen presents a continuous and multi-stage "V" shape with varying lengths, wherein the short side is close to the vertical direction and the long side forms an angle of 60° with the vertical direction;

[0020] The vibrating screen is divided into two layers, an upper layer and an lower layer, which are arranged closely together. The lower layer is driven by a motor. The overlapping positions of the upper and lower screen holes are staggered by the horizontal relative movement between the lower and upper layers. The overlapping area of ​​the upper and lower screen holes is continuously and quickly adjusted from fully open to fully closed according to the scale of the object to be collected obtained by the intelligent recognition module.

[0021] As a preference, the sand shoveling board is hingedly connected to the vehicle body bracket through a plurality of sand shoveling board hinges, so that the sand shoveling board can rotate relative to the vehicle body bracket to adjust the soil entry angle of the sand shoveling board;

[0022] A leveling plate is provided at the rear of the vehicle body. The leveling plate is hinged to the vehicle body through a leveling plate hinge, and the surface of the leveling plate is covered with a detachable soft rubber layer for leveling the sand surface after sand screening and cleaning operations.

[0023] Preferably, a solar panel is provided on the upper back of the vehicle body to convert solar energy into electrical energy and store it in a storage battery inside the vehicle body. At the same time, an arc-shaped dust-proof cover and a front cover plate are arranged in sequence above the rotary collecting head, and the front cover plate is connected to the vehicle body.

[0024] In a second aspect, the present invention provides a beach cleaning method implemented based on the beach cleaning device described in the first aspect, including:

[0025] Steps of image recognition and path planning:

[0026] The airborne high-definition camera and vehicle-mounted camera of the tethered drone take pictures of the beach surface, capture image information, and preprocess the collected images, including denoising, enhancing contrast, and adjusting brightness, etc., to improve the image quality.

[0027] Use artificial intelligence algorithms to analyze the preprocessed images and identify the objects to be collected in the images through color frequency band analysis.

[0028] After obtaining the image recognition result, use the RTK antenna to locate, divide into blocks, and weight the area around the beach cleaning device, and then find the shortest path from the starting point to all other vertices in the weighted directed graph through the Dijkstra algorithm to plan the walking path of the beach cleaning device.

[0029] The walking module dynamically adjusts the rotation speed and steering angle of the crawler motor according to the path planning result and the current terrain conditions to achieve precise walking and steering control of the beach cleaning device.

[0030] Steps of collecting and screening the objects to be collected:

[0031] The beach cleaning device travels along the planned walking path, and the rake gears of the rotary collecting head rotate to lift the objects to be collected to the sand surface, and at the same time, initially screen out sand and soil particles.

[0032] The objects to be collected enter the vibrating screen area along with the sand shovel plate. The vibrating screen motor gives a certain frequency and vibration parallel to the vibrating screen direction to the front vibration transmission component through the motor transmission component, driving the vibrating screen mesh to vibrate reciprocally. The objects to be collected with larger sizes move upward due to inertia in the vibrating screen mesh and finally fall into the material box; the smaller sand and soil particles fall into the pores of the vibrating screen mesh and are backfilled into the beach bottom sediment.

[0033] At the same time, the vibrating screen drives the material box to vibrate horizontally repeatedly through the vibrating screen-material box connector, so that the tiny particles that fall into the material box pass through the sieve holes at the bottom of the material box during vibration and backfill the beach bottom, ensuring that only the materials to be collected exist in the material box.

[0034] As a preferred method: In the steps of image recognition and path planning, the RTK antenna feeds back the heading angle deviation in real time. When a steering command is required, the bionic grouser sinking depth obtained by the depth sensor is used to estimate the current sand quality parameters, and then the speed difference of the crawler motors on both sides is dynamically adjusted according to the current sand quality parameters:

[0035] In soft sandy areas, a progressive speed difference strategy is adopted to reduce the speed difference between the crawler motors on both sides to prevent the crawler from slipping;

[0036] In hard sand areas, a radical speed difference strategy is adopted to make the speed difference between the crawler motors on both sides larger to achieve rapid turning.

[0037] As a preferred embodiment: in the step of collecting and screening the objects to be collected, the vehicle-mounted camera controls the input power of the collection-screening module based on the feedback algorithm according to the density of the objects to be collected under the rotary collection head, specifically:

[0038] When the on-board camera detects that the concentration of the objects to be collected in front is greater than the density threshold, the beach cleaning device switches to the fine operation mode: the power supply of the crawler motor is reduced, the linear speed of the crawler is reduced, and the power supply of the collection head motor is increased, and the speed of the rotary collection head is increased;

[0039] When the on-board camera detects that the concentration of objects to be collected ahead is less than the density threshold, the beach cleaning device switches to fast cruising mode: the power supply of the track motor is increased, the linear speed of the track is increased, and the power supply of the collection head motor is reduced, reducing the rotation speed of the rotary collection head.

[0040] The present invention adopts the above technical solution, which has the following advantages:

[0041] 1. Beach cleaning capabilities have been significantly enhanced:

[0042] The collection-screening module adopts an integrated and efficient mechanical structure, which greatly improves the efficiency of beach cleaning. The rotary collection head adopts rake teeth arranged in an equidistant spiral, which has a simple structure, reduces the collection area, and reduces the forward resistance and energy consumption. During collection, the rod-shaped rake teeth can automatically roll in the larger objects to be collected, and then rake up the garbage, gravel, ore or shellfish under the sand surface waiting for collection, and preliminarily screen out the smaller sand and soil. This mode makes the device evenly stressed and the height from the bottom stable, which is conducive to obtaining a higher collection efficiency, stable equipment operation, and extending the life of the motor and gears. In contrast to the rotation direction of the collection head of a common cleaning device, the rake teeth rotate from the bottom to the front of the operation to prevent the stirred sand and dust from entering the mechanical structure behind the collection head and causing failures. This arrangement can also make the objects to be collected on both sides converge to the middle, loosen the harder beach bottom, and further reduce the travel resistance.

[0043] The adjustable sand shovel board on the rear side of the rotary collection head can lift the materials to be collected by the rake teeth into the vibrating screen by setting a certain attack angle. The unique "V"-shaped screen of the vibrating screen drives the vibration transmission component to vibrate back and forth through the motor, so that garbage and gravel waiting to be collected fall into the material box due to inertia, and sand falls into the gaps of the screen to fill the beach, realizing efficient, smooth and thorough screening of materials to be collected - sand and soil, reducing labor costs and the complexity of processing procedures, thereby significantly enhancing the beach cleaning capacity.

[0044] 2. High adaptability to different working conditions:

[0045] The bionic walking module that adapts to different geological environments significantly improves the traveling performance and environmental adaptability of the beach cleaning device in various geological conditions. The track in the walking module simulates the geometric shape and arrangement of sand snake scales. It is made of anti-adhesion hydrophobic rubber material, which is lightweight, highly wear-resistant and highly elastic. It optimizes the track surface structure, improves the grip, wear resistance and terrain adaptability, and can move flexibly in complex terrain. The grouser is designed based on the geometric configuration of the front toes of the mole cricket. It can penetrate deep into soft or uneven ground, significantly improve the grip and overall traction, and achieve terrain adaptive adjustment by simulating the movement of the mole cricket's feet. The grouser and the grouser plate are cast in one piece, which enhances the structural strength and stability, simplifies the assembly process, reduces the risk of track cracking, facilitates maintenance, and solves the problem of easy deformation of traditional welded grousers. The multifunctional leveling plate at the rear of the vehicle body adopts an improved hinge structure, which uses its own weight to level the beach surface, while avoiding the increase in resistance caused by excessive sinking depth and reducing work efficiency. At the same time, the double-layer screen can adjust the diameter of the screen holes according to the size of the objects to be collected, and is suitable for a variety of common beach objects including garbage and gravel. The accurate and efficient intelligent system can make adjustments to the power and path according to environmental information. This method achieves the unity of functionality and environmental friendliness, allowing the device to adapt to different operating conditions.

[0046] 3. Highly intelligent:

[0047] The intelligent recognition module that fuses multi-source information greatly improves the intelligence and automation level of the beach cleaning device. The intelligent recognition module is composed of a tethered drone for remote object-to-be-collected recognition and path planning unit and a local control unit working together. The tethered drone in the remote object-to-be-collected recognition and path planning unit has high adjustment accuracy, high redundancy, and long endurance time, and can provide continuous navigation during the operation. The bilateral RTK antennas in the local control unit can real-time calculate the three-dimensional coordinates of the beach cleaning device, and the vehicle-mounted camera inputs the visual signal of the object-to-be-collected at the position of the collection head to fine-tune the vehicle body direction. The vehicle-mounted camera can also continuously record and analyze the collection effects of objects-to-be-collected with different burial depths, different postures, and different surface roughnesses in the collection area during the operation, and quickly iterate to improve the processing ability and accuracy in dealing with complex situations, as well as the ability to identify the types of objects-to-be-collected. Combining image recognition and path optimization algorithms, it not only realizes the precise recognition and path planning of objects-to-be-collected such as garbage and gravel, but also controls the input power of the collection-screening module according to the density of the objects-to-be-collected, realizes collection as soon as it is discovered, and adjusts the sieve hole diameter according to the scale of the objects-to-be-collected, making the entire beach cleaning process more intelligent and efficient, reducing the degree of manual intervention, and improving the automation level. Brief Description of the Drawings

[0048] By reading the detailed description of the preferred embodiments below, 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:

[0049] Figure 1 It is a full view of the beach cleaning device provided in Embodiment 1 of the present invention;

[0050] Figure 2 It is a bottom view of the beach cleaning device provided in Embodiment 1 of the present invention;

[0051] Figure 3 It is a full view of the collection-screening module provided in Embodiment 1 of the present invention;

[0052] Figure 4 It is a schematic diagram of the movement of the collected objects near the rotary collection head during the operation of the present invention;

[0053] Figure 5 It is a schematic diagram of the movement of the collected objects near the sand shovel during the operation of the present invention;

[0054] Figure 6 It is a schematic diagram of the movement of the collected objects at the vibrating screen during the operation of the present invention;

[0055] Figure 7 It is a schematic structural diagram of the walking module provided in Embodiment 1 of the present invention;

[0056] Figure 8 Partial enlarged schematic diagram of the crawler and crawler teeth provided in Embodiment 1 of the present invention;

[0057] Figure 9 Planar structure schematic diagram of the bionic scale pattern provided in Embodiment 1 of the present invention;

[0058] Figure 10 Schematic diagram of the operation force mode and geometric shape of the crawler and crawler teeth provided in Embodiment 1 of the present invention;

[0059] Figure 11 Schematic diagram of the aperture change in the double-layer sieve provided in Embodiment 1 of the present invention;

[0060] Figure 12 Flow chart of the beach cleaning method provided in Embodiment 2 of the present invention;

[0061] Figure 13 Flow chart of the environmental detection of the intelligent recognition module provided in Embodiment 2 of the present invention.

[0062] The reference numerals in the figure are as follows:

[0063] 1 vehicle body; 2 collection-screening module; 3 walking module; 4 mooring cable; 5 tethered drone; 6 helipad; 7 RTK antenna; 8 vehicle-mounted camera; 9 shovel hinge; 10 leveling plate; 11 solar panel; 12 dust cover; 13 front cover plate; 14 leveling plate hinge; 15 object to be collected; 16 sand particles; 17 sand surface;

[0064] 1-1 vehicle shell; 1-2 vehicle body bracket;

[0065] 21 rotary collection head; 22 shovel; 23 vibrating screen; 24 material box; 25 fixed bracket; 26 vibrating screen-material box connecting piece; 21-1 rotary driving rod; 21-2 rake teeth; 21-3 collection head motor; transmission belt 21-4; 23-1 vibrating screen mesh; 23-2 vibration transmission component; 23-3 motor transmission component; 23-4 vibrating screen motor;

[0066] 31 crawler; 32 crawler teeth; 33 driving wheel; 34 driven wheel; 35 carrier wheel; 36 crawler motor; 31-1 bionic scale pattern; 31-3 bionic scales; 31-3 scale arrangement curve; 31-4 corrugated sand guide channel; 32-1 crawler tooth plate; 32-2 bionic crawler teeth; 32-3 bolt; 32-4 threaded hole; 32-5 depth sensor. Detailed implementation manners

[0067] To make the objectives, technical solutions and advantages of the present invention clearer, the following further describes the specific embodiments of the present invention with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be fully communicated to those skilled in the art.

[0068] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "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 drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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.

[0069] 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.

[0070] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; 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 elements or the interaction relationship between two elements. 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.

[0071] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the 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, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0072] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 expressions 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.

[0073] The present invention provides a walking method based on bionic track teeth and an integrated collection-screening intelligent beach cleaning device and method, aiming to replace the traditional cleaning method that highly depends on manual labor and the working environment to achieve efficient beach cleaning. The design inspiration of the bionic crawler comes from the scale structure of the sand snake, and the design inspiration of the track teeth comes from the digging feet structure of the mole cricket, which can provide stronger grip and propulsion force on the beach. The integrated collection-screening design optimizes the mechanical structure to synchronize the collection and screening of the objects to be collected, thereby improving the cleaning efficiency and reducing the energy consumption. In addition, the intelligent recognition module can automatically adjust the cleaning parameters according to the actual situation of the beach to ensure the cleaning effect while reducing the damage to the beach environment.

[0074] Next, the beach cleaning device and method provided by the embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0075] Embodiment 1

[0076] Please refer to Figure 1 , the beach cleaning device provided in this embodiment includes a vehicle body 1, a collection-screening module 2, and a walking module 3. Among them, the vehicle body 1 includes a vehicle shell 1-1 and a vehicle body bracket 1-2 provided inside the vehicle shell 1-1.

[0077] Please refer to Figure 2 , Figure 3The collection-screening module 2 is the core component of the device for realizing the cleaning function, including a rotary collection head 21, a sand shoveling plate 22, a vibrating screen 23, a material box 24 and a fixed bracket 25. The rotary collection head 21 includes a rotary active rod 21-1, rake teeth 21-2, a collection head motor 21-3 and a transmission belt 21-4. The rotary active rod 21-1 is rotatably installed on the front side of the vehicle shell 1-1. The rake teeth 21-2 are composed of a number of rods equidistantly arranged spirally on the rotary active rod 21-1, and the angle between two adjacent rods is 20°. The collection head motor 21-3 is set on the fixed bracket 25 that is fastened to the vehicle body bracket 1-2, and is connected to the rotary active rod 21-1 through the transmission belt 21-4. Therefore, the collection head motor 21-3 drives the rotary active rod 21-1 to rotate synchronously through the transmission belt 21-4, thereby driving the rake teeth 21-2 to rotate from bottom to top. With the above arrangement, during the operation of the rotary collecting head 21, the objects to be collected 15 are raked up from the sand surface 17 by the rake teeth 21-2 in sequence, and are lifted to the surface layer as the rotary active rod 21-1 rotates (see Figure 4 ), in order to facilitate subsequent collection, this mode makes the device evenly stressed and the height from the ground stable, which is conducive to obtaining higher collection efficiency, stable operation of the device, and extending the life of the collection head motor 21-3 and the rake teeth 21-2; at the same time, the shape of the rake teeth 21-2 rod and the larger spacing significantly reduce the effective area of ​​the collection part during the travel process, reduce the travel resistance, and reduce energy consumption; in addition, the rod-shaped rake teeth 21-2 with different phases can automatically roll the objects 15 to be collected with a relatively large scale of sand and soil into the rotary collection head 21, and the larger gap between adjacent rake teeth 21-2 can naturally leak the sand and soil particles with a smaller scale, thereby realizing the preliminary screening of the objects to be collected-sand and soil particles, and can also make the objects to be collected 15 on both sides converge to the middle, loosen the harder beach bottom, and further reduce the travel resistance; further, in contrast to the rotation direction of the collection head of the traditional cleaning device, the rake teeth 21-2 rotate from bottom to travel direction, which can also prevent the stirred sand and dust from entering the mechanical structure behind the rotary collection head 21 and causing failure. In addition, the transmission belt 21-4 can be a leather synchronous belt. Compared with the traditional sprocket, the leather synchronous belt can slip when the resistance threshold is exceeded. It can not only avoid the rake teeth 21-2 from being damaged by colliding with beach stones, but also is not easily blocked by fine sand and dust, thereby improving the reliability of the operation.

[0078] See also Figure 1 , Figure 5 The sand shoveling board 22 is arranged on a fixed bracket 25 located behind the rotary collecting head 21. The sand shoveling board 22 is tilted in the direction of movement, and the front end of the sand shoveling board 22 is slightly lower than the sand surface 17. The objects 15 to be collected, which are lifted to the sand surface 17 by the rotary collecting head 21, are further lifted by an oblique upward force at the sand shoveling board 22 as the device moves, and enter the vibrating screen 23 area behind.

[0079] Please refer to Figure 2 and Figure 3 , the vibrating screen 23 is obliquely arranged inside the vehicle body shell 1-1 behind the sand shoveling plate 22, and includes a vibrating screen mesh 23-1, a vibration transmission assembly 23-2, a motor transmission assembly 23-3, and a vibrating screen motor 23-4. The vibrating screen mesh 23-1 is arranged in an inclined manner with the front end lower and the rear end higher below the fixed bracket 25, and the front end of the vibrating screen mesh 23-1 is connected to the rear end of the sand shoveling plate 22. The vibration transmission assemblies 23-2 are two groups arranged front and rear. The front vibration transmission assembly 23-2 is connected between the motor transmission assembly 23-3 and the front end of the vibrating screen mesh 23-1, and the rear vibration transmission assembly 23-2 is connected between the fixed bracket 25 and the rear end of the vibrating screen mesh 23-1, suspending the vibrating screen mesh 23-1 on the fixed bracket 25. The vibrating screen motor 23-4 is arranged on the fixed bracket 25 and is in transmission connection with the front vibration transmission assembly 23-2 through the motor transmission assembly 23-3. Thus, the vibrating screen motor 23-4 drives the vibrating screen mesh 23-1 to reciprocate through the motor transmission assembly 23-3 and the front vibration transmission assembly 23-2.

[0080] Please refer to Figure 2 , the material box 24 is supported on the rear side of the vehicle body shell 1-1 through the vehicle body bracket 1-2 and is located below the rear end of the vibrating screen 23 for collecting the material to be mined 15 after screening. The top of the material box 24 is open, and the bottom is a detachable material box screen. A vibrating screen - material box connecting piece 26 is arranged between the material box 24 and the vibrating screen 23, and both ends of the vibrating screen - material box connecting piece 26 are respectively hinged to the material box 24 and the vibrating screen 23. Through the above settings, different from the traditional mode, the material box 24 is no longer fixed on the vehicle body bracket 1-2. With the support of the vehicle body bracket 1-2, the reciprocating horizontal vibration in the direction of the vibrating screen 23 can be converted into the synchronous reciprocating horizontal vibration of the material box 24, enabling the tiny particles such as sand and dust falling into the material box 24 to be backfilled into the beach bottom through the sieve holes at the bottom of the material box 24 during vibration, ensuring that only the material to be mined 15 exists in the material box 24, avoiding the accumulation of sand and dust in the stationary material box 24 and affecting the storage capacity of the material box 24, and significantly improving the cleaning efficiency of a single operation. After the operation is completed, the material box screen can be pulled out to take out the material to be mined 15.

[0081] In the above embodiment, preferably, please refer to Figure 1 and Figure 7, two groups of walking modules 3 are symmetrically arranged on both sides of the vehicle body 1-1, and are used for walking and turning of the vehicle body 1. Each group of walking modules 3 includes a crawler 31, a grouser 32, a driving wheel 33, a driven wheel 34, a sprocket wheel 35 and a crawler motor 36. The driving wheel 33, the driven wheel 34 and the sprocket wheel 35 are all rotatably connected to the side of the vehicle body 1-1, and the crawler 31 is sleeved on the driving wheel 33, the driven wheel 34 and the sprocket wheel 35, and the inner surface of the crawler 31 is meshed with the driving wheel 33, the driven wheel 34 and the sprocket wheel 35, and the crawler motor 36 is connected to the driving wheel 33 by transmission. Through the above-mentioned arrangement, when the crawler motor 36 drives the driving wheel 33 to rotate, the crawler 31 is pulled forward or backward, thereby pushing the entire beach cleaning device to move. The driven wheel 34 supports and maintains the tension of the crawler 31 to prevent it from loosening or falling off. At the same time, the driven wheel 34 shares the weight of the beach cleaning device to a certain extent, and improves the walking stability. The support sprockets 35 are evenly distributed between the driving wheel 33 and the driven wheel 34, providing solid support and guidance for the crawler track 31, ensuring that it always maintains the correct track during the movement.

[0082] See also Figure 8 , Figure 9 The outer surface of the crawler 31 is formed with a raised bionic scale pattern 31-1, and the bionic scale pattern 31-1 is composed of a plurality of bionic scales 31-2 that imitate the morphological characteristics of the sand snake scales (see Figure 9 ), that is, the leading edge of each bionic scale 31-2 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 31-3 formed by the adjacent bionic scales 41-2 in the width direction of the track 31 is z =tan y ,in y is the length direction of the crawler belt 31 (i.e. the horizontal travel direction of the grouser 32), z The width direction of the crawler 31; the bionic scale pattern 31-1 forms a corrugated sand-guiding channel 31-4 in the length direction of the crawler 31, 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 31-2 or adhering to the surface of the crawler 31 during the process. 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 31, improve the grip, movement performance and terrain adaptability, reduce the turning radius, and combine with the arrangement of the sand snake bionic scales 31-2 to give it good elasticity and ductility, which significantly improves the flexibility of the device in complex terrain. In addition, the crawler 31 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 31, ensuring that the shellfish harvesting device travels at a stable speed and enhancing reliability.

[0083] The sprocket teeth 32 include an integrally cast sprocket tooth plate 32-1 and bionic sprocket teeth 32-2. The sprocket tooth plate 32-1 is fixedly connected to the crawler 31 by bolts 32-3. The bionic sprocket teeth 32-2 imitate the geometric configuration of the front toes of a mole cricket, that is, the cross-sectional curved surfaces on the inner and outer sides of the bionic sprocket teeth 32-2 are both arranged in a quadratic curve, and the tip of the toe is slightly curved to form a hook-like structure. Through the above settings, the tip of the bionic sprocket teeth 32-2 is sharp, which can reduce the resistance of the bionic sprocket teeth 32-2 to penetrate the soil. When the sprocket teeth 32 move translationally relative to the ground, the special curve geometric configuration on the surface of the sprocket teeth 32 effectively enhances the grip and traction force on various ground surfaces. The bionic sprocket teeth 32-2 are integrally cast with the sprocket tooth plate 32-1, and then the sprocket tooth plate 32-1 is connected to the crawler 31 by bolts 32-3 through threaded holes 32-4. This design not only increases the wall thickness and overall strength of the sprocket teeth 32, but also simplifies the assembly process and is convenient for 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 cause the crawler to crack. Further, a depth sensor 32-5 can be arranged inside the bionic sprocket teeth 32-2 to monitor the subsidence depth of the bionic sprocket teeth 32-2 in real time.

[0084] In the above embodiment, preferably, the working force mode and geometric shape of the bionic sprocket teeth 32-2 are as Figure 10 shown, and the traction force formula of the bionic sprocket teeth 32-2 is:

[0085]

[0086] In the formula, is the traction force of the sprocket teeth; is the component force of 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 and convex surfaces 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.

[0087] Taking the top of the sprocket teeth 32 as the origin and the horizontal traveling direction of the sprocket teeth 32 as the y positive direction of the axis, the outer cross-sectional curve of the bionic sprocket teeth 32-2 is and the inner cross-sectional curve of the bionic sprocket teeth 32-2 is where

[0088] is the height direction of the bionic sprocket teeth 32-2. Figure 1, the beach cleaning device further includes an intelligent recognition module, which includes a remote object-to-be-collected recognition and path planning unit and a local automatic control unit. The remote object-to-be-collected recognition and path planning unit plans the walking path based on the density distribution of the object-to-be-collected 15; the local automatic control unit realizes the recognition of the object-to-be-collected and the adjustment of the device attitude at close range, and at the same time synthesizes the input information to adjust the input power of the collection-screening module to control the rotation speed of the rotary collection head 21 and the frequency of the vibrating screen 23 respectively, and controls the linear speed of the crawler 31 to adjust the collection feeding speed of the device, so as to achieve immediate discovery and collection and avoid power waste. Specifically, the remote object-to-be-collected recognition and path planning unit includes a tethered drone 5 connected to the vehicle body 1-1 through a tether 4. The tethered drone 5 can stay in the air continuously during the operation, providing continuous and accurate navigation for the object-to-be-collected cleaning operation. After the operation is completed, it can be recovered through the tether 4 and placed on the helipad 6 on the top of the vehicle body 1-1. The local automatic control unit includes RTK antennas 7 arranged on both sides of the front part of the vehicle body 1-1 and vehicle-mounted cameras 8 arranged on the vehicle body 1-1 on both sides of the rotary collection head 21. The RTK antennas 7 receive the satellite data sent by the reference station in real time through radio equipment, locate, block, and weight the surrounding area of the device, and find the shortest path from the starting point to all other vertices in the weighted directed graph through an artificial intelligence algorithm, and finally feedback to the walking module to adjust the attitude; the vehicle-mounted cameras 8 continuously record and analyze the visual signals of the objects-to-be-collected with different burial depths, different postures, and different surface roughnesses in the collection area during the operation, and use the artificial intelligence algorithm to identify the density distribution of the objects-to-be-collected in the collection area, control the input power of the collection-screening module 2, the collection feeding speed and the operation direction of the beach cleaning device, quickly improve the processing ability and accuracy in dealing with complex situations, as well as the ability to identify the types of objects-to-be-collected, realize the integration of the search-identification-positioning-collection technology, and greatly improve the intelligence and automation level of the beach cleaning device.

[0089] In the above embodiments, preferably, please refer to Figure 6 , the cross-section of the vibrating screen mesh 23-1 presents a continuous and uneven multi-level "V" shape, where the short side is close to the vertical direction and the long side forms a 60° angle with the vertical direction. Through the above settings, the larger objects-to-be-collected 15 can be trapped in the "V" - shaped groove and it is difficult to move downward. With the vibration of the vibrating screen mesh 23-1, the objects-to-be-collected 15 move upward due to inertia and then fall into the "V" - shaped groove of a higher level, and finally fall into the material box 24; on the contrary, the smaller sand particles 16 directly fall into the sieve holes of the vibrating screen mesh 23-1 and are backfilled into the beach sediment to avoid soil erosion. More preferably, the vibrating screen mesh 23-1 is divided into two closely arranged upper and lower layers, and the overlapping area of the sieve holes is adjusted according to the size of the objects-to-be-collected 15; specifically, please refer to Figure 11The lower vibrating screen 23-1 is driven by a built-in micro motor (not shown in the figure). The overlapping positions of the upper and lower screen holes are staggered through the horizontal relative movement between the lower vibrating screen 23-1 and the upper vibrating screen 23-1. According to the scale of the object to be collected obtained by the intelligent recognition module, the overlapping area of ​​the upper and lower screen holes is continuously and quickly adjusted from 100% (fully open) to 0% (fully closed), so that the device is widely applicable to various common objects to be collected, including garbage, gravel, ore or shellfish. The whole process is efficient and smooth, which greatly improves the efficiency of beach cleaning.

[0090] In the above embodiment, preferably, the sand shoveling board 22 is hinged to the vehicle body bracket 1-2 through a plurality of sand shoveling board hinges 9, so that the sand shoveling board 22 can rotate relative to the vehicle body bracket 1-2 to adjust the entry angle of the sand shoveling board 22. Through the above arrangement, the entry angle of the sand shoveling board 22 can be adjusted according to different geological conditions, so as to avoid the sand shoveling board 22 from increasing the energy consumption of the device due to meaningless obstruction. Specifically, when the soil is relatively hard (with a large shear strength), the collection efficiency of the rotary collection head 21 is low, and the entry angle of the sand shoveling board 22 can be increased at this time; and when the soil is relatively soft, the entry angle of the sand shoveling board 22 can be appropriately reduced.

[0091] In the above embodiments, preferably, please refer to Figure 1 , Figure 2 A screed plate 10 is provided at the rear of the vehicle shell 1-1. The screed plate 10 is hinged to the vehicle shell 1-1 through a screed plate hinge 14, and the surface of the screed plate 10 is covered with a detachable soft rubber layer for leveling the sand surface after the sand screening and cleaning operation. Through the above-mentioned setting, during the movement of the device, the screed plate 10 can automatically adjust its inclination angle and sand penetration depth through the screed plate hinge 14, and use its own weight to scrape the beach surface flat. Combined with the detachable soft rubber layer covering the surface of the screed plate 10, it not only reduces the wear on the screed plate 10 and the damage to the beach surface, avoids the increase in resistance caused by excessive sand scraping depth and the reduction in work efficiency due to the reduction in the speed of the collection, but also effectively reduces the damage to the environment caused by the operation, ensures the beauty of the beach in the scenic area, and realizes the unity of functionality and environmental friendliness.

[0092] In the above embodiment, preferably, please continue to refer to Figure 1 , Figure 2 A solar panel 11 is arranged on the upper back of the car body 1-1 to convert solar energy into electrical energy and store it in the battery inside the car body 1-1 to power the entire device, thereby achieving all-weather operation. At the same time, an arc-shaped dust cover 12 and a front cover plate 13 are arranged in sequence above the rotary collection head 21, and the front cover plate 13 is connected to the car body 1-1 to prevent the agitated dust from entering the core area of ​​the car body 1, reduce the risk of failure, and avoid the exposure of the mechanical structure.

[0093] Example 2

[0094] Please refer to Figure 12 、 Figure 13 Based on the beach cleaning device provided in the above Embodiment 1, this embodiment also provides a beach cleaning method, including:

[0095] S100. Steps of image recognition and path planning:

[0096] S101. The airborne high-definition camera of the tethered drone 5 and the vehicle-mounted camera 8 take pictures of the beach surface, capture image information, and preprocess the collected images, including denoising, enhancing contrast, and adjusting brightness, etc., to improve the image quality;

[0097] S102. Use the YOLOv10 artificial intelligence algorithm to analyze the preprocessed images, and identify the garbage, gravel, ore, or shellfish and other objects to be collected 15 and other objects in the images through color frequency band analysis;

[0098] S103. After obtaining the image recognition result, use the RTK antenna 7 to locate, divide into blocks, and weight the area around the beach cleaning device, and then find the shortest path from the starting point to all other vertices in the weighted directed graph through the Dijkstra algorithm, and plan the walking path of the beach cleaning device;

[0099] S104. The walking module 3 dynamically adjusts the rotation speed and steering angle of the crawler motor 36 according to the path planning result and the current terrain conditions to achieve precise walking and steering control of the beach cleaning device.

[0100] S200. Steps of collecting and screening the objects to be collected:

[0101] S201. The beach cleaning device travels along the planned walking path, and the rake teeth 21-2 of the rotary collection head 21 rotate, lifting the objects to be collected 15 to the sand surface 17, and at the same time initially screening out the sand and soil particles 16;

[0102] S202. The objects to be collected 15 enter the vibrating screen 23 area with the sand shovel 22. The vibrating screen motor 23-4 gives a certain frequency and vibration parallel to the direction of the vibrating screen 23 to the front vibration transmission component 23-2 through the motor transmission component 23-3, driving the vibrating screen mesh 23-1 to vibrate reciprocally. The larger-scale objects to be collected 15 get stuck in the "V" groove of the vibrating screen mesh 23-1 and move upward due to inertia, and finally fall into the material box 24; the smaller-scale sand and soil particles fall into the pores of the vibrating screen mesh 23-1 and are backfilled into the beach bottom sediment;

[0103] S203. Meanwhile, the vibrating screen 23 drives the material box 24 to vibrate horizontally synchronously and repeatedly through the vibrating screen - material box connecting piece 26, so that tiny particles such as sand and dust falling into the material box 24 are backfilled into the beach substrate through the sieve holes at the bottom of the material box 24 during vibration, ensuring that only the material to be mined 15 remains in the material box 24;

[0104] S204. After the operation is completed, the sieve mesh at the bottom of the material box 24 is taken out to obtain the material to be mined 15.

[0105] In the above - mentioned embodiment, preferably, when performing step S104, the RTK antenna 7 real - time feeds back the heading angle deviation. When a steering instruction needs to be executed, the subsidence depth of the bionic track teeth 32 - 2 obtained by the depth sensor 32 - 5 is used to estimate the current sand quality parameters, and then the speed difference between the two track motors 36 is dynamically adjusted according to the current sand quality parameters: in the soft sand area, a progressive speed - difference strategy is adopted to make the speed difference between the two track motors 36 smaller to prevent the track 31 from slipping; in the hard sand area, a rapid - advance speed - difference strategy is adopted to make the speed difference between the two track motors 36 larger to achieve rapid steering, thereby ensuring the stability and flexibility of the beach cleaning device in complex terrains.

[0106] In the above - mentioned embodiment, preferably, when performing step S201, the vehicle - mounted camera 8 controls the input power of the collection - screening module 2 based on the feedback algorithm according to the density of the material to be mined under the rotary collection head 21 identified. The higher the density of the material to be mined, the faster the rotation speed of the rotary collection head 21 and the greater the frequency of the vibrating screen 23. Specifically, when the vehicle - mounted camera 8 detects that the aggregation degree of the material to be mined in front is greater than the density threshold, the beach cleaning device switches to the fine - operation mode: reducing the power supply of the track motor 36, reducing the linear speed of the track 31, and at the same time increasing the power supply of the collection - head motor 21 - 3 to increase the rotation speed of the rotary collection head 21; when the vehicle - mounted camera 8 detects that the aggregation degree of the material to be mined in front is less than the density threshold, the beach cleaning device switches to the fast - cruise mode: increasing the power supply of the track motor 36, increasing the linear speed of the track 31, and at the same time reducing the power supply of the collection - head motor 21 - 3 to reduce the rotation speed of the rotary collection head 21. This dynamic real - time speed - regulation strategy reduces the energy consumption per unit area and improves the cleaning efficiency of materials to be mined such as garbage, gravel, ore, or shellfish.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit 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 cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present application, and they should all be covered within the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, the various 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 that fall within the scope of the claims.

Claims

1. A beach cleaning device, characterized in that, Comprising: A vehicle body, including a car body shell and a vehicle body support arranged inside the car body shell; A traveling module, arranged on both sides of the car body shell, for the traveling and steering of the vehicle body; A collection-screening module, including: A fixed support, connected to the vehicle body support; A rotary collection head, arranged on the front side of the car body shell, including a rotary drive rod, rake teeth, a collection head motor, and a transmission belt; the rotary drive rod is rotatably installed on the front side of the car body shell, and the rake teeth are composed of a number of rods spirally arranged at equal intervals on the rotary drive rod; the collection head motor is arranged on the fixed support and is in transmission connection with the rotary drive rod through the transmission belt, and the collection head motor drives the rotary drive rod to rotate synchronously through the transmission belt, thereby driving the rake teeth to rotate from bottom to top in the forward direction; A sand shoveling plate, arranged on the fixed support behind the rotary collection head, the sand shoveling plate is obliquely arranged and biased towards the moving direction as a whole, and the front end of the sand shoveling plate is slightly lower than the sand surface; A vibrating screen, obliquely arranged inside the car body shell behind the sand shoveling plate, including a vibrating screen mesh, a vibration transmission component, a motor transmission component, and a vibrating screen motor; the vibrating screen mesh is arranged in an inclined manner with the front end lower and the rear end higher below the fixed support, and the front end of the vibrating screen mesh is connected to the rear end of the sand shoveling plate; the vibration transmission component is composed of two groups arranged front and rear, the front vibration transmission component is connected between the motor transmission component and the front end of the vibrating screen mesh, and the rear vibration transmission component is connected between the fixed support and the rear end of the vibrating screen mesh, suspending the vibrating screen mesh on the fixed support; the vibrating screen motor is arranged on the fixed support and is in transmission connection with the front vibration transmission component through the motor transmission component, and the vibrating screen motor drives the vibrating screen mesh to vibrate horizontally back and forth through the motor transmission component and the front vibration transmission component; A material box, arranged at the rear side of the car body shell and below the rear end of the vibrating screen, for collecting the to-be-mined materials after screening; The traveling module includes: 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 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; Track teeth, including a track tooth plate and bionic track teeth, the track tooth plate is firmly connected to the crawler belt, and the bionic track teeth imitate the geometric configuration of the front toes of the mole cricket, that is, the cross-sectional curved surfaces on the inner and outer sides of the bionic track teeth are both arranged in a quadratic curve, and the toe tips are slightly curved to form a hook-like structure; a depth sensor is arranged inside the bionic track teeth to monitor the subsidence depth of the bionic track teeth in real time.

2. The beach cleaning device according to claim 1, characterized in that, The material box is supported on the rear side of the car body shell through the vehicle body support, the top of the material box is open, and the bottom is a detachable material box screen; a vibrating screen-material box connecting piece is arranged between the material box and the vibrating screen, and both ends of the vibrating screen-material box connecting piece are respectively hinged to the material box and the vibrating screen.

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

4. The beach cleaning device according to claim 1, characterized in that, The traveling module further includes a driving wheel, a driven wheel, a carrier wheel, and a crawler belt motor; the driving wheel, the driven wheel, and the carrier wheel are all rotatably connected to the side surface of the car body shell, the crawler belt is sleeved on the driving wheel, the driven wheel, and the carrier wheel, and the inner surface of the crawler belt meshes with the driving wheel, the driven wheel, and the carrier wheel, and the crawler belt motor is in transmission connection with the driving wheel.

5. The beach cleaning device according to claim 4, characterized in that, It also includes an intelligent recognition module, which includes a remote object recognition and path planning unit and a local automatic control unit. The remote object recognition and path planning unit plans the walking path based on the density distribution of the objects to be collected; the local automatic control unit realizes the object recognition and posture adjustment of the beach cleaning device at a close distance, and at the same time comprehensively inputs information, adjusts the input power of the collection-screening module to respectively control the rotation speed of the rotary collection head and the frequency of the vibrating screen, and controls the linear speed of the crawler to adjust the collection speed and operation direction of the beach cleaning device.

6. The beach cleaning device according to claim 5, characterized in that, The remote object identification and path planning unit includes a tethered drone connected to the vehicle shell via a tether. The tethered drone can stay in the air continuously when in operation to provide continuous and accurate navigation for the object cleaning operation. After the operation is completed, the drone can be recovered via the tether and placed on the helipad on top of the vehicle shell. The local automatic control unit includes RTK antennas arranged on both sides of the front of the vehicle shell and on-board cameras arranged on the vehicle shell on both sides of the rotating acquisition head. The RTK antenna receives satellite data sent in real time by the reference station through radio equipment, locates, blocks and weights the area around the beach cleaning device, and finds the shortest path from the starting point to all other vertices in the weighted directed graph through an artificial intelligence algorithm, and finally feeds back to the walking module to adjust the posture; During the operation, the vehicle-mounted camera continuously records and analyzes the visual signals of the objects to be collected with different burial degrees, different postures, and different surface roughness in the collection area, and uses an artificial intelligence algorithm to identify the density distribution of the objects to be collected in the collection area, and controls the input power of the collection-screening module and the collection speed and operation direction of the beach cleaning device.

7. The beach cleaning device according to claim 6, wherein, The cross section of the vibrating screen presents a continuous and multi-level "V" shape with varying lengths, wherein the short side is close to the vertical direction and the long side forms an angle of 60° with the vertical direction; The vibrating screen is divided into two layers, an upper layer and an lower layer, which are arranged closely together. The lower layer is driven by a built-in micro motor. The overlapping positions of the upper and lower screen holes are staggered by the horizontal relative movement between the lower and upper layers. The overlapping area of ​​the upper and lower screen holes is continuously and quickly adjusted from fully open to fully closed according to the scale of the object to be collected obtained by the intelligent recognition module.

8. The beach cleaning device according to claim 7, characterized in that, The sand shoveling board is hingedly connected to the vehicle body bracket through a plurality of sand shoveling board hinges, so that the sand shoveling board can rotate relative to the vehicle body bracket to adjust the soil entry angle of the sand shoveling board; A leveling plate is arranged at the rear of the vehicle shell, the leveling plate is hinged to the vehicle shell through a leveling plate hinge, and a detachable soft rubber layer is covered on the surface of the leveling plate for leveling the sand surface after sand screening and cleaning operations.

9. The beach cleaning device according to claim 8, characterized in that, A solar panel is arranged on the upper back of the vehicle shell for converting solar energy into electrical energy and storing it in a battery inside the vehicle shell; at the same time, an arc-shaped dust cover and a front cover plate are arranged in sequence above the rotary collection head, and the front cover plate is connected to the vehicle shell.

10. A beach cleaning method implemented based on the beach cleaning device according to any one of claims 6 to 9, characterized in that, include: Steps of image recognition and path planning: The airborne high-definition camera and vehicle-mounted camera of the tethered UAV take pictures of the beach surface, capture image information, and preprocess the collected images, including denoising, enhancing contrast, and adjusting brightness, etc., to improve the image quality; Use artificial intelligence algorithms to analyze the preprocessed images and identify the objects to be collected in the images through color frequency band analysis; After obtaining the image recognition result, use the RTK antenna to locate, divide into blocks, and weight the area around the beach cleaning device, and then use the Dijkstra algorithm to find the shortest paths from the starting point to all other vertices in the weighted directed graph, and plan the walking path of the beach cleaning device; The walking module dynamically adjusts the rotation speed and steering angle of the crawler motor according to the path planning result and the current terrain conditions to achieve precise walking and steering control of the beach cleaning device; Steps of object collection and screening: The beach cleaning device travels along the planned walking path, and the rake gear of the rotary collection head rotates to lift the objects to be collected to the sand surface, and at the same time, the sand and soil particles are initially screened out; The objects to be collected enter the vibrating screen area with the sand shovel plate. The vibrating screen motor gives a certain frequency and vibration parallel to the vibrating screen direction to the front vibration transmission component through the motor transmission component, driving the vibrating screen mesh to vibrate reciprocally. The objects to be collected with larger sizes move upward due to inertia in the vibrating screen mesh and finally fall into the material box; the sand and soil particles with smaller sizes fall into the pores of the vibrating screen mesh and are backfilled into the beach bottom sediment; At the same time, the vibrating screen drives the material box to vibrate horizontally synchronously and repeatedly through the vibrating screen - material box connecting piece, so that the tiny particles falling into the material box are backfilled into the beach bottom sediment during vibration through the sieve holes at the bottom of the material box, ensuring that only the objects to be collected are present in the material box.

11. The beach cleaning method according to claim 10, wherein In the steps of image recognition and path planning, the RTK antenna real-time feedbacks the heading angle deviation. When a steering instruction needs to be executed, the bionic crawler tooth sinking depth obtained by the depth sensor is used to estimate the current sand quality parameters, and then the speed difference between the two crawler motors is dynamically adjusted according to the current sand quality parameters: In the soft sand area, adopt a progressive speed difference strategy to make the speed difference between the two crawler motors smaller to prevent the crawler from slipping; In the hard sand area, adopt an aggressive speed difference strategy to make the speed difference between the two crawler motors larger to achieve rapid turning.

12. The beach cleaning method according to claim 10, characterized in that, In the steps of object collection and screening, the vehicle-mounted camera controls the input power of the collection - screening module based on the feedback algorithm according to the density of the objects to be collected below the rotary collection head identified, specifically: When the vehicle-mounted camera detects that the aggregation degree of the objects to be collected in front is greater than the density threshold, the beach cleaning device switches to the fine operation mode: reduce the power supply of the crawler motor, reduce the linear speed of the crawler, and at the same time increase the power supply of the collection head motor and increase the rotation speed of the rotary collection head; When the vehicle-mounted camera detects that the aggregation degree of the objects to be collected in front is less than the density threshold, the beach cleaning device switches to the fast cruise mode: increase the power supply of the crawler motor, increase the linear speed of the crawler, and at the same time reduce the power supply of the collection head motor and reduce the rotation speed of the rotary collection head.

Images