Man-machine interaction type sand raking and sand leveling device and method based on bionic crawler teeth

Abstract

The invention relates to a man-machine interaction type sand raking and leveling device and method based on bionic crawler teeth. A sand raking module dragged to a vehicle tail is the core link of the sand raking module. A plurality of sand raking devices and sparse rakes are arranged in a housing in sequence from front to back, wherein the sand raking devices and the sparse rakes are arranged on a rotating shaft along a spiral line. The swing arm is connected with the housing and the rear side shaft of the sand leveling tail plate, an electric cylinder is further hinged between the swing arm and the housing, and the electric cylinder stretches out and draws back to drive the swing arm to swing, so that the height of the rear side shaft of the sand leveling tail plate is changed; a small motor is further fixedly arranged on the swing arm and can drive the rear side shaft to rotate so as to actively adjust the tilting amplitude of the sand flattening tail plate. The overall adjustment of the pitching angle of the pull-type sand raking and leveling module can be realized through the extension and retraction of the tail electric cylinder; when the sand flattening tail plate tilts to a set angle and the electric cylinder drives the swing arm to rotate downwards to a sufficient angle, the walking device can walk reversely, and the sand pushing function is achieved.

Description

Technical Field

[0001] This invention relates to a sand-raking and leveling device, specifically a human-computer interactive sand-raking and leveling device and method based on biomimetic slipper teeth, belonging to the field of sand-raking and leveling technology. Background Technology

[0002] In various projects and activities such as coastal ecological restoration, seaside tourism development, and beach sports event organization, the daily maintenance and management of beaches—including surface loosening, overall leveling, and litter removal—are indispensable basic operations. Especially in professional events such as beach volleyball and track and field, the sand layer not only needs to have a high degree of cleanliness but also must maintain uniform physical properties (such as density and compressive strength) to ensure fairness, athlete safety, and optimal performance. Therefore, the level of beach cleaning and maintenance directly affects the quality of events and the participant experience. At the same time, with the continuous growth of coastal tourism, the demand for derivative services such as goods delivery, security patrols, and cultural displays within the beach area is becoming increasingly prominent, placing higher demands on operational efficiency and response speed. However, currently, beach loosening, leveling, and goods delivery still mainly rely on manual labor, resulting in low efficiency, high costs, and delayed response, making it difficult to meet the needs of modern, large-scale beach management and services.

[0003] Specifically, existing sand-raking and leveling operations designed for sports such as beach volleyball have the following problems:

[0004] 1. Rough leveling effect and lack of fine processing capability: Traditional equipment mostly uses fixed scrapers or compaction rollers, which can only achieve basic leveling and cannot form uniform and delicate sand textures or other special surface structures required by special scenarios. It cannot achieve fine combing, such as the uniform sand texture required for beach volleyball courts or the parallel grooving of drainage ditches.

[0005] 2. High energy consumption, low efficiency, complex structure, and prone to failure: Traditional equipment uses complex mechanical structures such as buckets, conveyor belts, and vibrating screens, which are prone to jamming, wear, and high failure rates. Traditional tracks / tires are prone to sinking in sandy areas and have insufficient propulsion; the bucket collection method has high resistance and high energy consumption.

[0006] 3. It lacks intelligent sensing and adaptive control, and relies heavily on manual operation. Summary of the Invention

[0007] The purpose of this invention is to propose a "human-machine interactive sand-raking and leveling device and method based on bionic toothed tracks", which aims to replace the traditional beach maintenance mode that relies on manual labor, in order to solve the problems of low efficiency, high cost and slow response of beach loosening and leveling, as well as the heavy reliance on manual labor for beach loosening, leveling and material distribution; and to achieve efficient, automated and sustainable integrated beach management.

[0008] The present invention adopts the following technical solution:

[0009] A biomimetic, toothed, human-machine interactive sand-raking and leveling device includes a tracked walking device, a rear-end connection device, and a towed sand-raking and leveling module 6. The towed sand-raking and leveling module 6 includes a housing 29, multiple sand-raking devices 20 arranged spirally on a rotating shaft, a comb-shaped rake 21, and a leveling tail plate 19. The multiple sand-raking devices 20 and the comb-shaped rake 21 are arranged in a front-to-back sequence within the housing. Swing arms 27 are rotatably connected in pairs to both sides of the housing. The rear end of each swing arm 27 is hinged to the rear shaft of the leveling tail plate 19. An electric cylinder 28 is also hinged between the swing arm 27 and the housing. The extension and retraction of the electric cylinder 28 can cause the swing arm 27 to swing, thereby changing the height of the rear shaft of the leveling tail plate 19. A [missing information - likely a device or component] is also fixed on the swing arm 27. A small motor 17 is installed, which can drive the rear shaft to rotate, so as to actively adjust the tilting degree of the sand-flattening tail plate 19; the rear connecting device includes a rear electric cylinder 14 and a connecting rod 15; one end of the connecting rod 15 is connected to the tracked walking device, and the other end is fixedly connected to the cover 29; one end of the rear electric cylinder 14 is connected to the rear of the vehicle, and the other end is rotatably connected to the cover 29; the extension and retraction of the rear electric cylinder 14 can adjust the pitch angle of the towed sand-flattening module 6; when the sand-flattening tail plate 19 tilts to a set angle, and at the same time the electric cylinder 28 drives the swing arm 27 to rotate downward to a sufficient angle, the walking device can move in the opposite direction to perform the sand-pushing function.

[0010] Preferably, the towed beach rake sand leveling module 6 also includes a rubber dustproof curtain 18, which is composed of multiple dustproof curtain units. One end is fixed on the cover, and the other end extends backward and covers the comb-shaped rake 21. The middle section is supported by the cover reinforcement beam.

[0011] Preferably, the multi-blade sand-raking device 20 includes a drive shaft 20-3, on which multiple plow-shaped harrow teeth 20-1 are arranged in a spiral manner. Each plow-shaped harrow tooth 20-1 includes a handle portion and an end plate portion. During the rotation of the drive shaft 20-3, the end plate portion gradually enters the sand and performs rotary tillage to loosen the sand layer.

[0012] Furthermore, a spiral plate 20-2 is fixedly installed on each end of the drive shaft 20-3. During the rotation of the drive shaft 20-3, the spiral plate 20-2 pushes the sand towards the middle. Its function is to guide and gather the sand on both sides inward, which can fill the local depression area and create better working conditions for the plow-shaped harrow teeth in the middle area.

[0013] Preferably, the multi-blade sand-raking device 20 has an independent power unit: when the power unit is turned on, the multi-blade sand-raking device 20 performs active sand-raking operation, and the comb-shaped rake 21 performs passive sand-raking operation; when the power unit is not turned on, the multi-blade sand-raking device 20 and the comb-shaped rake 21 jointly perform passive sand-raking operation.

[0014] Furthermore, the handle of the plow-shaped rake teeth 20-1 is telescopically adjustable to optimize the depth of penetration into the sand; multiple plow-shaped rake teeth are arranged in a multi-spiral pattern along the drive shaft to ensure continuous and uniform sand-raking action during travel.

[0015] Furthermore, it also includes a perception and decision integration module 10, which serves as the information processing and control center of the device, responsible for multi-source information acquisition, fusion analysis, and operation command generation. This module includes dual RTK antennas 9, a top communication antenna 10-1, front and rear dual-sided lidar 12, a material storage compartment 7, an anthropomorphic perception and decision head unit, and an electronic control compartment. The dual RTK antennas 9, located at the front right and rear left of the vehicle body, receive differential signals broadcast by the base station and, based on the carrier phase relative positioning principle, calculate and obtain the device's own high-precision three-dimensional coordinates and attitude information in real time. At the same time, the lidar 12, installed on the front and rear surfaces of the vehicle body, relies on its real-time localization and map building SLAM function to detect the distance and orientation of surrounding obstacles in real time by emitting and receiving laser beams, and simultaneously complete the local environment map construction and self-pose estimation.

[0016] A method for raking and leveling sand using a biomimetic, toothed, human-machine interactive sand-raking and leveling device, wherein the perception and decision-making integrated module 10 is located on the top of the vehicle body, adopting a humanoid robot head design, and integrates a camera for real-time capture of beach environment image information; the control center automatically analyzes and semantically recognizes the input images based on deep learning algorithms, accurately distinguishing personnel, obstacles, beach appearance, and features of the target area to be maintained in the image; after obtaining the recognition results, combined with the beach terrain information obtained by the RTK system, the work area is located, divided into blocks, and weighted, and then the shortest path from the starting point to all other vertices is found in the weighted directed graph through artificial intelligence algorithms, and finally fed back to the walking module to adjust the posture, combined with RTK... The device utilizes SLAM information to autonomously select operating modes, plan paths, and control intelligent power. Furthermore, the perception and decision-making center possesses 360° three-degree-of-freedom motion capabilities and is equipped with a voice interaction system and facial expression system. It employs a speech synthesis algorithm to understand natural language and simulates human expressions on the robot's facial screen. Simultaneously, when the perception and decision-making center detects voice messages indicating a distress call or a shopping request, the material storage compartment located in the main body of the device automatically opens, providing the person in need with first-aid kits, power banks, and beverages. Dual top antennas, located on the top of the perception and decision-making center, are part of the device's anthropomorphic design and connect to a 4G network to enable real-time monitoring of weather and beach regulations. The speech synthesis waveform formula is as follows:

[0017]

[0018] in, Represents the speech waveform. Represents the total number of samples. This represents the joint probability. The lower bound of speech recognition performance can be expressed as:

[0019]

[0020] in, Indicates the recognition error rate. Given speech features Conditional text conditional entropy, Size of the built-in vocabulary For acoustic feature dimensions.

[0021] Preferably, in the walking device, each biomimetic track tooth maintains a specific, biomimetic-optimized tilt angle with the plane of rotation to replicate the optimal mechanical configuration of the interaction between the forelegs and soil during a mole's digging, simulating the efficient coupling relationship between the tangential entry angle and the normal digging force. This design allows the track teeth to act on the sand along a preset optimal mechanical trajectory during rotation, avoiding the "plowing" high-resistance movement mode that is prone to occur in traditional vertical structures. This converts the rotational kinetic energy of the drive system into a force acting on the sand and waste mixture, thus constructing the formula for calculating the total resistance and local force of the biomimetic mole's forelegs: ; ; ; ;

[0022] Where F represents the total resistance acting on the forefoot toes of the bionic mole during movement, F1 represents the force acting on the tip of the forefoot, F2 represents the force acting on the base of the forefoot toes, F3 represents the force perpendicular to the shear plane of the bionic wheel claw, F4 represents the force acting on both sides of the forefoot toes, P represents the external load, P1 and P2 represent the deposition pressure at the base and tip of the forefoot toes, respectively, Z represents the sinking amount, and H represents the total resistance acting on the forefoot toes. d Let H be the total depth of the sandy soil or the thickness of the upper, relatively soft sandy soil layer, which can deform under load. H and d are the height and thickness of the biomimetic mole's forefoot toe, respectively. L is the length of the biomimetic mole's forefoot toe, E is the elastic modulus, and B is the total depth of the sandy soil or the thickness of the upper, relatively soft sandy soil layer. H A0, J, and Q are functions representing the dimensions of the biomimetic mole's forefoot toes, and B is the width of the biomimetic mole's forefoot toes. γ is the unit weight of sand, φ is the angle of internal friction, c is the cohesion, and K... pγ K pq and K pc It is a viscous function of the internal friction angle;

[0023] Using the above-mentioned formulas for calculating the total resistance and local force of the bionic mole's forefoot toes, the geometry of the bionic mole's forefoot toes is designed and optimized. By optimizing the local structure of the bionic mole's forefoot toes, the maximum possible traction force of the teeth is obtained.

[0024] The beneficial effects of this invention are as follows:

[0025] 1) Diverse operation modes in beach environments and highly integrated structure with high freedom of movement modules: This device integrates sand-raking and sand-leveling functions into a multi-degree-of-freedom composite module, achieving full coverage of beach maintenance operations with a single piece of equipment. This module adopts a combination design of a spiral-expanding sand-raking unit and a multi-degree-of-freedom adjustable attitude tailplate. During operation, it can quickly switch between towing sand-raking and pushing sand-leveling modes as needed. One machine can complete multiple tasks such as loosening soil, leveling, ditching, and land preparation, effectively replacing traditional single-function equipment or manual labor, significantly reducing equipment investment and operational complexity for beach maintenance. Its compact structure and reasonable layout, with functional hardware concentrated within modular outer panels, ensure the protection of core components while facilitating overall disassembly and maintenance, significantly improving the equipment's practicality and economy.

[0026] 2) The multi-plate sand-raking device arranged along the spiral on the rotating shaft adopts a multi-spiral design. During the rotation of the drive shaft, the end plate gradually enters the sand and rotates and loosens the sand layer. At the same time, it reduces the number of contacts between the plow-shaped harrow teeth and the sand surface, and evenly distributes the contact throughout the entire operation process, thereby improving the stability and continuity of sand compaction. The design of the plow-shaped harrow teeth is similar to providing multiple dispersed "foot" for "sand treading", making the sand raking more uniform and effective. The spiral plates located on both sides of the drive shaft can push the sand on both sides towards the middle, thereby filling the local depression area and creating better working conditions for the central plow-shaped harrow teeth. The design is ingenious and thoughtful.

[0027] 3) High Traction, Robustness, and Precision Walking Based on Bionic Tracks and Deep Learning: The bionic track design of the walking module deeply integrates biomechanical principles and engineering practice. By mimicking the geometry of a mole's forefoot toes and optimal burrowing angle, it achieves high traction, low resistance, and terrain adaptability in soft sand. This bionic design, combined with an intelligent decision-making system based on multi-source sensors (RTK, LiDAR, and vision systems), enables the device not only to walk steadily on complex sandy terrain but also to autonomously plan paths, intelligently select operating modes, and dynamically adjust travel parameters based on high-precision environmental perception data. The superior mobility provided by the bionic tracks lays a solid physical foundation for the stable and efficient execution of decision-making commands by the intelligent system. The two work together to ensure the operational efficiency and reliability of the equipment in dynamic, unstructured sandy environments. Attached Figure Description

[0028] Figure 1 This is a structural diagram of the human-machine interactive sand-raking and leveling device based on bionic toothed tracks, which is the external structure of the present invention.

[0029] Figure 2 This is a cross-sectional view of the human-machine interactive sand-raking and leveling device based on bionic toothed tracks of the present invention.

[0030] Figure 3This is a structural diagram of a towed beach rake and sand leveling module. Figure 1 .

[0031] Figure 4 This is a structural diagram of a towed beach rake and sand leveling module. Figure 2 (Looking up from below).

[0032] Figure 5 This is a schematic diagram of a multi-blade sand-raking device arranged along a spiral on a rotating shaft.

[0033] Figure 6 This is a schematic diagram of a charging station and charging connector.

[0034] Figure 7 These are three views of the human-computer interactive sand-raking and leveling device based on bionic toothed tracks, which is part of the present invention.

[0035] In the picture:

[0036] 1. Charging pile and charging connector; 2. Tracked driven wheel; 3. Track; 4. Mole-like forefoot toe bionic track teeth; 5. Tracked drive wheel; 6. Towed beach rake and sand leveling module; 7. Material storage compartment; 8. First aid kit; 9. RTK antenna; 10. Perception and decision integration module; 10-1 Antenna; 10-2 Human-machine interaction screen; 10-3 Ventilation grille; 12. LiDAR; 13. LED screen;

[0037] 11 Power bank; 15 Connecting rod; 22 Electrical control compartment; 23 Motor; 25 Ventilation grille; 26 Beverage;

[0038] 14. Rear electric cylinder; 16. Tailgate electric cylinder; 17. Small motor (acting on the tailgate rotation shaft); 18. Rubber dust curtain; 19. Tailgate;

[0039] 20 (arranged along a spiral on the rotating shaft) multi-blade sand-raking device; 21 comb-shaped rake; 27 swing arm; 28 electric cylinder; 29 cover;

[0040] 20-1 Plow-shaped harrow teeth; 20-2 Spiral plate; 20-3 Drive shaft;

[0041] 1-1 Guide rail; 1-2 Charging station; 1-3 Power cord; 1-4 Expanded power socket; 1-5 Power plug. Detailed Implementation

[0042] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0043] See Figure 1-2 A human-computer interactive sand-raking and leveling device based on biomimetic slipper teeth includes a walking device, a rear connection device, a towed beach sand-raking and leveling module 6, and a perception and decision-making integration module 10.

[0044] See Figure 3-4 The towed beach sand-raking and leveling module 6 includes a cover, a multi-blade sand-raking device 20 and a comb-shaped rake 21 arranged along a spiral on a rotating shaft, and a leveling tail plate 19; the multi-blade sand-raking device 20 and the comb-shaped rake 21 arranged along a spiral on a rotating shaft are arranged side by side in the cover.

[0045] The swing arms 27 are rotatably connected to both sides of the cover. The rear end of the swing arms 27 is hinged to the rear shaft of the flat tail plate 19. An electric cylinder 28 is also hinged between the swing arms 27 and the cover 29. The extension and retraction of the electric cylinder 28 can drive the swing arms 27 to swing, thereby changing the height of the rear shaft of the flat tail plate 19. A small motor 17 is also fixedly installed on the swing arms 27. The small motor 17 can drive the rear shaft to rotate, so as to actively adjust the tilting amplitude of the flat tail plate 19.

[0046] See Figure 3 The rear connection device includes a rear electric cylinder 14 and a connecting rod 15; one end of the connecting rod 15 is connected to the rear of the vehicle, and the other end is fixedly connected to the cover 29; one end of the rear electric cylinder 14 is connected to the rear of the vehicle, and the other end is rotatably connected to the cover 29; the rear electric cylinder 14 can extend and retract to adjust the pitch angle of the towed beach rake sand leveling module 6.

[0047] One particular feature needs to be pointed out: In one embodiment, see [link to example]. Figure 3 When the flat sand tail plate 19 is raised to a set angle, the walking device can move in the opposite direction to perform the sand pushing function.

[0048] See Figure 3 The towed beach rake sand leveling module 6 also includes a rubber dustproof curtain 18, which is composed of multiple dustproof curtain units. One end is fixed on the cover 29, and the other end extends backward and covers the comb-shaped rake 21. The middle section is supported by the reinforcing beam of the cover 29.

[0049] See Figure 5 The multi-blade sand-raking device 20, arranged along a spiral on a rotating shaft, includes a drive shaft 20-3. Multiple plow-shaped harrow teeth 20-1 are arranged spirally on the drive shaft. Each plow-shaped harrow tooth 20-1 includes a handle and an end plate. During the rotation of the drive shaft 20-3, the end plate gradually enters the sand and performs rotary tillage to loosen the sand layer.

[0050] See also Figure 5 A spiral plate 20-2 is fixedly installed on each end of the drive shaft 20-3. During the rotation of the drive shaft 20-3, the spiral plate 20-2 pushes the sand towards the middle. Its function is to guide the sand on both sides inward and gather it, which can fill the local depression area and create better working conditions for the central plow-shaped harrow teeth.

[0051] The multi-blade sand-raking device 20 has an independent power unit (not shown in the attached figure): when the power unit is turned on, the multi-blade sand-raking device 20 performs active sand-raking operation, and the comb-shaped rake 21 performs passive sand-raking operation; when the power unit is not turned on, the multi-blade sand-raking device 20 and the comb-shaped rake 21, which are arranged along the spiral on the rotating shaft, jointly perform passive sand-raking operation.

[0052] See Figure 5 The handle of the plow-shaped rake teeth 20-1 is telescopically adjustable to optimize the depth of penetration into the sand; multiple plow-shaped rake teeth are arranged in a multi-spiral pattern along the drive shaft to ensure continuous and uniform sand raking during the movement.

[0053] In this embodiment, a perception and decision integration module 10 is also included. This module serves as the information processing and control center of the device, responsible for multi-source information acquisition, fusion analysis, and operation instruction generation. This module includes dual RTK antennas 9, a top communication antenna 10-1, front and rear dual-sided lidar 12, a material storage compartment 7, an anthropomorphic perception and decision head unit, and an electronic control compartment. The dual RTK antennas 9, located at the front right and rear left of the vehicle body, receive differential signals broadcast by the base station and, based on the carrier phase relative positioning principle, calculate and obtain the device's own high-precision three-dimensional coordinates and attitude information in real time. At the same time, the lidar 12, installed on the front and rear surfaces of the vehicle body, rely on its real-time positioning and map building SLAM function to detect the distance and orientation of surrounding obstacles in real time by emitting and receiving laser beams, and simultaneously complete the local environment map construction and self-pose estimation.

[0054] See Figure 1-2The perception and decision-making center is located on the top of the vehicle body. The perception and decision-making integration module 10 is also located on the top of the vehicle body, adopting a humanoid robot head design and integrating a camera to capture real-time image information of the beach environment. The control center automatically analyzes and semantically recognizes the input images based on deep learning algorithms, accurately distinguishing people, obstacles, the appearance of the beach, and the features of the target area to be maintained. After obtaining the recognition results, it combines the beach terrain information obtained by the RTK system to locate, divide, and weight the work area. Then, it uses artificial intelligence algorithms to find the shortest path from the starting point to all other vertices in the weighted directed graph. Finally, it feeds back to the walking module to adjust the posture, combining RTK and SLAM information. This device enables autonomous selection of operating modes, path planning, and intelligent power control. Furthermore, the perception and decision-making center possesses 360° three-degree-of-freedom motion capabilities and is equipped with a voice interaction system and facial expression system. It uses a speech synthesis algorithm to understand natural language and simulates human expressions on the robot's facial screen. Simultaneously, when the perception and decision-making center detects voice messages indicating a distress call or a need to purchase items, the material storage compartment located in the main body of the device automatically opens, providing the person in need with first-aid kits, power banks, and beverages. Dual top antennas, located on the top of the perception and decision-making center, are part of the device's anthropomorphic design and connect to a 4G network to enable real-time monitoring of weather and beach regulations. The speech synthesis waveform formula is as follows:

[0055]

[0056] in, Represents the speech waveform. Represents the total number of samples. This represents the joint probability. The lower bound of speech recognition performance can be expressed as:

[0057]

[0058] in, Indicates the recognition error rate. Given speech features Conditional text conditional entropy, Size of the built-in vocabulary For acoustic feature dimensions.

[0059] In the walking device, each biomimetic tooth maintains a specific, biomimetic-optimized tilt angle with the plane of rotation to replicate the optimal mechanical configuration of the interaction between the forelegs and soil during a mole's digging, simulating the efficient coupling relationship between the tangential entry angle and the normal digging force. This design allows the teeth to act on the sand along a preset optimal mechanical trajectory during rotation, avoiding the "plowing" high-resistance movement mode that is prone to occur in traditional vertical structures. This converts the rotational kinetic energy of the drive system into a force acting on the sand and waste mixture, thus constructing the formula for calculating the total resistance and local force of the biomimetic mole's forelegs:

[0060] ;

[0061] ;

[0062] ;

[0063] ;

[0064] Where F represents the total resistance acting on the forefoot toes of the bionic mole during movement, F1 represents the force acting on the tip of the forefoot, F2 represents the force acting on the base of the forefoot toes, F3 represents the force perpendicular to the shear plane of the bionic wheel claw, F4 represents the force acting on both sides of the forefoot toes, P represents the external load, P1 and P2 represent the deposition pressure at the base and tip of the forefoot toes, respectively, Z represents the sinking amount, and H represents the total resistance acting on the forefoot toes. d Let H be the total depth of the sandy soil or the thickness of the upper, relatively soft sandy soil layer, which can deform under load. H and d are the height and thickness of the biomimetic mole's forefoot toe, respectively. L is the length of the biomimetic mole's forefoot toe, E is the elastic modulus, and B is the total depth of the sandy soil or the thickness of the upper, relatively soft sandy soil layer. H A0, J, and Q are functions representing the dimensions of the biomimetic mole's forefoot toes, and B is the width of the biomimetic mole's forefoot toes. γ is the unit weight of sand, φ is the angle of internal friction, c is the cohesion, and K... pγ K pq and K pc It is a viscosity function of the internal friction angle.

[0065] Using the above-mentioned formulas for calculating the total resistance and local force of the bionic mole's forefoot toes, the geometry of the bionic mole's forefoot toes is designed and optimized. By optimizing the local structure of the bionic mole's forefoot toes, the maximum possible traction force of the teeth is obtained.

[0066] The following provides further explanation of some structural details of this embodiment:

[0067] The sand-raking and leveling device is a tracked vehicle that connects to a charging station via an enlarged power socket located at the front of the vehicle. The beach cleaning device can be divided into four parts: a perception and decision-making integrated module 10, a towed sand-raking and leveling module 6, a rear connection device, and a walking device.

[0068] The perception and decision-making integration module 10 mainly consists of an RTK antenna 9, a top antenna 10-1, a lidar 12, a supplies storage compartment 7, a perception and decision-making center, and an electronic control compartment. The dual RTK antennas 9 are located on the front right and rear left sides of the vehicle's top, respectively; the dual lidars 12 are located on the front and rear surfaces of the vehicle, respectively; the electronic control compartment is located on the front bottom of the vehicle; the perception and decision-making center adopts a humanoid robot head design, located on the top of the vehicle, equipped with a high-definition camera, possessing three degrees of freedom of movement and a panoramic view; the supplies storage compartment, storing first-aid kits, power banks, beverages, and other supplies, is located in the vehicle body; the dual top antennas are located on top of the perception and decision-making center, forming part of the humanoid design of this invention.

[0069] The sand-raking and leveling module is located at the rear of the device. This module consists of a cover 29, multiple outward-expanding sand-raking devices 20 arranged along a spiral on a rotating shaft, a comb-shaped rake 21, a tail plate electric cylinder 16, a tail plate rotating shaft, a small motor 17, a rubber dust curtain 18, and a sand-leveling tail plate 19. The cover 29 has an approximately elliptical cross-section, with the side closer to the vehicle body being flatter and the side closer to the rear end having a larger area; the rubber dust curtain 18 is located on the outer plate near the rear end. The multiple outward-expanding sand-raking devices 20 arranged along a spiral on the rotating shaft are located inside the aforementioned outer plate and mainly consist of plow-shaped rake teeth 20-1, spiral plates 20-2, and a drive shaft 20-3; the plow-shaped rake teeth 20-1 are composed of a connecting rod that can automatically change length according to external pressure and an outward-expanding structure, and are generally shaped like a plow; the plow-shaped rake teeth are spirally arranged on the drive shaft; the two ends of the drive shaft are connected to the inner side of the outer plate through a bearing structure; the spiral plates are arranged in pairs on both sides of the drive shaft. The comb-shaped rake 21 is located at the rear of the sand-raking device and consists of multiple single rake teeth arranged in parallel. The tail plate electric cylinder 16 connects the flat sand tail plate 19 and the cover 29, and can push and pull the flat sand tail plate 29 to adjust its attitude and position; the tail plate rotating shaft is used to fix the flat sand tail plate 19 and make the flat sand tail plate 29 rotate around the shaft to achieve attitude adjustment; the flat sand tail plate 19 is located at the rear end of the device, and its position and attitude are adjustable.

[0070] The rear connection device includes a rear electric cylinder 14 and a connecting rod 15. The rear electric cylinder 14 connects the vehicle body and the cover 29; the connecting rod 15 connects the track and the cover 29, which can limit the movement range of the sand-raking and leveling module. When used in conjunction with the aforementioned rear electric cylinder 14, it can adjust the posture of the sand-raking and leveling module 6.

[0071] The walking mechanism comprises five parts: a motor, track drive wheels 5, track driven wheels 2, tracks 3, and biomimetic toothed tracks 4 resembling mole forefeet. The motor is located at the front of the electrical control compartment; tracks 4 are situated on both sides of the vehicle body, with track drive wheels 5 located at the front and rear ends of tracks 3 and having a larger diameter; track driven wheels 2 are located in the middle of tracks 3, numerous in number, and have a smaller diameter; gear meshing structures exist between track drive wheels 5 and track driven wheels 2, and between track drive wheels 5 and the motor for speed transmission. The biomimetic toothed tracks are evenly and equidistantly arranged on the surface of tracks 4, maintaining a specific, biomimetic-optimized angle with the plane of rotation to replicate the optimal mechanical configuration of the interaction between the forefeet and soil during mole digging, simulating the efficient coupling relationship between the tangential entry angle and the normal digging force.

[0072] Intelligent Sensing and Decision-Making: The perception and decision-making center, equipped with high-definition cameras, captures real-time images of the beach surface. After preprocessing including noise reduction, contrast enhancement, and brightness adjustment, the images are input into a deep learning model based on YOLOv10 for target recognition and scene analysis. This model effectively distinguishes dynamic targets such as people and obstacles, and combines color frequency band features to assess the beach surface condition (e.g., sand grain size, moisture distribution), providing information for operational decisions. At the path planning level, the system integrates global high-precision positioning information provided by RTK, models the operational area in a grid, and assigns corresponding weights to each grid based on factors such as obstacle density and terrain complexity, constructing a weighted directed graph. Based on artificial intelligence algorithms, the optimal path from the current location to each target area is calculated, achieving a balance between coverage efficiency and obstacle avoidance safety.

[0073] The perception and decision-making module receives path information and environmental data from the walking module, autonomously decides the current operating mode (sand raking or sand leveling), and dynamically adjusts the speed and steering of the track motors. The system uses RTK, SLAM, and LiDAR fusion positioning to monitor heading deviation and terrain features in real time, adjusting travel speed and steering strategy accordingly. When entering areas with dense debris or undulating terrain, it automatically switches to a refined operating mode, reducing travel speed and increasing the strength of the working mechanism; in open, flat areas, it activates a fast cruising mode, prioritizing improved mobility. Simultaneously, the system uses subsidence depth sensors integrated into the biomimetic track teeth to infer the sand's compressive characteristics and texture parameters in real time, dynamically optimizing the differential speed control strategy of the two tracks to achieve smooth steering and adaptive passage in sandy environments, significantly enhancing the system's robustness and energy efficiency under complex beach conditions.

[0074] Sand raking and leveling: In sand raking mode, this device tows the sand raking and leveling module forward. Multiple outward-expanding sand raking devices arranged along a spiral on the rotating shaft at the front of the module first flatten and loosen the undulating sand using their plow-shaped rake teeth. Following closely behind, comb-like rakes further smooth the sand surface, creating a uniform and fine sand texture to meet the requirements of competitions or landscaping. During this process, two refined effects can be achieved by adjusting the posture of the leveling tail plate 19: when the leveling tail plate 19 is lowered close to the sand surface, it can perform final leveling, creating a smooth and flat surface; if the leveling tail plate 19 is raised to a certain height, it can draw parallel textures of consistent depth and uniform spacing on the sand, suitable for beach maintenance or large-scale beach painting scenarios requiring drainage or the creation of specific surface structures.

[0075] In the simple sand leveling operation mode, the device reverses, propelling the sand-raking and leveling module 6 forward. At this time, the leveling tail plate 19 adjusts to a vertical position and lowers to a set height (to avoid significant resistance after the comb-shaped rake 21 enters the sand), acting as a bulldozer blade. This allows it to level accumulated sand dunes or locally raised sand bodies and evenly spread them to the surrounding area, thereby achieving overall flattening and reshaping of the beach's terrain, quickly restoring the site's usability and aesthetics. The two operation modes can be switched with a single button on the control system to adapt to different beach maintenance needs, significantly improving operational efficiency and functional versatility.

[0076] Travel: The active drive wheel directly receives electrical signal commands from the track control motor. When the drive wheel rotates, it pulls the track forward or backward, thus propelling the entire device. The driven wheel supports and maintains the track tension, preventing it from slackening or slipping. Simultaneously, the driven wheel shares some of the device's weight, improving travel stability. Track rollers are evenly distributed on both sides of the tracked travel system, providing solid support and guidance for the track, ensuring it maintains the correct trajectory during travel. The steering mechanism is key to the tracked travel device's flexible steering. During cleaning operations, steering control is achieved by precisely adjusting the speed difference between the two tracks. This steering method relies on a precision-designed differential that allows the two tracks to rotate at different speeds. When steering is required, the differential quickly adjusts the speed difference between the two tracks according to the steering command from the track control motor, ensuring the device can smoothly and accurately complete the steering operation. The differential design fully considers factors such as the device's weight, travel speed, and turning radius to ensure the smoothness and accuracy of the steering process. The above systems work together to achieve a device travel mode that quickly responds to motor commands.

[0077] The above are preferred embodiments of the present invention. Those skilled in the art can make various modifications or improvements based on these embodiments. Without departing from the overall concept of the present invention, such modifications or improvements should fall within the scope of protection claimed by the present invention.

Claims

1. A human-machine interactive sand-raking and leveling device based on biomimetic slipper teeth, characterized in that: Includes tracked walking device, rear connection device, and towed beach rake and sand leveling module (6). The towed beach raking and leveling module (6) includes a cover (29), a multi-blade raking device (20) arranged along a spiral on a rotating shaft, a comb-shaped rake (21), and a leveling tail plate (19). The multi-blade raking device (20) and the comb-shaped rake (21) are arranged in front and behind the cover. A pair of swing arms (27) are rotatably connected to both sides of the cover. The rear end of the swing arm (27) is hinged to the rear shaft of the leveling tail plate (19). An electric cylinder (28) is also hinged between the swing arm (27) and the cover. The extension and retraction of the electric cylinder (28) can drive the swing arm (27) to swing, thereby changing the height of the rear shaft of the leveling tail plate (19). A small motor (17) is also fixedly installed on the swing arm (27). The small motor (17) can drive the rear shaft to rotate, so as to actively adjust the tilting amplitude of the leveling tail plate (19). The rear connection device includes a rear electric cylinder (14) and a connecting rod (15); one end of the connecting rod (15) is connected to the tracked walking device, and the other end is fixedly connected to the cover (29); one end of the rear electric cylinder (14) is connected to the rear of the vehicle, and the other end is rotatably connected to the cover (29); the extension and retraction of the rear electric cylinder (14) can adjust the pitch angle of the towed beach rake sand leveling module (6); When the flat sand tail plate (19) is raised to a set angle, and the electric cylinder (28) drives the swing arm (27) to rotate downward to a sufficient angle, the walking device can walk in the opposite direction to perform the sand pushing function.

2. The human-machine interactive sand-raking and leveling device based on bionic toothed treads as described in claim 1, characterized in that: The towed beach rake sand leveling module (6) also includes a rubber dustproof curtain (18), which is composed of multiple dustproof curtain units. One end is fixed on the cover, and the other end extends backward and covers the comb-shaped rake (21). The middle section is supported by the cover reinforcement beam.

3. The biomimetic toothed combined spiral human-machine interactive sand-raking and leveling device as described in claim 1, characterized in that: The multi-blade sand-raking device (20) includes a drive shaft (20-3), on which multiple plow-shaped harrow teeth (20-1) are arranged in a spiral manner. Each plow-shaped harrow tooth (20-1) includes a handle and an end plate. During the rotation of the drive shaft (20-3), the end plate gradually enters the sand and performs rotary tillage to loosen the sand layer.

4. The human-machine interactive sand-raking and leveling device based on bionic toothed treads as described in claim 3, characterized in that: A spiral plate (20-2) is fixedly installed on each end of the drive shaft (20-3). During the rotation of the drive shaft (20-3), the spiral plate (20-2) pushes the sand towards the middle. Its function is to guide the sand on both sides inward and gather it, which can fill the local depression area and create better working conditions for the plow-shaped harrow teeth in the middle area.

5. The human-machine interactive sand-raking and leveling device based on bionic toothed treads as described in claim 1, characterized in that: The multi-blade sand-raking device (20) has an independent power unit: When the power unit is turned on, the multi-blade sand-raking device (20) performs active sand-raking operation, and the comb-shaped rake (21) performs passive sand-raking operation; When the power unit is not turned on, the multi-blade sand-raking device (20) and the comb-shaped rake (21) work together to perform passive sand-raking operations.

6. The human-machine interactive sand-raking and leveling device based on bionic toothed treads as described in claim 3, characterized in that: The handle of the plow-shaped rake teeth (20-1) is telescopically adjustable to optimize the depth of penetration into the sand; multiple plow-shaped rake teeth are arranged in a multi-spiral pattern along the drive shaft to ensure continuous and uniform sand-raking action during travel.

7. The human-machine interactive sand-raking and leveling device based on bionic toothed treads as described in claim 3, characterized in that: It also includes a perception and decision integration module (10), which serves as the information processing and control center of the device and is responsible for multi-source information acquisition, fusion analysis and operation instruction generation. This module includes dual RTK antennas (9), top communication antennas (10-1), front and rear dual-sided lidars (12), material storage compartment (7), anthropomorphic perception and decision head unit and electronic control compartment. The dual RTK antennas (9) located at the front right and rear left of the vehicle body receive differential signals broadcast by the base station and, based on the carrier phase relative positioning principle, calculate and obtain the device's own high-precision three-dimensional coordinates and attitude information in real time. At the same time, the lidars (12) installed on the front and rear surfaces of the vehicle body rely on their real-time localization and mapping (SLAM) function to detect the distance and orientation of surrounding obstacles in real time by emitting and receiving laser beams, and simultaneously complete the local environment map construction and self-pose estimation.

8. A method for raking and leveling sand using a human-computer interactive sand-raking and leveling device based on bionic slipper teeth as described in claim 7, characterized in that: The perception and decision integration module (10) is located on the top of the vehicle body and adopts a humanoid robot head configuration design. It integrates a camera to capture beach environment image information in real time. The control center automatically analyzes and semantically recognizes the input image based on deep learning algorithm, and can accurately distinguish people, obstacles, beach appearance and target area features that need to be maintained in the image. After obtaining the recognition results, the work area is located, divided, and weighted based on the beach terrain information obtained by the RTK system. Then, an artificial intelligence algorithm finds the shortest path from the starting point to all other vertices in a weighted directed graph. This information is then fed back to the walking module to adjust the posture. Combining RTK and SLAM information, the device autonomously selects its work mode, plans its path, and controls its power intelligently. Furthermore, the perception and decision-making center possesses three degrees of freedom (360°) of motion capability. It is equipped with a voice interaction system and an expression system, using a speech synthesis algorithm to understand natural language and simulating human expressions on the robot's face screen. Simultaneously, when the perception and decision-making center detects voice messages indicating a distress call or a need to purchase items, the material storage compartment located in the main body of the device automatically opens, providing the person in need with first-aid kits, power banks, and beverages. Dual top antennas located on the top of the perception and decision-making center are part of the device's anthropomorphic design, connecting to a 4G network to enable real-time monitoring of weather and beach regulations. The speech synthesis waveform formula is as follows: in, Represents the speech waveform. Represents the total number of samples. This represents the joint probability. The lower bound of speech recognition performance can be expressed as: in, Indicates the recognition error rate. Given speech features Conditional text conditional entropy, Size of the built-in vocabulary For acoustic feature dimensions.

9. The sand-raking and leveling method of the human-computer interactive sand-raking and leveling device based on bionic slipper teeth as described in claim 8, characterized in that: In the walking device, each biomimetic track tooth maintains a specific, biomimetic-optimized tilt angle with the plane of rotation to replicate the optimal mechanical configuration of the interaction between the forelegs and soil during a mole's digging, simulating the efficient coupling relationship between the tangential entry angle and the normal digging force. This design allows the track teeth to act on the sand along a preset optimal mechanical trajectory during rotation, avoiding the "plowing" high-resistance movement mode that is prone to occur in traditional vertical structures. This converts the rotational kinetic energy of the drive system into a force acting on the sand and waste mixture, thus constructing the formula for calculating the total resistance and local force of the biomimetic mole's forelegs: ； ； ； ； Where F represents the total resistance acting on the forefoot toes of the bionic mole during movement, F1 represents the force acting on the tip of the forefoot, F2 represents the force acting on the base of the forefoot toes, F3 represents the force perpendicular to the shear plane of the bionic wheel claw, F4 represents the force acting on both sides of the forefoot toes, P represents the external load, P1 and P2 represent the deposition pressure at the base and tip of the forefoot toes, respectively, Z represents the sinking amount, and H represents the total resistance acting on the forefoot toes. d Let H be the total depth of the sandy soil or the thickness of the upper, relatively soft sandy soil layer, which can deform under load. H and d are the height and thickness of the biomimetic mole's forefoot toe, respectively. L is the length of the biomimetic mole's forefoot toe, E is the elastic modulus, and B is the total depth of the sandy soil or the thickness of the upper, relatively soft sandy soil layer. H A0, J, and Q are functions representing the dimensions of the biomimetic mole's forefoot toes, and B is the width of the biomimetic mole's forefoot toes. γ is the unit weight of sand, φ is the angle of internal friction, c is the cohesion, and K... pγ K pq and K pc It is a viscosity function of the internal friction angle; Using the above-mentioned formulas for calculating the total resistance and local force of the bionic mole's forefoot toes, the geometry of the bionic mole's forefoot toes is designed and optimized. By optimizing the local structure of the bionic mole's forefoot toes, the maximum possible traction force of the teeth is obtained.

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