An automated sand barrier bag filling and grid-based collaborative laying system

Abstract

This invention relates to an automatic sand barrier bag filling and grid-based collaborative laying system, comprising a self-propelled support platform, a sand-collecting and feeding mechanism, a sand-screening and storage mechanism, a longitudinal sand barrier bag filling, forming, and laying mechanism, a transverse sand barrier bag forming and filling mechanism, a transverse sand barrier bag transfer and placement mechanism, and a collaborative control system. The sand-collecting and feeding mechanism acquires sand during the platform's movement; the sand-screening and storage mechanism screens, temporarily stores, and distributes the sand; the longitudinal mechanism continuously fills, forms, and lays longitudinal sand barrier bags; the transverse mechanism intermittently forms transverse sand barrier bags; and the transfer and placement mechanism laterally transfers the transverse sand barrier bags, adjusts their posture, and releases them to the ground. This system enables automatic sand barrier bag filling, continuous longitudinal laying, and intermittent transverse directional placement, improving sand barrier bag laying efficiency and the consistency of sand barrier grid formation.

Description

Technical Field

[0001] This invention relates to the field of desertification control and wind and sand protection equipment technology, and in particular to an automatic filling and grid-based collaborative laying system for sand barrier bags.

[0002] Specifically, the present invention relates to an automated laying system that can automatically extract sand, screen and store sand, distribute and supply materials, fill and form sand barrier bags, lay them continuously in the longitudinal direction, transfer and place them intermittently in the lateral direction, and coordinate and control them during sand operations. It is suitable for the grid-like laying of sand barrier bags in mobile sand dunes, semi-fixed sand areas, along roads, along pipelines, around engineering construction areas, and in ecological restoration areas. Background Technology

[0003] In desertification control, wind and sand protection, and ecological restoration projects, it is often necessary to deploy sand barrier structures in mobile dunes, semi-fixed sand areas, along roadsides, pipelines, around photovoltaic power stations, or other construction areas to reduce near-surface wind speeds, weaken the flow of sand, intercept sand, and stabilize the sand surface. Common sand barrier structures include straw checkerboard sand barriers, stone checkerboard sand barriers, sandbag sand barriers, and other strip-shaped or grid-shaped windbreak and sand-fixing structures. Among them, sandbags are typically filled with sand and laid on the ground to form continuous strip-shaped, horizontally arranged, or crisscrossing grid-shaped sand barrier structures. They are characterized by readily available materials, relatively stable laying patterns, and strong adaptability to sandy terrain.

[0004] In current sand barrier bag laying operations, many steps, including sand acquisition, screening, bag filling, bag sealing, bag transportation, and bag placement, still rely heavily on manual labor. Workers typically collect sand on-site, fill prefabricated bags, and then seal them manually by sewing, tying, or other methods. The filled bags are then transported to designated locations for laying. This method is labor-intensive, inefficient, and difficult to perform continuously in complex environments such as high temperatures, strong winds, and remote sandy areas. It also incurs high costs for construction organization and logistical support, making it unsuitable for large-scale, continuous, and grid-like sand barrier laying operations.

[0005] To reduce manual labor intensity, some existing technologies have developed equipment for sand conveying, sandbag filling, or sandbag transfer. For example, some equipment can lift sand to the bagging position via a conveying mechanism, some can assist in bag filling, and others can transport or simply place sandbags within a certain range. However, these devices are mostly designed for single operational stages, typically only capable of lifting sand, filling bags, or partial conveying. They struggle to effectively connect stages such as sand extraction, sieving, storage, distribution, bag forming, filling, sewing and sealing, longitudinal laying, and lateral placement. Therefore, in actual sandy field construction, a significant amount of manual labor is still required for sealing, handling, positioning, and placement, and the equipment's ability to operate continuously is insufficient.

[0006] Furthermore, sand in sandy areas often contains stones, branches, grass roots, or other impurities. If the sand enters the filling mechanism directly without screening, it can easily cause blockages in the feeding channel, filling hopper, forming channel, or bag filling area, affecting the stability of sand barrier bag forming and filling. Some existing equipment lacks sand screening, equalization, anti-blocking, and storage structures suitable for sandy environments, making it impossible to stably distribute sand to multiple filling mechanisms during continuous movement, resulting in difficulties in coordinating the continuous filling of longitudinal and transverse sand barrier bags.

[0007] In the construction of sand barrier grids, it is necessary not only to continuously lay longitudinal sand barrier bags along the direction of equipment travel, but also to lay transverse sand barrier bags according to the preset grid spacing. Traditional methods typically rely on manual measurement of grid spacing, manual handling of transverse sand barrier bags, and manual adjustment of placement. This method is easily affected by factors such as terrain undulations, operator experience, wind and sand conditions, and construction intensity, making it difficult to guarantee the consistency of the placement, orientation, and spacing of the transverse sand barrier bags. When a large-area crisscrossing sand barrier grid structure needs to be formed, these errors will further accumulate, affecting the overall forming quality of the sand barrier grid and its windbreak and sand-fixing effect.

[0008] Meanwhile, existing equipment often struggles to coordinate the continuous longitudinal laying of sandbags with the intermittent formation, transfer, alignment, and release of lateral sandbags during the mobile laying process. Especially when the self-propelled equipment is continuously moving, the lateral sandbags need to be formed promptly at the preset lateral laying position, transferred laterally to the target placement location, and then released onto the ground in a predetermined posture. Without a coordinated control method that matches the walking path, grid parameters, and equipment movement status, problems such as inaccurate timing of lateral sandbag deployment, unstable lateral transfer distance, bag posture deviation, or uneven grid spacing can easily occur.

[0009] Furthermore, existing sandbag laying equipment has a low degree of integration with the work area boundary, sandbag grid parameters, and path planning, making it difficult to automatically plan the work path and coordinate the actions of various mechanisms based on the shape of the construction area, grid size, longitudinal laying speed, and lateral placement cycle. For large-scale sand control projects, without achieving integrated operations of path planning, continuous sand extraction, sand screening and storage, longitudinal laying, lateral placement, and coordinated control, it will be difficult to significantly improve the automation level and construction efficiency of sandbag laying.

[0010] Therefore, there is an urgent need for an automatic sandbag filling and grid-based collaborative laying system that can adapt to sandy working environments. This system should be able to automatically collect sand, screen and store sand, distribute and supply materials, fill and shape sandbags, lay them continuously in the longitudinal direction, transfer and place them intermittently in the lateral direction, and coordinate and control them during self-propelled operation. This would reduce the intensity of manual labor, improve the efficiency of sandbag laying, and enhance the consistency of laying the crisscrossing sandbag grid structure and the stability of continuous operation. Summary of the Invention

[0011] The purpose of this invention is to provide an automatic sand barrier bag filling and grid-based collaborative laying system to solve the problems of high labor intensity, low work efficiency, and difficulty in automatically forming a crisscrossing sand barrier grid structure during existing sand barrier bag laying processes, which involve manual sand collection, bagging, sealing, transportation, and placement.

[0012] To achieve the above objectives, the present invention provides an automatic sand barrier bag filling and grid-based collaborative laying system, including a self-propelled bearing platform, a sand feeding mechanism, a sand screening and storage mechanism, a longitudinal sand barrier bag filling, forming and laying mechanism, a transverse sand barrier bag forming and filling mechanism, a transverse sand barrier bag transfer and placement mechanism, and a collaborative control system.

[0013] The sand-collecting and feeding mechanism is used to collect sand and transport it to the sand-screening and storage mechanism during the movement of the self-propelled bearing platform.

[0014] The sand screening and storage mechanism is used to screen and temporarily store sand and distribute it to the longitudinal sand barrier bag filling and laying mechanism and the transverse sand barrier bag forming and filling mechanism.

[0015] The longitudinal sandbag filling, forming and laying mechanism is used to continuously fill, form and lay longitudinal sandbags as the self-propelled bearing platform travels along the working path.

[0016] The transverse sand barrier bag forming and filling mechanism is used to fill and form transverse sand barrier bags when the self-propelled bearing platform travels to the preset transverse laying position.

[0017] The transverse sand barrier bag transfer and placement mechanism is used to receive the transverse sand barrier bag, transfer the transverse sand barrier bag laterally to the preset placement position, and release the transverse sand barrier bag to the ground after adjusting its posture.

[0018] The collaborative control system is used to control the longitudinal sand barrier bag filling and laying mechanism to operate continuously according to the sand barrier grid parameters and the travel status of the self-propelled carrying platform, and to control the transverse sand barrier bag forming and filling mechanism and the transverse sand barrier bag transfer and placement mechanism to operate intermittently, so as to form a crisscrossing sand barrier grid structure.

[0019] In one possible implementation, the collaborative control system triggers the intermittent operation of the transverse sand barrier bag forming and filling mechanism and the transverse sand barrier bag transferring and placing mechanism based on the position, travel distance, length of the laid longitudinal sand barrier bags, or travel time of the self-propelled carrying platform, so that the transverse sand barrier bags are released to the ground according to the grid spacing corresponding to the sand barrier grid parameters.

[0020] In one possible implementation, the system further includes a navigation path planning system, which generates the operation path based on the operation area boundary and sand barrier grid parameters, and sends the operation path to the collaborative control system.

[0021] In one possible implementation, the navigation path planning system includes one or more of the following: a satellite positioning module, an inertial navigation module, a visual recognition module, a lidar module, a terrain perception module, or a work area modeling module.

[0022] In one possible implementation, the sand-collecting and feeding mechanism includes a sand-gathering component, a lifting and conveying component, and a posture adjustment component; the sand-gathering component is used to gather sand into the sand-feeding area of ​​the sand-collecting and feeding mechanism; the lifting and conveying component is used to lift and convey the gathered sand to the sand-screening and storage mechanism; the posture adjustment component is used to adjust the inclination angle, height, or sand-entry depth of the sand-collecting and feeding mechanism to change the amount of sand collected.

[0023] In one possible implementation, the sand screening and storage mechanism includes a sand screening trough, a material equalization and anti-clogging component, a storage bin, and multiple discharge channels; the sand screening trough is used to receive sand conveyed by the sand feeding mechanism and screen the sand; the material equalization and anti-clogging component is used to push the sand entering the sand screening trough to different screening areas; the storage bin is used to temporarily store the screened sand; the multiple discharge channels are respectively connected to the longitudinal sand barrier bag filling and forming laying mechanism and the transverse sand barrier bag forming and filling mechanism to distribute material to the corresponding mechanisms.

[0024] In one possible implementation, both the longitudinal sand barrier bag filling and forming laying mechanism and the transverse sand barrier bag forming and filling mechanism include a roll material support assembly, a roll material tensioning assembly, a roll material spreading assembly, a forming device, a material discharge and sand leakage pipe, a filling hopper, a sewing and locking mechanism, a bottom sewing mechanism for the sand barrier bag, an upper sewing and sealing mechanism for the sand barrier bag, a roll material traction assembly, and a cutting mechanism.

[0025] In one possible implementation, the roll material used to form the sand barrier bag is supported by the roll material support assembly and tensioned by the roll material tensioning assembly. The roll material then forms a bag structure through the roll material spreading assembly and the forming device. Sand material enters the bag structure through the discharge sand leakage pipe and the filling hopper. The sewing and overlocking mechanism is used to sew and overlock the sides of the bag. The bottom sewing mechanism of the sand barrier bag is used to form the bottom of the bag. The upper sewing and sealing mechanism of the sand barrier bag is used to sew and seal the upper part of the filled bag. The cutting mechanism is used to cut the sealed bag to form the sand barrier bag.

[0026] In one possible implementation, the longitudinal sand barrier bag filling and laying mechanism is used to continuously output and lay longitudinal sand barrier bags along the travel direction of the self-propelled bearing platform, and the transverse sand barrier bag forming and filling mechanism is used to intermittently output transverse sand barrier bags according to the grid spacing corresponding to the sand barrier grid parameters.

[0027] In one possible implementation, the outlet end of the transverse sand barrier bag forming and filling mechanism is provided with a buffer guide, which is used to reduce the impact of the transverse sand barrier bag falling and guide the transverse sand barrier bag to the transverse sand barrier bag transfer and placement mechanism.

[0028] In one possible implementation, the lateral sand barrier bag transfer and placement mechanism includes a lateral transfer unit and a directional placement unit, wherein the lateral transfer unit and the directional placement unit are separately configured or integrated; wherein the lateral transfer unit includes a reciprocating lateral moving platform, and the directional placement unit includes a lateral sand barrier bag directional placement mechanism.

[0029] In one possible implementation, the reciprocating lateral moving platform includes a support part that can move laterally back and forth. The support part is used to receive the lateral sand barrier bags output by the lateral sand barrier bag forming and filling mechanism, and to move the lateral sand barrier bags laterally to a preset placement position corresponding to the sand barrier grid parameters. The support part is a flat plate, an tiltable support plate, a V-shaped groove, a U-shaped groove, a limiting groove, a support trolley, a sliding frame, or a conveying pallet structure.

[0030] In one possible implementation, the transverse sand barrier bag orientation and placement mechanism includes a supporting and conveying component, a limiting and guiding component, and a release component. The supporting and conveying component is used to support and convey the transverse sand barrier bags, and the limiting and guiding component is used to limit the position and orientation of the transverse sand barrier bags. An angled groove, a V-shaped groove, a U-shaped groove, or a limiting channel is formed between the supporting and conveying component and the limiting and guiding component. The release component is used to change the relative position between the supporting and conveying component and the limiting and guiding component to release the transverse sand barrier bags to the ground.

[0031] In one possible implementation, the release component releases the lateral sand barrier bag by flipping, lifting, opening, tilting, extending or swinging; the supporting and conveying component is a chain, belt, roller or plate conveying component, and is provided with gripping, limiting, anti-slip or posture adjustment structures.

[0032] In one possible implementation, the transverse sand barrier bag transfer and placement mechanism is used to carry multiple transverse sand barrier bags and release them simultaneously or sequentially to the ground after reaching a preset placement position.

[0033] In one possible implementation, the system further includes a power source and a drive system, wherein the power source is a fuel power source, an electric power source, a hybrid power source or an external power source, and the drive system is a hydraulic drive system, an electric drive system, a pneumatic drive system or a hybrid drive system.

[0034] Based on the above technical solution, the automatic sand barrier bag filling and grid-based collaborative laying system of the present invention uses a self-propelled carrying platform to carry a sand feeding mechanism, a sand screening and storage mechanism, a longitudinal sand barrier bag filling and laying mechanism, a transverse sand barrier bag forming and filling mechanism, and a transverse sand barrier bag transfer and placement mechanism. Through a collaborative control system, the operation of each mechanism is coordinated according to the sand barrier grid parameters and the travel status of the self-propelled carrying platform. This system realizes sand acquisition, screening and storage, material distribution and supply, continuous longitudinal sand barrier bag laying, and intermittent transverse sand barrier bag forming, transverse transfer, posture adjustment and release. It solves the problems of high manual labor intensity, low work efficiency, insufficient transverse sand barrier bag placement accuracy and difficulty in automatically forming a crisscrossing sand barrier grid structure in the existing sand barrier bag laying process.

[0035] Compared with the prior art, the present invention has at least the following beneficial effects.

[0036] First, the present invention, through the cooperation of a sand-collecting and feeding mechanism, a sand-screening and storage mechanism, a longitudinal sand barrier bag filling, forming and laying mechanism, and a transverse sand barrier bag forming and filling mechanism, can realize continuous operation of sand collection, sand screening, storage, material supply, bagging, filling and laying during sandy field operations, reduce manual sand collection, bagging, sealing and transportation links, and improve the efficiency of sand barrier bag laying.

[0037] Secondly, the present invention continuously forms and lays longitudinal sand barrier bags through a longitudinal sand barrier bag filling and laying mechanism, and intermittently forms, transfers and releases transverse sand barrier bags through a transverse sand barrier bag forming and filling mechanism and a transverse sand barrier bag transferring and placing mechanism, which can automatically form a crisscrossing sand barrier grid structure and improve the consistency of sand barrier grid formation.

[0038] Third, the present invention uses a sand screening and storage mechanism to screen, temporarily store, and distribute sand, which can reduce the possibility of impurities such as stones and branches entering the feeding channel, filling hopper, or forming channel, reduce the risk of blockage, and improve the stability of continuous operation.

[0039] Fourth, through the cooperation of the roll material support assembly, roll material tensioning assembly, roll material spreading assembly, forming device, sewing and locking mechanism, bottom sewing mechanism of sand barrier bag, upper sewing and sealing mechanism of sand barrier bag, and cutting mechanism, the present invention can continuously form sand barrier bags using roll material on the construction site and complete filling, locking, sealing and cutting, reducing prefabrication of bag bodies and manual sealing operations.

[0040] Fifth, by separating or integrating the lateral conveying unit and the directional placement unit, the present invention can select different lateral sandbag conveying and placement methods according to the working width, lateral conveying distance and equipment layout, thereby improving the system's structural adaptability.

[0041] Sixth, the present invention uses a reciprocating lateral moving platform to move the lateral sand barrier bags to a preset placement position corresponding to the sand barrier grid parameters, and uses a lateral sand barrier bag orientation placement mechanism to support, transport, limit, adjust the posture and release the lateral sand barrier bags. This can improve the placement accuracy and posture consistency of the lateral sand barrier bags and reduce the problems of lateral sand barrier bags being tilted, misaligned or unevenly spaced.

[0042] Seventh, the present invention triggers intermittent operation of transverse sandbags based on the position of the self-propelled carrying platform, the distance traveled, the length of the laid longitudinal sandbags, or the travel time through the collaborative control system. This enables the transverse sandbags to be released to the ground according to the grid spacing corresponding to the sandbag grid parameters, thereby improving the coordination between continuous longitudinal laying and intermittent transverse placement.

[0043] Eighth, this invention generates a work path based on the boundary of the work area and the parameters of the sand barrier grid through a navigation path planning system, and works in conjunction with a collaborative control system to improve the automation, intelligence and continuity of the sand barrier bag laying process. It is suitable for large-scale sand control, wind and sand protection and ecological restoration operations. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall structure of an automatic sand barrier bag filling and grid-based collaborative laying system according to the present invention; Figure 2This is a schematic diagram of the self-propelled support platform and the layout of various mechanisms of an automatic sand barrier bag filling and gridded collaborative laying system of the present invention. Figure 3 This is a schematic diagram of the sand feeding mechanism in this invention; Figure 4 This is a schematic diagram of the sand screening and storage mechanism in this invention; Figure 5 This is a schematic diagram of the longitudinal sand barrier bag filling, forming, and laying mechanism in this invention. Figure 6 This is a schematic diagram of the transverse sand barrier bag forming and filling mechanism in this invention; Figure 7 This is a schematic diagram of the transverse sand barrier bag orientation placement mechanism in this invention; Figure 8 This is a partial structural diagram of the transverse sand barrier bag orientation placement mechanism in this invention.

[0045] Explanation of reference numerals in the attached figures: 1. Chassis; 2. Lateral sand barrier bag forming and filling mechanism; 3. Power source; 4. Drive system; 5. Sand feeding mechanism; 6. Sand screening and storage mechanism; 7. Longitudinal sand barrier bag filling, forming and laying mechanism; 8. Lateral sand barrier bag orientation and placement mechanism; 101. Hopper support frame; 102. Guardrail; 103. Self-propelled track; 104. Longitudinal sandbag filling and laying mechanism support frame; 105. Lateral sandbag directional placement mechanism fixed connection base; 106. Left platform; 107. Right platform; 108. Front platform; 109. Rear platform; 201. Roll material; 202. Roll material spreading assembly; 203. Frame; 204. Sewing and overlocking mechanism; 205. Sewing and sealing / cutting mechanism; 206. Filling hopper; 207. Roll material traction assembly; 208. Roll material support assembly; 209. Roll material tensioning assembly; 501. Attitude adjustment assembly; 502. Hydraulic cylinder tail fixed support; 503. Hydraulic cylinder head fixed support; 504. External frame of sand feeding mechanism; 505. Sand gathering assembly; 506. Lifting plate; 507. Lifting and conveying assembly; 508. Openable door panel; 509. First driving component; 510. First driving component support seat; 511. Feeding mechanism fixed hinge; 601. Storage bin; 602. Middle connecting section; 603. Material distribution and anti-blocking component; 604. Sand screening trough; 605. Discharge channel; 606. Second drive component support base; 607. Second drive component; 701. Buffer guide; 801. Limiting and guiding assembly; 802. First supporting and conveying assembly fixed support base; 803. Release assembly drive component; 804. Tilting shaft; 805. Second supporting and conveying assembly fixed support base; 806. Third drive component; 807. Third drive component support base; 808. Rotary hinge; 809. Serial drive chain; 810. Supporting and conveying assembly frame; 811. Sprocket; 812. Anti-slip conveyor chain; 813. Non-powered shaft. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that the following embodiments are carried out according to the logic of "overall concept - system structure - unit mechanism - collaborative control - operation process" in order to clearly illustrate how the present invention uses a self-propelled carrying platform to carry a sand feeding mechanism, a sand screening and storage mechanism, a longitudinal sand barrier bag filling, forming and laying mechanism, a transverse sand barrier bag forming and filling mechanism, and a transverse sand barrier bag transfer and placement mechanism, and realizes automatic filling of sand barrier bags and longitudinal and transverse grid-like collaborative laying through a collaborative control system.

[0047] I. General Overview To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following is combined with... Figures 1 to 8 The specific embodiments of the present invention will be further described below. It should be understood that the following embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention. Where there is no conflict, the technical features of the various embodiments of the present invention can be combined with each other. For those skilled in the art, equivalent substitutions or conventional modifications made to related structures, connection relationships, driving methods, control methods, or material forms without departing from the concept of the present invention should all fall within the scope of protection of the present invention.

[0048] This embodiment provides an automatic sand barrier bag filling and grid-based collaborative laying system. This system is mainly used for sand barrier bag laying operations in desertification control, wind and sand protection, roadside sand prevention, pipeline sand prevention, perimeter protection of engineering construction areas, and ecological restoration areas. In sandy working environments, the system, along with a self-propelled carrying platform, can perform sand acquisition, sand screening, sand storage, distribution and supply, sand barrier bag forming and filling, continuous longitudinal laying, intermittent lateral placement, and collaborative control, thereby forming a crisscrossing sand barrier grid structure.

[0049] In this embodiment, "longitudinal" can be understood as the main direction of travel of the self-propelled carrying platform, or as the direction consistent with the direction in which sandbags are continuously laid on the self-propelled carrying platform; "lateral" can be understood as the direction intersecting with the longitudinal direction, preferably the direction approximately perpendicular to the longitudinal direction. It should be noted that the lateral direction is not limited to being strictly perpendicular to the longitudinal direction. In actual sandy operations, due to the influence of terrain undulations, path planning, grid shape, or construction requirements, the lateral sandbags can also be arranged at a preset angle relative to the longitudinal sandbags, as long as they can form a strip-shaped, square-shaped, rectangular grid-shaped, oblique grid-shaped, or other predetermined grid-shaped sandbag structure together with the longitudinal sandbags.

[0050] In this embodiment, the "sand barrier bag" can be a flexible bag-shaped component filled with sand. The bag material can be woven fabric, non-woven fabric, geotextile, biodegradable materials, composite fiber materials, or other flexible materials suitable for sandy environments and capable of forming a bag. The filling material inside the sand barrier bag is preferably sand obtained on-site, but it can also be filled with sand-soil mixture, crushed sand, improved soil, or other fillers suitable for windbreak and sand fixation, depending on actual construction needs. Using on-site sand extraction and bagging reduces the steps of transporting prefabricated bags, manual sand filling, manual sealing, and manual handling, improving the continuity of large-area sand barrier laying operations.

[0051] Combination Figures 1 to 8 As shown, the automatic filling and grid-based collaborative laying system for sand barrier bags in this embodiment includes a self-propelled bearing platform, a sand feeding mechanism 5, a sand screening and storage mechanism 6, a longitudinal sand barrier bag filling, forming and laying mechanism 7, a transverse sand barrier bag forming and filling mechanism 2, a transverse sand barrier bag transfer and placement mechanism, and a collaborative control system. The self-propelled carrying platform carries the various working mechanisms and drives them to move within the sandy working area; the sand-collecting and feeding mechanism 5 collects sand during the movement of the self-propelled carrying platform and transports it to the sand-screening and storage mechanism 6; the sand-screening and storage mechanism 6 screens and temporarily stores the sand and distributes it to the longitudinal sand barrier bag filling and forming laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2; the longitudinal sand barrier bag filling and forming laying mechanism 7 continuously fills, forms, and lays longitudinal sand barrier bags along the direction of travel of the self-propelled carrying platform; the transverse sand barrier bag forming and filling mechanism 2 intermittently forms transverse sand barrier bags according to the preset transverse laying position or sand barrier grid parameters; the transverse sand barrier bag transfer and placement mechanism receives transverse sand barrier bags, transfers them laterally, adjusts their posture, and releases them to the ground; the collaborative control system coordinates the continuous laying of longitudinal sand barrier bags and the intermittent forming, transfer, and placement of transverse sand barrier bags according to the sand barrier grid parameters and the movement status of the self-propelled carrying platform.

[0052] In this embodiment, the lateral sandbag transfer and placement mechanism may include a reciprocating lateral moving platform and a lateral sandbag orientation placement mechanism 8. The reciprocating lateral moving platform and the lateral sandbag orientation placement mechanism 8 can be installed separately or integrated. In other words, the lateral sandbags can first be laterally transferred to a preset placement position by the reciprocating lateral moving platform, and then the lateral sandbag orientation placement mechanism 8 adjusts their posture and releases them; alternatively, the lateral sandbag orientation placement mechanism 8 itself can simultaneously complete the receiving, lateral transfer, posture adjustment, and release. This design avoids limiting the lateral sandbag transfer and placement function to a single mechanical structure, facilitating adaptation to different operating widths, grid sizes, and equipment layouts.

[0053] To facilitate understanding of the structural layout of this embodiment, Figure 1 and Figure 2 The overall structure of the automatic sand barrier bag filling and grid-based collaborative laying system and the arrangement of each mechanism on the self-propelled bearing platform are shown. Figure 3 The structure of the sand feeding mechanism 5 is shown; Figure 4 The structure of the sand screening and storage mechanism 6 is shown; Figure 5 The structure of the longitudinal sand barrier bag filling and laying mechanism 7 is shown; Figure 6 The structure of the transverse sand barrier bag forming and filling mechanism 2 is shown; Figure 7 and Figure 8 The structure and partial structure of the transverse sand barrier bag orientation placement mechanism 8 are shown. The components of the invention and their working process will be further described below with reference to the accompanying drawings.

[0054] The core concept of this embodiment lies in integrating sand extraction, screening, storage, distribution, continuous longitudinal bag laying, intermittent transverse bag transfer and placement, and collaborative control functions onto a single self-propelled carrying platform. This eliminates the primary reliance on manual prefabrication, filling, handling, and placement of sand barrier bags, allowing them to be continuously or intermittently formed and laid on-site as the equipment moves. Specifically, the collaborative control system can control the transverse sand barrier bags to form, be laterally transferred, aligned, and released at preset grid nodes based on sand barrier grid parameters, the self-propelled carrying platform's position, travel distance, speed, and the length or travel time of the laid longitudinal sand barrier bags. This automatically forms a crisscrossing sand barrier grid structure based on the continuous laying of longitudinal sand barrier bags.

[0055] Compared to equipment that can only transport sand, bag it individually, or perform simple transfers, the system provided in this embodiment emphasizes the continuous connection and coordinated control between multiple operational stages. The sand collected by the sand-feeding mechanism 5 is screened and temporarily stored by the sand-sieving and storage mechanism 6, and then supplied to the longitudinal sand barrier bag filling and laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2, respectively. The longitudinal sand barrier bag filling and laying mechanism 7 continuously outputs longitudinal sand barrier bags during the equipment's movement. The transverse sand barrier bag forming and filling mechanism 2 intermittently forms transverse sand barrier bags according to grid parameters. The transverse sand barrier bag transfer and placement mechanism moves the transverse sand barrier bags to the target position and then releases them. The various mechanisms cooperate through a coordinated control system to match the sand collection volume, supply volume, bagging speed, travel speed, transverse placement timing, and release position, thereby improving the sand barrier bag laying efficiency and grid formation consistency.

[0056] Through the above overall structure, the present invention can achieve at least the following technical effects: First, it can reduce the manual sand collection, manual bagging, manual sealing, manual handling, and manual placement, thereby reducing the labor intensity of sandy land construction; Second, it can reduce the risk of material blockage or bagging abnormalities caused by impurities such as stones and branches through the sand screening and storage mechanism 6, thereby improving the stability of continuous operation; Third, it can realize the continuous on-site forming and laying of longitudinal sand barrier bags through the longitudinal sand barrier bag filling, forming, and laying mechanism 7; Fourth, it can realize the intermittent forming, lateral transfer, posture adjustment, and fixed-point release of lateral sand barrier bags through the transverse sand barrier bag forming and filling mechanism 2 and the transverse sand barrier bag transfer and placement mechanism; Fifth, it can improve the laying accuracy and consistency of the sand barrier grid structure by coordinating the longitudinal and transverse laying rhythms according to the sand barrier grid parameters through the collaborative control system.

[0057] II. System Overall Structure Implementation Example like Figure 1 and Figure 2 As shown, this embodiment provides an automatic sand barrier bag filling and grid-based collaborative laying system, which includes a chassis 1. The chassis 1 serves as the main structure of a self-propelled carrying platform, used to support various working mechanisms and drive them to move within the sandy working area. The chassis 1 is equipped with a transverse sand barrier bag forming and filling mechanism 2, a power source 3, a drive system 4, a sand picking and feeding mechanism 5, a sand screening and storage mechanism 6, a longitudinal sand barrier bag filling, forming, and laying mechanism 7, and a transverse sand barrier bag orientation and placement mechanism 8. Through the integrated arrangement of these mechanisms on the same self-propelled carrying platform, this embodiment can sequentially complete operations such as sand picking, sand screening, storage, feeding, bag forming, filling, sealing, cutting, longitudinal laying, and transverse placement during the equipment's movement.

[0058] Self-propelled tracks 103 are provided on both sides of the chassis 1, which are used to propel the chassis 1 to move on sand, semi-fixed sand, or other soft ground. Compared with wheeled walking structures, self-propelled tracks 103 can increase the contact area with the ground and reduce the unit ground pressure, thereby improving the system's passability and load-bearing stability in sandy environments. Of course, in other embodiments, self-propelled tracks 103 can also be replaced by wheeled walking mechanisms, tracked wheel composite walking mechanisms, helical propulsion walking mechanisms, or other mobile mechanisms suitable for sandy operations.

[0059] A hopper support frame 101 is installed on the chassis 1, and the sand screening and storage mechanism 6 is mounted on the hopper support frame 101. The hopper support frame 101 supports the sand screening and storage mechanism 6, allowing it to be positioned between the discharge end of the sand receiving and feeding mechanism 5 and the inlet ends of each filling and forming mechanism. In this way, the sand collected and transported by the sand receiving and feeding mechanism 5 can first enter the sand screening and storage mechanism 6, be screened and temporarily stored, and then supplied to the longitudinal sand barrier bag filling and forming laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2 respectively through the discharge channel 605. This arrangement makes the sand flow path smoother, reducing spillage, accumulation, and blockage of sand during transportation.

[0060] A longitudinal sand barrier bag filling and laying mechanism support frame 104 is also provided on the chassis 1, and the longitudinal sand barrier bag filling and laying mechanism 7 is installed on the longitudinal sand barrier bag filling and laying mechanism support frame 104. The longitudinal sand barrier bag filling and laying mechanism 7 is used to continuously form and lay longitudinal sand barrier bags as the chassis 1 moves along the working path. Since the laying direction of the longitudinal sand barrier bags is usually consistent with the traveling direction of the chassis 1, setting the longitudinal sand barrier bag filling and laying mechanism 7 on the chassis 1 and corresponding to the traveling direction of the chassis 1 is beneficial to ensure that the formed longitudinal sand barrier bags are continuously laid on the ground as the chassis 1 moves, thereby forming a sand barrier strip extending along the traveling direction.

[0061] A transverse sand barrier bag forming and filling mechanism 2 is mounted on the base plate 1 and is used to form transverse sand barrier bags. The transverse sand barrier bag forming and filling mechanism 2 is connected to the discharge end of the sand screening and storage mechanism 6, allowing the screened sand to enter the transverse sand barrier bag forming and filling mechanism 2 and complete the filling process. The transverse sand barrier bag forming and filling mechanism 2 can operate intermittently according to the sand barrier grid parameters; that is, when the base plate 1 travels to the preset transverse laying position, one or more transverse sand barrier bags are formed. Thus, during the continuous laying of longitudinal sand barrier bags, transverse sand barrier bags used to form the transverse boundaries of the grid can be generated synchronously or quasi-synchronously.

[0062] The transverse sandbag orientation and placement mechanism 8 is located on the bag-discharge side of the transverse sandbag forming and filling mechanism 2. It receives the transverse sandbags output from the transverse sandbag forming and filling mechanism 2 and supports, laterally moves, adjusts, and releases the sandbags. The transverse sandbag orientation and placement mechanism 8 is connected to the chassis 1 via a fixed connection base 105, ensuring a stable support foundation during lateral movement, flipping release, or swinging release. By setting up the transverse sandbag orientation and placement mechanism 8, the disorderly falling of the sandbags after output from the forming and filling mechanism can be avoided, reducing problems such as skewed posture, inaccurate landing points, or uneven spacing of the sandbags.

[0063] In this embodiment, the lateral sand barrier bag orientation and placement mechanism 8 can serve as the specific structure of the lateral sand barrier bag transfer and placement mechanism. That is, the lateral sand barrier bag orientation and placement mechanism 8 can not only adjust the posture and release the lateral sand barrier bags, but also transfer them laterally, ensuring they reach a preset placement position before releasing them to the ground. In other embodiments, the lateral sand barrier bag transfer and placement mechanism can also be formed by combining a reciprocating lateral moving platform and the lateral sand barrier bag orientation and placement mechanism 8. The reciprocating lateral moving platform primarily undertakes the lateral transfer function, while the lateral sand barrier bag orientation and placement mechanism 8 primarily undertakes the alignment and release functions. Both of these structural forms can achieve lateral transfer, posture adjustment, and fixed-point release of the lateral sand barrier bags.

[0064] The sand-collecting and feeding mechanism 5 is located at the front end of the chassis 1. It is used to collect sand from the ground or sand layer during the chassis 1's movement and transport the sand to the sand-screening and storage mechanism 6. Positioning the sand-collecting and feeding mechanism 5 at the front end of the chassis 1 allows the system to directly collect sand ahead of or below its path while moving forward, eliminating the need for additional independent material-collecting equipment or manual feeding. This structure improves on-site sand utilization and reduces long-distance sand transportation costs. After collecting the sand, the sand-collecting and feeding mechanism 5 enters the sand-screening and storage mechanism 6, where it is screened and temporarily stored before being supplied to the subsequent filling mechanism, thus forming a continuous sand supply chain.

[0065] The sand screening and storage mechanism 6 is located behind the sand feeding mechanism 5 and in the middle or upper part of the chassis 1. It receives the sand conveyed by the sand feeding mechanism 5 and performs screening, equalization, anti-clogging, and temporary storage on the sand. The lower part of the sand screening and storage mechanism 6 has multiple discharge channels 605, which can respectively correspond to the longitudinal sand barrier bag filling and laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2. Through this structure, the sand screening and storage mechanism 6 can simultaneously serve both longitudinal and transverse filling operations, allowing the longitudinal and transverse sand barrier bags to share the sand picking and screening system, avoiding the complex equipment structure, increased energy consumption, and increased control difficulty caused by setting up separate sand picking mechanisms.

[0066] Power source 3 is mounted on chassis 1 and provides power to the system. Power source 3 can be a fuel power source, an electric power source, a hybrid power source, or an external power source. Drive system 4 is connected to power source 3 and transmits power to self-propelled tracks 103, sand-collecting and feeding mechanism 5, sand-screening and storage mechanism 6, longitudinal sand barrier bag filling, forming and laying mechanism 7, transverse sand barrier bag forming and filling mechanism 2, and transverse sand barrier bag orientation and placement mechanism 8. Drive system 4 can be a hydraulic drive system, an electric drive system, a pneumatic drive system, or a hybrid drive system. Through the cooperation of power source 3 and drive system 4, the entire machine can complete actions such as movement, sand collection, sand screening, conveying, bagging, filling, sealing, cutting, and placement in sandy environments.

[0067] Guardrails 102 can be installed at the front and rear ends of chassis 1, and left platform 106, right platform 107, front platform 108, and rear platform 109 can be installed around chassis 1. Guardrails 102 can improve safety during equipment maintenance, roll material replacement, and manual operation. Left platform 106, right platform 107, front platform 108, and rear platform 109 can serve as maintenance passages or auxiliary operation platforms for workers, facilitating the maintenance, replacement, or inspection of roll material 201, sand screening and storage mechanism 6, sand feeding mechanism 5, longitudinal sand barrier bag filling and laying mechanism 7, and transverse sand barrier bag forming and filling mechanism 2.

[0068] In a preferred embodiment, the system adopts an arrangement of front-end sand collection, middle-stage sand screening and storage, and rear or side-stage bag laying. The sand collection and feeding mechanism 5 is located at the front of the chassis 1, enabling it to directly collect sand during the chassis 1's movement. The sand screening and storage mechanism 6 is located behind the sand collection and feeding mechanism 5, enabling centralized screening and temporary storage of the collected sand. The longitudinal sand barrier bag filling, forming, and laying mechanism 7 is arranged along the direction of travel for continuous laying of longitudinal sand barrier bags. The transverse sand barrier bag forming and filling mechanism 2 and the transverse sand barrier bag orientation and placement mechanism 8 are arranged on one side of the chassis 1 or at a position suitable for transverse output, for forming and placing transverse sand barrier bags. This arrangement coordinates the material flow direction, the equipment's travel direction, and the sand barrier bag laying direction, which is beneficial for improving the overall machine operating efficiency.

[0069] The system in this embodiment may further include a navigation path planning system and a collaborative control system. The navigation path planning system can generate a work path based on the work area boundary, terrain conditions, and sand barrier grid parameters. The collaborative control system is used to control each mechanism to work collaboratively at a predetermined pace based on the work path, sand barrier grid parameters, the position of chassis 1, the travel distance of chassis 1, the travel speed of chassis 1, the length of the laid longitudinal sand barrier bags, or the travel time. Specifically, the collaborative control system can control the amount of sand taken by the sand feeding mechanism 5, control the screening and feeding status of the sand screening and storage mechanism 6, control the continuous bag laying by the longitudinal sand barrier bag filling and forming laying mechanism 7, and control the intermittent operation of the transverse sand barrier bag forming and filling mechanism 2 and the transverse sand barrier bag orientation placement mechanism 8 at preset positions.

[0070] Under the control of the collaborative control system, the longitudinal sand barrier bag filling and laying mechanism 7 can continuously output longitudinal sand barrier bags during the continuous movement of the chassis 1. When the chassis 1 reaches the preset transverse laying position, or when the length of the laid longitudinal sand barrier bags reaches the preset grid spacing, the collaborative control system triggers the transverse sand barrier bag forming and filling mechanism 2 to form transverse sand barrier bags, and controls the transverse sand barrier bag orientation and placement mechanism 8 to move the transverse sand barrier bags to the preset placement position and then release them. Thus, the longitudinal and transverse sand barrier bags can form a crisscrossing sand barrier grid structure on the ground.

[0071] The innovation of the overall system structure lies in the fact that it is not simply a matter of placing multiple existing single-unit devices side by side on chassis 1, but rather establishing a continuous operation system that integrates sand acquisition, sand screening, sand storage, distribution and feeding, longitudinal continuous bagging and laying, transverse intermittent bagging, transverse transfer and placement, and collaborative control. There are clear material connection and action coordination relationships between the sand acquisition and feeding mechanism 5, the sand screening and storage mechanism 6, the longitudinal sand barrier bag filling and laying mechanism 7, the transverse sand barrier bag forming and filling mechanism 2, and the transverse sand barrier bag orientation and placement mechanism 8. Through a collaborative control system that matches the travel status of chassis 1 and the sand barrier grid parameters, the automatic formation of the gridded sand barrier structure is achieved.

[0072] Through the above-described overall structure, this embodiment achieves the following beneficial effects: First, the system can directly extract sand on-site and complete the filling and laying of sand barrier bags, reducing manual sand extraction, bagging, sealing, transportation, and placement operations; Second, the sand screening and storage mechanism 6 can screen and temporarily store the sand, reducing the risk of impurities clogging the material discharge channel 605, filling hopper 206, or forming channel; Third, the longitudinal sand barrier bag filling, forming, and laying mechanism 7 can continuously lay longitudinal sand barrier bags as the chassis 1 moves, improving longitudinal laying efficiency; Fourth, the transverse sand barrier bag forming and filling mechanism 2 and the transverse sand barrier bag orientation and placement mechanism 8 can intermittently form and release transverse sand barrier bags according to grid parameters, improving the consistency of the transverse sand barrier bag placement position and posture; Fifth, the collaborative control system can coordinate the longitudinal continuous laying and transverse intermittent placement according to a predetermined rhythm, thereby improving the forming quality of the sand barrier grid structure.

[0073] In other embodiments, the arrangement of the various mechanisms on the chassis 1 can be adjusted according to the equipment size, working width, sand barrier bag specifications, and mesh size. For example, the sand feeding mechanism 5 can be located at the front, side front, or bottom of the chassis 1; the sand screening and storage mechanism 6 can be located in the middle, upper part, or near the filling mechanism of the chassis 1; the longitudinal sand barrier bag filling, forming, and laying mechanism 7 can be located at the rear, lower middle, or one side of the chassis 1; the transverse sand barrier bag forming and filling mechanism 2 can be configured as a single set or multiple sets; and the transverse sand barrier bag orientation and placement mechanism 8 can be located on one side, both sides, or the rear side of the chassis 1. Any alternative embodiment of the present invention that can realize the functions of sand acquisition, screening and feeding, longitudinal laying, transverse forming and placement, and coordinated control is acceptable.

[0074] III. Example of Sand Feeding Mechanism like Figure 3 As shown, the sand-collecting and feeding mechanism 5 is located at the front end of the chassis 1. It is used to collect sand from the ground or sand layer during the movement of the chassis 1 along the working path, and to lift and transport the collected sand to the sand screening and storage mechanism 6. The sand-collecting and feeding mechanism 5 includes a posture adjustment component 501, a hydraulic cylinder tail fixed support 502, a hydraulic cylinder head fixed support 503, an external frame of the sand-collecting and feeding mechanism 504, a sand-gathering component 505, a lifting plate 506, a lifting and conveying component 507, an openable door panel 508, a first driving component 509, a first driving component support base 510, and a feeding mechanism fixed hinge 511.

[0075] The outer frame 504 of the sand-collecting and feeding mechanism serves as the main support structure of the sand-collecting and feeding mechanism 5, and is used to install components such as the sand-gathering component 505, the lifting plate 506, the lifting and conveying component 507, the openable door panel 508, and the first drive component 509. The outer frame 504 of the sand-collecting and feeding mechanism is connected to the chassis 1 via a feeding mechanism fixing hinge 511, allowing the sand-collecting and feeding mechanism 5 to rotate or swing at a certain angle relative to the chassis 1. Through this hinge structure, the sand-collecting and feeding mechanism 5 can adjust its working posture according to the sand terrain, sand layer thickness, and sand-collecting requirements, thereby improving the adaptability of the sand-collecting and feeding mechanism 5 to different sandy environments.

[0076] One end of the attitude adjustment component 501 is connected to the chassis 1 via a hydraulic cylinder tail support 502, and the other end is connected to the outer frame 504 of the sand-collecting and feeding mechanism via a hydraulic cylinder head support 503. The attitude adjustment component 501 can drive the outer frame 504 of the sand-collecting and feeding mechanism to rotate around the feeding mechanism's fixed hinge 511 via its telescopic movement, thereby changing the tilt angle, height, or sand-penetration depth of the sand-collecting and feeding mechanism 5 relative to the chassis 1. Thus, the sand-collecting and feeding mechanism 5 can adjust the amount of sand collected according to the looseness of the sand, terrain undulations, equipment travel speed, and the material requirements of the subsequent filling mechanism.

[0077] The sand-gathering component 505 is installed on the sand inlet side of the sand-collecting and feeding mechanism 5 to gather sand from in front of, below, or within the sand-collecting area of ​​the chassis 1 into the sand inlet area of ​​the sand-collecting and feeding mechanism 5. The sand-gathering component 505 can concentrate relatively dispersed sand towards the inlet of the lifting and conveying component 507, allowing the lifting plate 506 to make more full contact with the sand and perform lifting and conveying. By installing the sand-gathering component 505, sand leakage can be reduced, and the stability of sand entering the lifting and conveying component 507 can be improved.

[0078] The lifting and conveying assembly 507 is disposed within the outer frame 504 of the sand feeding mechanism and is used to drive the lifting plate 506 in cyclical motion. The lifting plate 506 is mounted on the lifting and conveying assembly 507. As the lifting and conveying assembly 507 moves, it gradually lifts the sand collected by the sand gathering assembly 505 from a lower position to a higher position and conveys it to the feeding area of ​​the sand screening and storage mechanism 6. The first driving component 509 is mounted on the first driving component support 510 and is used to drive the lifting and conveying assembly 507. The first driving component 509 can be a hydraulic motor, an electric motor, a pneumatic motor, or other power element capable of driving the conveying assembly.

[0079] During system operation, chassis 1 moves along the planned path. The sand-gathering component 505 first contacts or approaches the sand layer, guiding the sand into the sand-feeding mechanism 5's feeding area. Subsequently, the first drive component 509 drives the lifting and conveying component 507 to operate. The lifting plate 506, driven by the lifting and conveying component 507, continuously or intermittently lifts the sand, causing it to move upward along the conveying path within the outer frame 504 of the sand-feeding mechanism, and finally fall into the sand-screening and storage mechanism 6. By using this method of synchronously collecting, lifting, and feeding sand as chassis 1 moves forward, the manual loading process can be reduced, enabling the system to continuously collect sand on-site.

[0080] An openable door panel 508 is installed on the outer frame 504 of the sand-collecting and feeding mechanism. The openable door panel 508 can be closed during normal operation to prevent sand leakage from the side of the outer frame 504 during lifting and conveying. When large stones, branches, grass roots, or other foreign objects enter the sand-collecting and feeding mechanism 5, or when the lifting and conveying components 507 and the lifting plate 506 require maintenance, the openable door panel 508 can be opened to facilitate clearing blockages or performing maintenance. By installing the openable door panel 508, the maintenance convenience and continuous operation reliability of the sand-collecting and feeding mechanism 5 can be improved.

[0081] In this embodiment, the attitude adjustment component 501 can be adjusted according to the material level in the sand screening and storage mechanism 6, the material requirements of the longitudinal sand barrier bag filling and laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2, and the traveling speed of the chassis 1. When there is insufficient sand in the sand screening and storage mechanism 6 or the subsequent filling requirement is large, the attitude adjustment component 501 can drive the sand picking and feeding mechanism 5 to lower the front end height or increase the sand entry depth to increase the amount of sand picked; when there is a lot of sand in the sand screening and storage mechanism 6 or the sand picking resistance is large, the attitude adjustment component 501 can raise the sand picking and feeding mechanism 5 or reduce the sand entry depth to reduce the amount of sand picked and the equipment load.

[0082] Through the above adjustment methods, the sand feeding mechanism 5 can form a material matching relationship with the sand screening and storage mechanism 6, the longitudinal sand barrier bag filling and laying mechanism 7, and the transverse sand barrier bag forming and filling mechanism 2. In other words, the sand feeding mechanism 5 does not work continuously with a fixed sand feeding rate, but can dynamically adjust the sand feeding rate according to the subsequent sand barrier bag forming and filling cycle, thereby reducing filling interruptions caused by insufficient sand supply, and also reducing accumulation, blockage, and increased energy consumption caused by excessive sand supply.

[0083] In a preferred embodiment, the sand-collecting and feeding mechanism 5 can also be linked to the collaborative control system. The collaborative control system can control the rotational speed or start / stop state of the first drive component 509, and control the extension / retraction amount of the attitude adjustment component 501, based on the traveling speed of the chassis 1, the material level of the sand-screening and storage mechanism 6, the laying speed of the longitudinal sand barrier bags, the forming frequency of the transverse sand barrier bags, and the sand barrier grid parameters. Thus, the sand-collecting and feeding mechanism 5 can actively adjust according to the overall machine's operating rhythm, improving the stability of continuous operation of the entire machine.

[0084] In this embodiment, the sand-gathering component 505, the lifting and conveying component 507, and the attitude adjustment component 501 together constitute the core working components of the sand-collecting and feeding mechanism 5. The sand-gathering component 505 solves the problem of sand collection, the lifting and conveying component 507 solves the problem of sand lifting and conveying, and the attitude adjustment component 501 solves the problem of adjusting the amount of sand collected under different terrains, different sand layer conditions, and different material requirements. The three components work together to enable the sand-collecting and feeding mechanism 5 to stably collect sand during its mobile operation on sandy terrain and continuously supply it to the sand screening and storage mechanism 6.

[0085] The innovation of the sand extraction and feeding mechanism 5 is mainly reflected in the following aspects: it is neither a fixed hopper feeding structure nor a separate manually assisted sand extraction structure, but is set at the front end of the self-propelled bearing platform and can extract sand synchronously with the chassis 1 as it moves; at the same time, the sand extraction and feeding mechanism 5 forms an adjustable connection with the chassis 1 through the feeding mechanism fixed hinge 511 and the attitude adjustment component 501, so that the sand extraction depth, sand extraction height or sand extraction angle can be adjusted according to the working status; in addition, the sand extraction and feeding mechanism 5 forms a continuous working cooperation with the subsequent sand screening and storage mechanism 6, the sand barrier bag filling mechanism and the collaborative control system, providing a stable source of sand for the automatic on-site filling and grid laying of sand barrier bags.

[0086] Through the above structure, the sand-collecting and feeding mechanism 5 can achieve at least the following beneficial effects: First, it can collect sand on-site during the movement of the chassis 1, reducing manual sand collection and loading operations; Second, it can improve the sand collection effect through the sand-gathering component 505, reducing sand leakage; Third, it can achieve continuous lifting and conveying of sand through the lifting conveying component 507 and the lifting plate 506, improving the feeding efficiency; Fourth, it can adjust the inclination angle, height, or sand entry depth of the sand-collecting and feeding mechanism 5 through the attitude adjustment component 501, so that the sand collection volume can adapt to different sand layer conditions and filling requirements; Fifth, it can improve the convenience of blockage clearing and equipment maintenance through the openable and closable door panel 508, and improve the reliability of continuous operation in sandy areas.

[0087] In other alternative embodiments, the attitude adjustment component 501 is not limited to a hydraulic cylinder structure, but may also employ an electric push rod, a pneumatic cylinder, a screw lifting mechanism, a connecting rod adjustment mechanism, a rack and pinion adjustment mechanism, or other mechanisms capable of driving the sand-feeding mechanism 5 to change its attitude relative to the chassis 1. The hydraulic cylinder tail fixed support 502 and the hydraulic cylinder head fixed support 503 may also be replaced with corresponding hinge seats, mounting seats, or connecting brackets, depending on the specific form of the driving element.

[0088] In other alternative embodiments, the lifting and conveying assembly 507 can be a chain conveyor assembly, a belt conveyor assembly, a scraper conveyor assembly, a bucket elevator assembly, a screw conveyor assembly, or a combination of the above structures. The lifting plate 506 can be replaced by a lifting bucket, a scraper, a conveying toothed plate, a screw blade, or other lifting structures capable of carrying sand upwards. The first drive unit 509 can be selected as a motor, a hydraulic motor, a pneumatic motor, or other rotary drive unit depending on the structural form of the lifting and conveying assembly 507.

[0089] In other alternative embodiments, the sand-gathering component 505 may be a shovel, a sand guide plate, a plow-shaped sand-gathering component, a rotating sand-dispensing component, a spiral sand-gathering component, a flexible sand-scraping component, or a combination thereof. The sand-gathering component 505 may be fixedly installed, or it may be configured as an angle-adjustable, height-adjustable, or width-adjustable structure to adapt to different sand-collecting widths, different sand layer thicknesses, and different operating path requirements.

[0090] In other alternative embodiments, the openable door panel 508 may be a hinged door panel, a sliding door panel, a quick-release cover, a flip-top access door, or a pull-out access panel. The openable door panel 508 may also be equipped with locking components, sealing components, or a transparent observation window to improve operational safety, reduce sand leakage, and facilitate observation of the internal operating status of the sand feeding mechanism 5.

[0091] Therefore, the sand feeding mechanism 5 in this embodiment can automatically collect, lift and transport sand during sandy operations, and can adjust the amount of sand collected according to the actual operating conditions, providing a continuous and stable source of sand for the sand screening and storage mechanism 6 and the subsequent longitudinal and transverse sand barrier bag filling and forming mechanism, thereby ensuring the continuity of automatic filling and grid-based collaborative laying operations of the whole machine.

[0092] IV. Examples of Sand Screening and Storage Mechanisms like Figure 4 As shown, the sand screening and storage mechanism 6 is located on the discharge side of the sand receiving and feeding mechanism 5. It is used to receive the sand conveyed by the sand receiving and feeding mechanism 5, and to screen, homogenize, prevent clogging, temporarily store, and distribute the sand. The sand screening and storage mechanism 6 includes a storage bin 601, a middle connecting section 602, a homogenizing and anti-clogging component 603, a sand screening trough 604, a discharge channel 605, a second drive component support base 606, and a second drive component 607.

[0093] The sand screening trough 604 is located above the sand screening and storage mechanism 6 and is used to receive the sand conveyed by the sand feeding mechanism 5. The sand screening trough 604 can be trough-shaped, bucket-shaped, or have a receiving structure that is wider at the top and narrower at the bottom, with a screening area at its bottom or lower side. The screening area can be equipped with screen holes, screen mesh, grid, screen plate, or other structures that allow qualified sand to pass through while blocking larger impurities. After the sand conveyed by the sand feeding mechanism 5 enters the sand screening trough 604, sand with the required particle size falls into the storage bin 601 through the screening area, while larger stones, branches, grass roots, lumps, or other impurities are blocked in the sand screening trough 604 or discharged from the sand screening area.

[0094] A storage bin 601 is located below the sand screening trough 604 and is used to temporarily store the sand after screening by the sand screening trough 604. The storage bin 601 can have a certain volume, so that the sand screening and storage mechanism 6 can act as a buffer between the feeding cycle of the sand feeding mechanism 5 and the material consumption cycle of the longitudinal sand barrier bag filling and laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2. By setting up the storage bin 601, even if the amount of sand fed by the sand feeding mechanism 5 fluctuates in a short period of time, the subsequent filling and forming mechanism can still obtain a relatively stable supply of sand from the storage bin 601, thereby reducing the risk of filling interruption due to insufficient instantaneous material supply.

[0095] The bottom of the storage silo 601 is provided with multiple discharge channels 605. These discharge channels 605 can be connected to the longitudinal sandbag filling and forming mechanism 7 and the transverse sandbag forming and filling mechanism 2, respectively, to distribute sand to different filling and forming mechanisms. Specifically, at least one discharge channel 605 corresponds to the longitudinal sandbag filling and forming mechanism 7, used to supply material to the filling hopper 206 of the longitudinal sandbags; at least another discharge channel 605 corresponds to the transverse sandbag forming and filling mechanism 2, used to supply material to the filling hopper of the transverse sandbags. Through the distribution and supply structure of multiple discharge channels 605, longitudinal filling and transverse filling can share the same sand screening and storage mechanism 6, thereby simplifying the overall structure and improving the coordination of sand supply.

[0096] The material distribution and anti-clogging component 603 is disposed inside or near the sand screening trough 604 to push the sand entering the sand screening trough 604 to different screening areas, making the sand distribution more uniform within the sand screening trough 604. The second drive component 607 is mounted on the second drive component support 606 and is used to drive the material distribution and anti-clogging component 603. Driven by the second drive component 607, the material distribution and anti-clogging component 603 can perform reciprocating motion, rotational motion, oscillating motion, or vibration motion, pushing, dispersing, or spreading the sand accumulated in a localized area to other screening areas. This avoids the concentrated accumulation of sand in a certain location within the sand screening trough 604, reducing the risk of screen blockage or localized reduction in screening efficiency.

[0097] The central connecting section 602 can be disposed between different working sections of the material equalization and anti-blocking component 603 to connect, support, or transmit the movement of the material equalization and anti-blocking component 603. By providing the central connecting section 602, multiple working parts of the material equalization and anti-blocking component 603 can achieve synchronous or segmented operation, thereby expanding the material equalization range and improving the uniformity of sand distribution in the sand screening trough 604. In some embodiments, the central connecting section 602 can also reduce transmission load, improve mechanism stability, or facilitate disassembly and maintenance.

[0098] During system operation, the sand feeding mechanism 5 transports sand to the sand screening trough 604. After the sand enters the sand screening trough 604, the material equalization and anti-blocking component 603 is activated by the second driving component 607, pushing the sand to different screening areas of the sand screening trough 604. Sand with smaller particle size that meets the filling requirements enters the storage bin 601 through the screen holes or screen mesh, while larger particles such as stones, branches, and grass roots are blocked by the screening structure. The storage bin 601 temporarily stores the screened sand and supplies it to the longitudinal sand barrier bag filling and laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2 through multiple discharge channels 605.

[0099] Through the above-described process, the sand screening and storage mechanism 6 not only performs simple storage functions but also functions such as screening, material equalization, anti-clogging, and material distribution. This structure can effectively solve the problems of uneven sand particle size, numerous impurities, local accumulation, and unstable continuous material supply in sandy areas, providing relatively stable material conditions for subsequent sand barrier bag forming and filling.

[0100] In a preferred embodiment, a material level detection element can be installed inside the storage silo 601. The material level detection element can be used to detect the material level or storage volume of sand in the storage silo 601 and send the detection signal to the collaborative control system. The collaborative control system can control the sand-taking amount of the sand-feeding mechanism 5, the rotational speed of the first drive component 509, the extension and retraction amount of the attitude adjustment component 501, the operating status of the second drive component 607, and the discharge status of each discharge channel 605 according to the material level status of the storage silo 601. When there is insufficient sand in the storage silo 601, the sand-taking amount of the sand-feeding mechanism 5 can be increased or the conveying speed can be increased; when there is excessive sand in the storage silo 601, the sand-taking amount can be reduced or the sand-feeding mechanism 5 can be paused to avoid sand overflow or increased equipment load.

[0101] In another preferred embodiment, the multiple feeding channels 605 can each be equipped with a feeding control component. The feeding control component can be a gate valve, slide valve, flap valve, screw feeder, vibrating feeder, star-shaped unloader, or other structures capable of controlling the sand flow rate. The collaborative control system can control the opening, closing, or feeding amount of the corresponding feeding channel 605 according to the working status of the longitudinal sandbag filling and forming laying mechanism 7 and the transverse sandbag forming and filling mechanism 2. Thus, a relatively stable continuous feeding can be maintained when the longitudinal sandbags are continuously laid, while the corresponding feeding channel 605 can be opened as needed when the transverse sandbags are intermittently formed, achieving time-sharing, quantity-sharing, or mechanism-sharing feeding.

[0102] In one embodiment, the sand screening trough 604 can be inclined, allowing larger impurities that fail to pass through the screen holes to move to one side or end of the trough under gravity and be discharged through the discharge port. The discharge port can be located on the side, end, or downstream of the sand screening trough 604 to discharge impurities blocked by the screening structure. An openable baffle, a pull-out collection box, a guide trough, or a discharge conveying mechanism can be installed at the discharge port to facilitate periodic cleaning of impurities such as stones, branches, and grass roots. This structure reduces the problem of decreased screening efficiency caused by long-term accumulation of impurities in the sand screening trough 604.

[0103] In another embodiment, the sand screening trough 604 can be used in conjunction with a vibration mechanism. The vibration mechanism can cause the sand screening trough 604 or the screening area to vibrate, thereby promoting the passage of sand through the screen holes and reducing the clogging of the screen holes by fine sand. The vibration mechanism can be installed simultaneously with the material equalization and anti-clogging component 603, or it can be used as a replacement structure for the material equalization and anti-clogging component 603. When the sand has high moisture content, a lot of lumps, or poor flowability, the vibration mechanism can improve screening efficiency and material flow smoothness.

[0104] In this embodiment, the ingenuity of the sand screening and storage mechanism 6 is mainly reflected in the following aspects: First, the sand screening and storage mechanism 6 forms a continuous material connection with the sand feeding mechanism 5, the longitudinal sand barrier bag filling and forming laying mechanism 7, and the transverse sand barrier bag forming and filling mechanism 2, so that the sand obtained on site can be directly supplied to different bagging mechanisms after screening; Second, the material equalization and anti-blocking component 603 can actively push or disperse the sand entering the sand screening trough 604 to avoid the concentrated accumulation of sand and improve screening efficiency; Third, the storage bin 601 can play a buffer role between sand feeding and filling, improving the stability of continuous operation of the system; Fourth, multiple discharge channels 605 can supply materials to the longitudinal and transverse filling mechanisms respectively, so that the longitudinal continuous laying and transverse intermittent forming can share the sand screening and storage system and work together.

[0105] The sand screening and storage mechanism 6 described above achieves the following beneficial effects: First, it can screen out impurities such as stones, branches, and grass roots from the sand, reducing the risk of blockage in the feeding channel 605, filling hopper 206, and forming channel; Second, it can improve the uniformity of sand distribution in the sand screening trough 604 through the material equalization and anti-blocking component 603, reducing local accumulation and screen hole blockage; Third, it can temporarily store the screened sand in the storage bin 601, buffering the fluctuation between the amount of sand taken and the amount of filling; Fourth, it can distribute the material supply to the longitudinal and transverse filling mechanisms through multiple feeding channels 605, improving the material supply stability of the coordinated laying of longitudinal and transverse sand barrier bags; Fifth, it can reduce the number of downtime cleanings caused by sand impurities and uneven material supply, improving the efficiency of large-area sand operations.

[0106] In other alternative embodiments, the sand screening trough 604 can be a flat screen, inclined screen, arc screen, drum screen, vibrating screen, chain plate screen, or multi-stage screening structure. The screen openings can be round, oblong, square, strip-shaped, or mesh, and their diameter can be selected according to the required sand particle size for filling the sand barrier bags. The screening area can be set to single-stage screening or multi-stage screening to obtain sand with different particle size ranges according to different construction requirements.

[0107] In other alternative embodiments, the material distribution and anti-clogging component 603 can be a pusher plate, a feeding rod, a spiral feeding component, a scraper, a swing plate, a vibrating rod, a reciprocating feeding rod, a rotating blade, or a combination of the above structures. The material distribution and anti-clogging component 603 can be arranged along the length, width, or inclined direction of the sand screening trough 604, or it can be configured as multiple sets of distributed material distribution structures to cover a larger screening area. The second driving component 607 can be a motor, a hydraulic motor, a pneumatic motor, an electric push rod, a hydraulic cylinder, or a vibration driver.

[0108] In other alternative embodiments, the storage silo 601 can be configured as a single-compartment structure or a multi-compartment structure. The multi-compartment structure can correspond to the longitudinal sandbag filling and laying mechanism 7 and the transverse sandbag forming and filling mechanism 2, respectively, or to sandbags of different specifications and filling volumes. The storage silo 601 can be equipped with a guiding ramp, an anti-bridging structure, a mixing structure, a vibration structure, or an arch-breaking structure to improve the stability of the falling sand and prevent bridging or blockage within the storage silo 601.

[0109] In other alternative embodiments, the feeding channel 605 can be a vertical feeding pipe, an inclined feeding pipe, a flexible feeding pipe, a spiral conveying pipe, a vibrating feeding trough, or a combined feeding structure. The number, position, and flow rate of the feeding channels 605 can be adjusted according to the number of longitudinal sandbag filling and forming laying mechanisms 7 and transverse sandbag forming and filling mechanisms 2. For example, when the transverse sandbag forming and filling mechanism 2 is configured as a multi-channel parallel bag forming structure, the feeding channels 605 can also be configured as multiple parallel channels to simultaneously feed materials to multiple filling hoppers.

[0110] Therefore, the sand screening and storage mechanism 6 of this embodiment can screen, equalize, prevent blockage, temporarily store and distribute the sand conveyed by the sand feeding mechanism 5 on the sandy site. This not only improves the adaptability and cleanliness of the sand before it enters the filling mechanism, but also provides a stable material base for the continuous laying of longitudinal sand barrier bags and the intermittent forming of transverse sand barrier bags, thereby enhancing the continuity and reliability of the automatic filling and grid-based collaborative laying operation of the whole machine.

[0111] V. Example of a longitudinal sand barrier bag filling and laying mechanism like Figure 5 As shown, the longitudinal sand barrier bag filling, forming, and laying mechanism 7 is mounted on the chassis 1. It continuously completes the following operations as the chassis 1 travels along the working path: roll material supply, roll material tensioning, bag forming, sand filling, side edge locking, bottom sewing, top sealing, bag cutting, and longitudinal laying. The longitudinal sand barrier bag filling, forming, and laying mechanism 7 includes a roll material 201, a roll material spreading assembly 202, a frame 203, a sewing and edge locking mechanism 204, a sewing and sealing cutting mechanism 205, a filling hopper 206, a roll material traction assembly 207, a roll material support assembly 208, and a roll material tensioning assembly 209.

[0112] The frame 203 serves as the main support structure of the longitudinal sandbag filling and laying mechanism 7, and is used to install the roll material support assembly 208, roll material tensioning assembly 209, roll material spreading assembly 202, sewing and locking mechanism 204, sewing and sealing cutting mechanism 205, filling hopper 206, and roll material traction assembly 207. The frame 203 can be fixedly installed on the longitudinal sandbag filling and laying mechanism support frame 104, or it can be connected to the chassis 1 through an adjustable mounting seat, sliding seat, or lifting seat, so as to adjust the position of the longitudinal sandbag filling and laying mechanism 7 according to different sandbag specifications, laying height, or equipment layout requirements.

[0113] The roll material 201 is installed on the roll material support assembly 208. The roll material 201 can be a continuously wound flexible sheet material, used to directly form sand barrier bags on the construction site. The roll material support assembly 208 is used to support the roll material 201 and allow the roll material 201 to rotate and unwind under traction. By using the roll material 201 to continuously form bags on site, it is possible to avoid pre-preparing individual bags and then transporting them to the construction site, and it can also reduce the workload of manually putting on the bags, manually supporting the bags, and manually carrying the bags.

[0114] A roll material tensioning assembly 209 is disposed between the roll material support assembly 208 and the roll material unwinding assembly 202, and is used to tension and guide the unwound roll material 201. The roll material tensioning assembly 209 can maintain appropriate tension on the roll material 201 before it enters the forming area, reducing wrinkles, shifts, or slack in the roll material 201, thereby improving the stability of subsequent roll material unwinding, bag forming, and sewing. The roll material tensioning assembly 209 may include a tensioning roller, a guide roller, an elastic clamping element, a swing arm tensioning element, or a combination thereof.

[0115] A roll-sheet spreading assembly 202 is disposed on the forming path of the roll-sheet 201 to spread the roll-sheet 201 and guide it to form a bag structure around the filling hopper 206. In this embodiment, the roll-sheet spreading assembly 202 and the outer peripheral guide portion of the filling hopper 206 can together constitute a forming device. After being guided by the roll-sheet spreading assembly 202, the two side edges of the roll-sheet 201 gradually approach each other and form a bag cavity that can accommodate sand. Through this structure, the roll-sheet 201 can be continuously transformed from a sheet material into a bag structure, providing a basis for subsequent sand filling and bag sealing.

[0116] The filling hopper 206 is located within the bag forming area and is connected to the corresponding discharge channel 605 of the sand screening and storage mechanism 6. The sand screened in the sand screening and storage mechanism 6 enters the filling hopper 206 through the discharge channel 605 and is then guided into the bag structure formed by the roll material 201. The filling hopper 206 may have a top-widening, bottom-narrowing guiding structure to facilitate smooth sand entry into the bag. The interior of the filling hopper 206 or the channel connecting to it can form a sand discharge pipe to guide the sand into the bag cavity and reduce sand leakage.

[0117] The roll material traction assembly 207 is used to traction the roll material 201 to move along the bagging direction. The roll material traction assembly 207 can drive the roll material 201 forward by clamping, pressing, friction driving, or synchronous conveying, so that the roll material 201 passes through the tensioning, spreading, forming, edge locking, filling, sealing, and cutting stations in sequence. The traction speed of the roll material traction assembly 207 can be matched with the traveling speed of the chassis 1, the feeding speed of the sand screening and storage mechanism 6, and the preset filling amount of the sand barrier bag, thereby ensuring the forming length, filling amount, and laying continuity of the longitudinal sand barrier bag.

[0118] A sewing and overlocking mechanism 204 is positioned at the bag body side forming location to sew and overlock the bag body side formed by the roll material 201. By continuously sewing the bag body side using the sewing and overlocking mechanism 204, the roll material 201 can form a relatively closed bag body side structure, preventing sand leakage from the side. The sewing and overlocking mechanism 204 can perform continuous sewing as the roll material 201 moves continuously, or it can perform intermittent sewing at predetermined length positions. Preferably, the sewing speed of the sewing and overlocking mechanism 204 is matched with the traction speed of the roll material traction assembly 207 to ensure thread continuity and bag body strength.

[0119] The sewing and sealing cutting mechanism 205 is used to complete the sewing of the bottom of the sand barrier bag, the sewing and sealing of the top, and the cutting of the bag body. In one embodiment, the sewing and sealing cutting mechanism 205 may include a bottom sewing mechanism, a top sewing and sealing mechanism, and a cutting mechanism. The bottom sewing mechanism sews the bottom of the bag before filling to form a closed bottom; the top sewing and sealing mechanism seals the top of the bag after sand filling; and the cutting mechanism separates the sealed bag from the continuous roll structure to form a single or continuously segmented longitudinal sand barrier bag.

[0120] In the specific operation process, the roll material 201 is first supported and unwound by the roll material support assembly 208, and then tensioned by the roll material tensioning assembly 209 before entering the roll material spreading assembly 202. The roll material spreading assembly 202 spreads the roll material 201 and guides it to form a bag structure around the filling hopper 206. Subsequently, the roll material traction assembly 207 pulls the roll material 201 to move along the bag forming direction, and the sewing and locking mechanism 204 sews and locks the sides of the bag. The bottom of the bag is sewn by the bottom sewing mechanism in the sewing and sealing cutting mechanism 205 to form the bag bottom. The sand material enters the bag through the sand screening and storage mechanism 6, the feeding channel 605, and the filling hopper 206. When the bag filling length, filling amount, or running time reaches the set value, the sewing and sealing cutting mechanism 205 sews and seals the upper part of the bag and cuts it through the cutting mechanism.

[0121] As the chassis 1 moves along the working path, the longitudinal sand barrier bag filling and laying mechanism 7 can continuously output longitudinal sand barrier bags filled with sand, so that the longitudinal sand barrier bags are laid on the ground as the chassis 1 moves. Since the output direction of the longitudinal sand barrier bags corresponds to the traveling direction of the chassis 1, the formed longitudinal sand barrier bags can fall to the ground under the action of gravity, traction or guidance, and form a continuously extending longitudinal sand barrier structure along the traveling trajectory of the chassis 1.

[0122] In a preferred embodiment, the longitudinal sand barrier bag filling and laying mechanism 7 can be connected to a collaborative control system. The collaborative control system can control the feeding status of the roll traction component 207, the sewing and sealing mechanism 204, the sewing and sealing cutting mechanism 205, and the sand screening and storage mechanism 6 based on the traveling speed of the chassis 1, the target laying length of the longitudinal sand barrier bags, the sand feeding speed, the roll traction speed, and the sand barrier grid parameters. This ensures that the bag forming speed of the longitudinal sand barrier bags matches the traveling speed of the chassis 1, avoiding problems such as excessive bag accumulation, excessive stretching, or discontinuous laying.

[0123] In another embodiment, the longitudinal sand barrier bag filling, forming, and laying mechanism 7 can be equipped with length detection elements, weighing detection elements, material level detection elements, or tension detection elements. The length detection element can be used to detect the traction length of the roll 201 or the length of the formed longitudinal sand barrier bag; the weighing detection element can be used to detect the amount of sand filling the bag; the material level detection element can be used to detect the state of the sand in the filling hopper 206 or the bag; and the tension detection element can be used to detect the tension state of the roll 201. The collaborative control system can adjust the feeding amount, traction speed, sewing action, and cutting action according to the above detection results, thereby improving the forming quality and laying consistency of the longitudinal sand barrier bags.

[0124] In this embodiment, the innovation of the longitudinal sand barrier bag filling, forming and laying mechanism 7 is mainly reflected in the following aspects: First, it uses roll material 201 to continuously form bags on site instead of using prefabricated bags for manual filling, so that the sand barrier bag forming and filling process can be completed directly on the sandy construction site; Second, it integrates roll material tensioning, roll material opening, bag forming, sand filling, side edge locking, bottom sewing, top sealing and cutting into the same mechanism, realizing the continuous automatic preparation of longitudinal sand barrier bags; Third, it cooperates with the sand screening and storage mechanism 6 and the traveling state of the chassis 1, so that the longitudinal sand barrier bags can be laid synchronously during the movement of the equipment; Fourth, it can serve as the continuous forming base of the longitudinal sand barrier strip in the sand barrier grid structure, and work together with the transverse sand barrier bag forming and filling mechanism 2 and the transverse sand barrier bag transfer and placement mechanism to form a crisscross grid structure.

[0125] The longitudinal sand barrier bag filling and laying mechanism 7 described above achieves the following beneficial effects: First, it reduces the steps of transporting prefabricated bags, manually bagging, manually filling sand, manually sealing, and manually handling them; second, it enables the sand barrier bags to be continuously formed and laid on the construction site, improving the laying efficiency of the longitudinal sand barrier belt; third, it improves the stability of bag forming and reduces roll offset and bag deformation through the roll tensioning component 209 and the roll spreading component 202; fourth, it improves the sealing reliability of the bag through the sewing and locking mechanism 204 and the sewing and sealing cutting mechanism 205, reducing the risk of sand leakage; fifth, by cooperating with the collaborative control system, it coordinates the longitudinal sand barrier bag laying speed with the chassis 1 traveling speed, the sand supply speed, and the transverse sand barrier bag delivery rhythm.

[0126] In other alternative embodiments, the roll material 201 is not limited to woven fabric, but may also be non-woven fabric, geotextile, biodegradable fiber material, composite fiber material, anti-aging flexible material, or other flexible sheet material suitable for sand protection. The roll material 201 may be a single-layer material or a multi-layer composite material; it may be a continuous flat roll material, or a pre-folded roll material, a tubular roll material, or a semi-formed roll material.

[0127] In other alternative embodiments, the roll material support assembly 208 can be a pivot support structure, an air shaft support structure, an idler roller support structure, or a liftable roll material support. The roll material tensioning assembly 209 can be a fixed guide roller group, an elastic tensioning roller, a swing arm type tensioning assembly, a counterweight type tensioning assembly, or an active tension control assembly. The roll material traction assembly 207 can be a clamping roller traction mechanism, a crawler traction mechanism, a synchronous belt traction mechanism, a clamping claw traction mechanism, or a chain traction mechanism.

[0128] In other alternative embodiments, the roll material spreading assembly 202 and the forming device can be a guide plate, a bag-supporting rod, a bag-supporting frame, a forming cylinder, a forming mold, a folding plate, a guide groove, or a combination of the above structures. The filling hopper 206 can be a fixed hopper, a vibrating hopper, a liftable hopper, a replaceable diameter hopper, or a hopper with an anti-clogging structure. The material discharge and sand leakage pipe can be configured as a rigid pipe, a flexible pipe, a telescopic pipe, or a multi-section material guiding pipe.

[0129] In other alternative embodiments, the sewing overlock mechanism 204 and the sewing sealing cut-off mechanism 205 are not limited to a sewing structure, and can be replaced by a heat-sealing mechanism, an adhesive mechanism, an ultrasonic sealing mechanism, a stapling mechanism, a clip sealing mechanism, or a binding sealing mechanism, depending on the roll material and the usage environment. When the roll material 201 is a heat-sealable material, heat sealing can be used to form the side and end seals of the bag; when the roll material 201 is a biodegradable fiber material or a woven material, sewing, stapling, or binding methods can be used for sealing.

[0130] In other alternative embodiments, the sewing sealing and cutting mechanism 205 can be an integrated structure or a separate structure. For example, the bottom sewing mechanism, the upper sewing sealing mechanism, and the cutting mechanism can be integrated on the same moving frame, or they can be arranged sequentially along the bag conveying direction. The cutting mechanism can employ a cutter, a hot cutter, a rotary cutter, a shearing mechanism, a sawing mechanism, or a punching mechanism. For longitudinal sand barrier bags that need to be laid continuously without complete segmentation, the cutting frequency can be reduced, and cutting can be performed only at the starting end, the ending end, or a preset segmentation position.

[0131] In other alternative embodiments, the longitudinal sand barrier bag filling and laying mechanism 7 can be configured as a single-channel bag-forming structure or a multi-channel parallel bag-forming structure. When multiple longitudinal sand barrier bags need to be laid at once, multiple roll support assemblies 208, multiple forming devices, multiple filling hoppers 206, and multiple sets of sewing and sealing structures can be set up to form multiple longitudinal sand barrier bags in parallel. The multi-channel structure can be linked by the same drive source or controlled by multiple independent drive units to adapt to different laying widths and different grid sizes. Therefore, the longitudinal sand barrier bag filling, forming and laying mechanism 7 of this embodiment can continuously complete the roll material supply, bag forming, sand filling, sealing and cutting and longitudinal laying during the movement of the chassis 1, providing a continuous and stable longitudinal sand barrier foundation for the formation of the crisscross sand barrier grid structure of the present invention, and significantly improving the automation level and continuous construction capability of the sand barrier bag laying operation.

[0132] VI. Example of a transverse sand barrier bag forming and filling mechanism like Figure 6 As shown, the transverse sand barrier bag forming and filling mechanism 2 is mounted on the chassis 1. It forms transverse sand barrier bags that constitute the transverse boundaries of the sand barrier grid when the chassis 1 moves to a preset transverse laying position. The basic structure of the transverse sand barrier bag forming and filling mechanism 2 corresponds to the longitudinal sand barrier bag filling, forming, and laying mechanism 7. It can complete operations such as roll material supply, roll material tensioning, bag forming, sand filling, side edge locking, bottom sewing, top sealing, and bag cutting. The bag outlet end of the transverse sand barrier bag forming and filling mechanism 2 is equipped with a buffer guide 701 to reduce the impact during the output or descent of the transverse sand barrier bag and guide the transverse sand barrier bag to the transverse sand barrier bag transfer and placement mechanism or the transverse sand barrier bag orientation placement mechanism 8.

[0133] In this embodiment, the transverse sand barrier bag forming and filling mechanism 2 may include a roll material 201, a roll material spreading assembly 202, a frame 203, a sewing and overlocking mechanism 204, a sewing and sealing cutting mechanism 205, a filling hopper 206, a roll material traction assembly 207, a roll material support assembly 208, and a roll material tensioning assembly 209. The roll material 201 is installed on the roll material support assembly 208 and, after being tensioned by the roll material tensioning assembly 209, enters the roll material spreading assembly 202. The roll material spreading assembly 202 spreads the roll material 201 and, in conjunction with the filling hopper 206 or the forming device, forms a bag structure. The sand in the sand screening and storage mechanism 6 enters the filling hopper 206 through the corresponding discharge channel 605 and is then guided into the bag structure by the filling hopper 206. The roll material traction assembly 207 pulls the roll material 201 to move along the bag-forming direction, the sewing and locking mechanism 204 locks the side of the bag body, the sewing and sealing cutting mechanism 205 seals the bottom and top of the bag body, and cuts the bag body at a preset length or preset filling amount to form a transverse sand barrier bag.

[0134] The difference between the transverse sand barrier bag forming and filling mechanism 2 and the longitudinal sand barrier bag filling, forming, and laying mechanism 7 is that the transverse sand barrier bag forming and filling mechanism 2 typically operates intermittently according to the sand barrier grid parameters, rather than continuously. Specifically, when the collaborative control system determines that the preset transverse laying position has been reached based on the position of the chassis 1, the travel distance, the length of the laid longitudinal sand barrier bags, the travel time, or the navigation path planning results, the transverse sand barrier bag forming and filling mechanism 2 starts or completes a bag-forming cycle to form one or more transverse sand barrier bags. Thus, the transverse sand barrier bags can participate in forming a crisscrossing sand barrier grid structure according to the preset grid spacing.

[0135] In one embodiment, the transverse sand barrier bag forming and filling mechanism 2 can complete the forming, filling, sealing, and cutting of the transverse sand barrier bags before the chassis 1 reaches the preset transverse laying position, so that the transverse sand barrier bags are in a pre-release state. When the chassis 1 continues to travel to the target position, the transverse sand barrier bag transfer and placement mechanism or the transverse sand barrier bag orientation and placement mechanism 8 transfers the transverse sand barrier bags to be released to the preset placement position and releases them to the ground. In this way, the time required for transverse sand barrier bag forming and filling can be compensated, avoiding the inability to release transverse sand barrier bags in a timely manner due to the lag in bag forming action, thereby improving the accuracy of transverse sand barrier bag placement at grid nodes.

[0136] In another embodiment, the transverse sand barrier bag forming and filling mechanism 2 can form transverse sand barrier bags of different lengths according to the sand barrier grid size. For example, when the spacing between the longitudinal sand barrier bags is large, the transverse sand barrier bag forming and filling mechanism 2 can increase the roll traction length and filling amount to form a longer transverse sand barrier bag; when the spacing between the longitudinal sand barrier bags is small, the roll traction length and filling amount can be reduced to form a shorter transverse sand barrier bag. By controlling the traction distance of the roll traction assembly 207, the material discharge amount of the filling hopper 206, and the timing of the sewing sealing and cutting mechanism 205, the length and filling amount of the transverse sand barrier bag can be matched with the sand barrier grid parameters.

[0137] A buffer guide 701 is provided at the bag outlet end of the transverse sand barrier bag forming and filling mechanism 2. The buffer guide 701 is used to receive the transverse sand barrier bags output by the transverse sand barrier bag forming and filling mechanism 2, and to buffer and guide them before they enter the transverse sand barrier bag transfer and placement mechanism or the transverse sand barrier bag orientation placement mechanism 8. The transverse sand barrier bags are filled with sand and have a certain weight; if the transverse sand barrier bags fall directly from the bag outlet end, problems such as bag body impact damage, posture overturning, landing point deviation, or unsmooth entry into subsequent mechanisms can easily occur. By setting the buffer guide 701, the impact force during the output process of the transverse sand barrier bags can be reduced, and the transverse sand barrier bags can enter the subsequent support, transfer, and placement mechanisms with a more stable posture.

[0138] The buffer guide 701 can be configured as a chute, guide plate, arc-shaped guide, flexible buffer, roller guide, buffer conveyor belt, or a combination thereof. Preferably, the inlet end of the buffer guide 701 corresponds to the outlet end of the transverse sand barrier bag forming and filling mechanism 2, and the outlet end corresponds to the supporting conveying assembly of the transverse sand barrier bag orientation and placement mechanism 8. In this way, after the transverse sand barrier bags are formed, they can smoothly enter the supporting conveying assembly through the buffer guide 701, and their posture is restricted and adjusted under the action of the limiting guide assembly 801.

[0139] In the specific working process, the sand screening and storage mechanism 6 supplies material to the transverse sand barrier bag forming and filling mechanism 2 through the corresponding feeding channel 605. The roll material 201 moves under the action of the roll material traction component 207, and forms a bag structure after passing through the roll material tensioning component 209 and the roll material spreading component 202. The sewing and locking mechanism 204 sews the sides of the bag body, and the sewing and sealing cutting mechanism 205 first sews the bottom of the bag body to form the bag bottom. Subsequently, the sand material enters the bag body through the filling hopper 206. When the bag body reaches the preset length, preset filling amount, or preset bag forming time, the sewing and sealing cutting mechanism 205 seals the upper part of the bag body and cuts the bag body through the cutting mechanism to form a transverse sand barrier bag. The formed transverse sand barrier bag enters the transverse sand barrier bag transfer and placement mechanism or the transverse sand barrier bag orientation placement mechanism 8 through the buffer guide 701.

[0140] In a preferred embodiment, the transverse sand barrier bag forming and filling mechanism 2 can be configured as a multi-channel parallel bag forming structure. The multi-channel parallel bag forming structure may include multiple roll forming channels, multiple filling hoppers 206, multiple discharge channels 605, and multiple sets of sewing and sealing cutting mechanisms 205. With this structure, the transverse sand barrier bag forming and filling mechanism 2 can simultaneously form multiple transverse sand barrier bags within one work cycle. These multiple transverse sand barrier bags can then be simultaneously or sequentially released to the ground by the transverse sand barrier bag transfer and placement mechanism, thereby improving the deployment efficiency of the transverse sand barrier bags, and is particularly suitable for wide-area operations or scenarios involving the simultaneous laying of multiple grid units.

[0141] In another preferred embodiment, the transverse sand barrier bag forming and filling mechanism 2 can be connected to a collaborative control system. The collaborative control system can control the start-up timing, roll traction length, material feeding amount, sealing timing, and cutting timing of the transverse sand barrier bag forming and filling mechanism 2 based on the sand barrier grid parameters, the real-time position of the chassis 1, the travel distance, the travel speed, the longitudinal sand barrier bag laying speed, the target length of the transverse sand barrier bags, and the release cycle of the transverse sand barrier bag orientation and placement mechanism 8. This allows the forming rhythm of the transverse sand barrier bags to be matched with the overall machine travel rhythm, the longitudinal sand barrier bag laying rhythm, and the transverse release rhythm.

[0142] Furthermore, the collaborative control system can pre-trigger the transverse sand barrier bag forming and filling mechanism 2 based on its bag-forming cycle. For example, when the chassis 1 is still a certain distance from the preset transverse laying position, the collaborative control system can control the transverse sand barrier bag forming and filling mechanism 2 to start bag forming; when the chassis 1 reaches the preset transverse laying position, the transverse sand barrier bag has been filled, sealed, and cut, and is in a releaseable state. By pre-triggering control, the time deviation between the bag-forming action and the release action can be reduced, improving the accuracy of the transverse sand barrier bag release at the preset position.

[0143] The transverse sand barrier bag forming and filling mechanism 2 can also be equipped with detection elements. These detection elements may include a roll position detection element, a bag length detection element, a filling amount detection element, a bag exit detection element, a blockage detection element, or a tension detection element. The roll position detection element detects whether the roll 201 is in position; the bag length detection element detects the forming length of the transverse sand barrier bag; the filling amount detection element detects the sand filling status inside the bag; the bag exit detection element detects whether the transverse sand barrier bag smoothly enters the buffer guide 701 or the subsequent placement mechanism; the blockage detection element detects whether there is a blockage in the filling hopper 206 or the discharge channel 605; and the tension detection element detects the tension status of the roll 201. These detection signals can be fed back to the collaborative control system to achieve closed-loop control.

[0144] In this embodiment, the innovation of the transverse sand barrier bag forming and filling mechanism 2 is mainly reflected in the following aspects: First, it can intermittently form transverse sand barrier bags according to the sand barrier grid parameters during the continuous movement of the self-propelled bearing platform, instead of relying on manual pre-making, handling and placement of bags; Second, it shares the same sand source with the sand screening and storage mechanism 6, and achieves on-demand material supply through the material feeding channel 605, so that the forming of transverse sand barrier bags and the laying of longitudinal sand barrier bags can be coordinated; Third, it connects with the transverse sand barrier bag transfer and placement mechanism through the buffer guide 701, so that the transverse sand barrier bags can enter the subsequent transfer and placement process in a stable posture after forming; Fourth, it can adjust the bag length, filling amount and bag forming timing according to the grid spacing, equipment position and laying rhythm, so as to adapt to the laying requirements of different sand barrier grid structures.

[0145] The transverse sand barrier bag forming and filling mechanism 2 described above achieves the following beneficial effects: First, it reduces manual production of transverse sand barrier bags, manual filling of sand, manual sealing, and manual handling. Second, it enables transverse sand barrier bags to automatically form according to the preset grid spacing, providing a foundation for grid-based laying. Third, it reduces the impact and attitude deviation of transverse sand barrier bags during output through the buffer guide 701, lowering the risk of bag breakage. Fourth, it improves the stability of transverse sand barrier bags entering the preset placement position by cooperating with the transverse sand barrier bag transfer and placement mechanism. Fifth, it improves the coordination between the transverse bag forming cycle and the longitudinal continuous laying cycle by cooperating with the collaborative control system.

[0146] In other alternative embodiments, the roll forming structure of the transverse sand barrier bag forming and filling mechanism 2 can be exactly the same as that of the longitudinal sand barrier bag filling, forming, and laying mechanism 7, or it can be adaptively adjusted according to the length, weight, release method, and placement direction of the transverse sand barrier bags. For example, the transverse sand barrier bag forming and filling mechanism 2 can adopt a vertical bag exit, inclined bag exit, or horizontal bag exit method; its bag exit direction can be towards one side, both sides, or the rear side of the chassis 1; its bag forming channel can be set as a single channel or a multi-channel parallel structure.

[0147] In other alternative embodiments, the sealing method of the transverse sand barrier bag forming and filling mechanism 2 is not limited to sewing sealing, but can also be heat sealing, bonding, ultrasonic sealing, nailing, clip sealing, cable tie sealing, or binding sealing. Accordingly, the sewing sealing and cutting mechanism 205 can be replaced by a heat sealing and cutting mechanism, a bonding and cutting mechanism, a clip sealing and cutting mechanism, or other mechanisms capable of completing the sealing and cutting off of the bag end.

[0148] In other alternative embodiments, the buffer guide 701 can be a rigid guide structure or a flexible buffer structure. For example, the buffer guide 701 can be an arc-shaped chute, an inclined slide plate, a rubber buffer plate, an elastic support plate, a roller guide row, a low-speed conveyor belt, or a damped swing support plate. The buffer guide 701 can also be provided with limiting side plates or guide sidewalls to limit the lateral displacement of the transverse sand barrier bag during the guiding process.

[0149] In other alternative embodiments, the transverse sand barrier bag forming and filling mechanism 2 can be equipped with an adjustable forming device, a replaceable filling hopper 206, or an adjustable traction stroke, depending on the specifications of the sand barrier bags. By replacing the forming device with different widths or adjusting the traction length of the roll material, transverse sand barrier bags of different widths, lengths, or filling volumes can be formed to adapt to different sand barrier grid sizes, different windbreak and sand fixation strengths, and different construction area requirements.

[0150] Therefore, the transverse sand barrier bag forming and filling mechanism 2 of this embodiment can intermittently form transverse sand barrier bags according to the sand barrier grid parameters during the movement of the self-propelled bearing platform, and connect with the subsequent transverse transfer and orientation placement mechanism through the buffer guide 701, thereby providing a source of transverse sand barrier bags for the automatic formation of the crisscrossing sand barrier grid structure of the present invention, and significantly improving the automation level of transverse sand barrier bag forming and placement.

[0151] VII. Example of a Horizontal Sand Barrier Bag Orientation Mechanism like Figure 7 and Figure 8 As shown, the transverse sand barrier bag orientation and placement mechanism 8 is located on the bag outlet side of the transverse sand barrier bag forming and filling mechanism 2. It is used to receive the transverse sand barrier bags output by the transverse sand barrier bag forming and filling mechanism 2, and to support, transport, limit, straighten, and release the transverse sand barrier bags. The transverse sand barrier bag orientation and placement mechanism 8 includes a limiting guide component 801, a first support and transport component fixed support base 802, a release component drive component 803, a flipping shaft 804, a second support and transport component fixed support base 805, a third drive component 806, a third drive component support base 807, a rotating hinge 808, a series drive chain 809, a support and transport component frame 810, a sprocket 811, an anti-slip conveyor chain 812, and a non-powered shaft 813.

[0152] The transverse sandbag orientation and placement mechanism 8 is connected to the chassis 1 via a fixed connecting base 105. The fixed connecting base 105 provides stable support for the transverse sandbag orientation and placement mechanism 8, ensuring structural stability during the receiving, transverse transport, and release of transverse sandbags. Since the transverse sandbags are filled with sand and have a certain weight, unstable support in the release mechanism can easily lead to misalignment of the sandbag's landing point or inconsistent release posture. Therefore, reliably mounting the transverse sandbag orientation and placement mechanism 8 onto the chassis 1 via the fixed connecting base 105 improves transverse placement accuracy.

[0153] In this embodiment, the supporting and conveying assembly frame 810, sprocket 811, anti-slip conveying chain 812, and non-powered shaft 813 together constitute the supporting and conveying assembly. The supporting and conveying assembly is used to receive the transverse sandbags introduced by the buffer guide 701 and to drive the transverse sandbags to move in the transverse direction. The sprocket 811 is mounted on the supporting and conveying assembly frame 810, and the anti-slip conveying chain 812 is wound around the sprocket 811 and the non-powered shaft 813. The third drive member 806 is mounted on the third drive member support 807 and drives the anti-slip conveying chain 812 through the sprocket 811, the series drive chain 809, or other transmission structures. When the anti-slip conveying chain 812 is running, it can drive the transverse sandbags to move along the supporting and conveying assembly, thereby conveying the transverse sandbags to a preset placement position.

[0154] The limiting guide component 801 is disposed on one side or above the supporting and conveying component to limit the position and attitude of the lateral sand barrier bag during the supporting and conveying process. The limiting guide component 801 can form an angled groove, V-shaped groove, U-shaped groove, or limiting channel with the supporting and conveying component, so that after the lateral sand barrier bag enters the lateral sand barrier bag orientation and placement mechanism 8, it can be restricted to move within a predetermined space. Through the constraint effect of the limiting guide component 801, the rolling, lateral displacement, and attitude distortion of the lateral sand barrier bag during the conveying process can be reduced, so that the lateral sand barrier bag gradually adjusts to the preset attitude before release.

[0155] Preferably, the limiting space formed between the supporting conveying component and the limiting guide component 801 is adapted to the shape of the transverse sand barrier bag. For transverse sand barrier bags with approximately circular, elliptical, or flexible irregular cross-sections, angled grooves, V-shaped grooves, or U-shaped grooves can provide good support and limiting effects. When the transverse sand barrier bag moves under the drive of the anti-slip conveyor chain 812, its bottom is supported by the supporting conveying component, and its sides or top are restricted by the limiting guide component 801, thereby maintaining a relatively stable length direction and transverse position during movement.

[0156] The anti-slip conveyor chain 812 can be equipped with anti-slip protrusions, sharp teeth, limiting blocks, flexible ridges, clamping blocks, or other gripping structures. Since the outer surface of the transverse sand barrier bags is usually made of flexible fabric or geotextile material, and the shape of the bags is not completely regular after being filled with sand, insufficient friction between the supporting conveying components and the bag body can easily lead to slippage or inaccurate conveying distance. By setting gripping, limiting, or anti-slip structures on the anti-slip conveyor chain 812, the ability to move the transverse sand barrier bags can be improved, enabling the transverse sand barrier bags to move to the preset placement position according to a predetermined distance.

[0157] The release component driver 803 drives the transverse sand barrier bag orientation and placement mechanism 8 to perform a release action. One end of the release component driver 803 can be connected to the chassis 1 or the fixed connection base 105, and the other end can be connected to the supporting conveyor component frame 810, the flipping shaft 804, or a related swinging structure. When the release component driver 803 extends, retracts, or moves, it can cause the supporting conveyor component frame 810 to flip, tilt, swing, or open and close around the flipping shaft 804, the rotating hinge 808, or other rotational fulcrum, causing a change in the relative position between the supporting conveyor component and the limiting guide component 801. As the limiting space opens or tilts, the transverse sand barrier bag detaches from the supporting conveyor component and is released to the ground.

[0158] In the specific working process, after the transverse sandbag forming and filling mechanism 2 forms the transverse sandbag, the transverse sandbag enters the transverse sandbag orientation and placement mechanism 8 via the buffer guide 701. The buffer guide 701 can reduce the impact when the transverse sandbag enters the supporting conveying component and guide the transverse sandbag to fall into the limiting space formed by the supporting conveying component and the limiting guide component 801. Subsequently, the third drive component 806 is activated, driving the anti-slip conveyor chain 812 to run. The anti-slip conveyor chain 812 drives the transverse sandbag to move in the transverse direction. During the movement, the limiting guide component 801 restricts the posture of the transverse sandbag, so that the transverse sandbag is gradually straightened and reaches the preset placement position.

[0159] Once the lateral sandbags have moved to their preset positions, the coordinated control system activates the release component drive 803. The release component drive 803 causes the supporting conveyor frame 810 to rotate, tilt, or swing around the flip axis 804 or the rotating hinge 808, opening or tilting the limiting space between the supporting conveyor and the limiting guide component 801. The lateral sandbags then fall to the ground under their own weight, completing the directional release of the lateral sandbags. Because the lateral sandbags have been adjusted to their preset posture by the supporting conveyor and limiting guide components 801 before release, they can form a relatively regular intersection with the already laid longitudinal sandbags after landing.

[0160] In this embodiment, the transverse sandbag orientation and placement mechanism 8 can also function as a reciprocating transverse moving platform. That is, the supporting and conveying component not only receives and releases the transverse sandbags, but also moves them laterally to a preset placement position via the anti-slip conveyor chain 812. This eliminates the need for a separate transverse moving platform, enabling the transverse transfer and orientation of the sandbags, simplifying the equipment structure, reducing space requirements, and improving the efficiency of the connection between sandbag formation and release.

[0161] In another embodiment, the lateral sandbag orientation and placement mechanism 8 can also be used in conjunction with a reciprocating lateral moving platform. The reciprocating lateral moving platform first receives the lateral sandbags and moves them laterally to a preset area; subsequently, the lateral sandbag orientation and placement mechanism 8 receives the lateral sandbags moved by the reciprocating lateral moving platform and adjusts their posture before releasing them. This split structure is suitable for scenarios with a large operating width, long lateral movement distance, or where lateral sandbags need to be released sequentially from multiple locations.

[0162] In a preferred embodiment, the transverse sandbag orientation and placement mechanism 8 may include multiple rows of support and conveying assemblies. These multiple rows of support and conveying assemblies may be spaced apart along the transverse or longitudinal direction of the chassis 1. Each row of support and conveying assemblies may form an angled groove, V-shaped groove, U-shaped groove, or limiting channel with a corresponding limiting guide assembly 801. Multiple support and conveying assemblies may be linked by a series drive chain 809, a parallel transmission structure, or the same drive source, or may be driven separately by multiple third drive components 806. Through the multiple rows of support and conveying assemblies, multiple transverse sandbags can be received at once and simultaneously or in groups transported to different preset placement positions.

[0163] In another preferred embodiment, the transverse sandbag orientation and placement mechanism 8 can be equipped with multiple release component drivers 803. These multiple release component drivers 803 can each correspond to different supporting and conveying components, or collectively drive the same supporting and conveying component frame 810. Through independent or coordinated control of the multiple release component drivers 803, multiple transverse sandbags can be released synchronously, sequentially, or in groups. For sandbag laying scenarios requiring the formation of multiple adjacent grid units, multiple transverse sandbags can be sequentially deployed to multiple preset positions within one work cycle, thereby improving the efficiency of transverse sandbag deployment.

[0164] In one embodiment, the transverse sandbag orientation and placement mechanism 8 may be equipped with a position detection element. The position detection element detects the position of the transverse sandbag on the supporting conveying assembly and sends the detection result to the collaborative control system. When the transverse sandbag reaches the preset placement position, the collaborative control system controls the third drive component 806 to stop and controls the release component drive component 803 to perform a release action. The position detection element can be a proximity switch, photoelectric sensor, vision recognition module, encoder, limit switch, or other components capable of detecting the position or conveying distance of the transverse sandbag.

[0165] In another embodiment, the transverse sandbag orientation and placement mechanism 8 can be equipped with an attitude detection element. This element detects the length direction, tilt angle, or placement posture of the transverse sandbags. If the transverse sandbags become skewed during the support and transport process, the coordinated control system can control the anti-slip conveyor chain 812 to run at low speed, perform reverse fine-tuning, or cooperate with the limit guide assembly 801 to correct the posture. Through attitude detection and fine-tuning, the consistency of the transverse sandbags' posture after landing can be further improved.

[0166] In this embodiment, the ingenuity of the transverse sand barrier bag orientation placement mechanism 8 is mainly reflected in the following aspects: First, it does not allow the transverse sand barrier bags to fall freely directly from the forming and filling mechanism, but rather supports, transports, limits, guides, and adjusts the posture of the transverse sand barrier bags before release; Second, it forms a limiting space through the supporting and transporting component and the limiting and guiding component 801, enabling the flexible transverse sand barrier bags to maintain a relatively stable posture during transport; Third, it changes the relative position between the supporting and transporting component and the limiting and guiding component 801 through the release component drive component 803, realizing the fixed-point release of the transverse sand barrier bags; Fourth, it can also function as a reciprocating transverse moving platform, or it can be set separately from the reciprocating transverse moving platform, thereby adapting to different structural layouts and working widths; Fifth, it can cooperate with the collaborative control system to release the transverse sand barrier bags to the ground according to the position, spacing, and posture corresponding to the sand barrier grid parameters.

[0167] The transverse sand barrier bag orientation placement mechanism 8 described above achieves the following beneficial effects: First, it reduces the posture deviation, positional error, and bag damage caused by the transverse sand barrier bags falling directly from the outlet end; second, it enables the transverse sand barrier bags to be moved laterally through the supporting conveyor components and the anti-slip conveyor chain 812, improving the control capability of the transverse laying position; third, it constrains and straightens the transverse sand barrier bags through the limiting guide component 801, improving the posture stability of the transverse sand barrier bags before release; fourth, it enables the transverse sand barrier bags to be flipped, tilted, or swung for release through the release component drive component 803, allowing the transverse sand barrier bags to fall to the ground in a preset manner; fifth, it can cooperate with the continuous laying process of longitudinal sand barrier bags to improve the forming consistency of the crisscrossing sand barrier grid structure.

[0168] In other alternative embodiments, the supporting conveyor assembly is not limited to a chain conveyor structure; it can also be a belt conveyor assembly, roller conveyor assembly, plate conveyor assembly, chute supporting assembly, push rod conveyor assembly, or clamping conveyor assembly. The anti-slip conveyor chain 812 can be replaced with an anti-slip conveyor belt, a conveyor belt with raised sections, a conveyor belt with stops, a roller conveyor row, a clamping conveyor component, or a push block. Any structure capable of supporting the sandbags laterally and moving them to a preset placement position can be used as an alternative structure for the supporting conveyor assembly.

[0169] In other alternative embodiments, the limiting guide assembly 801 can be a baffle, guide rod, limiting groove, clamping plate, pressure roller, lateral guide rail, V-shaped guide, U-shaped guide, arc-shaped guide, or flexible limiting component. The limiting guide assembly 801 can be fixedly installed or configured as an adjustable structure. For example, the limiting guide assembly 801 can change its distance from the supporting conveying assembly through a chute, adjusting hole, screw adjusting mechanism, or electric adjusting mechanism to accommodate transverse sandbags of different diameters, lengths, or filling volumes.

[0170] In other alternative embodiments, the release component drive 803 can be a hydraulic cylinder, electric push rod, pneumatic cylinder, motor linkage mechanism, cam mechanism, rack and pinion mechanism, or other actuators capable of driving the supporting and conveying component to change position. The release method is not limited to flipping release; it can also be lifting release, opening and closing release, tilting release, telescopic release, swinging release, bottom door opening release, or side-pushing release. Different release methods can be selected based on the weight of the lateral sandbags, release height, ground slope, and target placement accuracy.

[0171] In other alternative embodiments, the transverse sand barrier bag placement mechanism 8 can be configured as a single-sided placement structure or a double-sided placement structure. When the system needs to lay transverse sand barrier bags on both sides of the chassis 1, the transverse sand barrier bag placement mechanism 8 can be set on the left and right sides of the chassis 1 respectively, or a support and conveying component that can be reversed to the left or right can be set, so that the transverse sand barrier bags can be released to the left or right according to the grid plan. This structure is beneficial to expanding the coverage width of a single operation and improving the efficiency of laying large-area sand barrier grids.

[0172] In other alternative embodiments, the lateral sandbag orientation and placement mechanism 8 can be used in conjunction with a terrain-adaptive structure. For example, a height adjustment mechanism, a flexible drop guide, a ground-contouring wheel, or a distance detection element can be provided at the release end to adjust the release height or release angle of the lateral sandbags according to the undulations of the sand. The terrain-adaptive structure reduces the rolling and offset of the lateral sandbags on slopes, dune edges, or uneven ground, improving placement stability in complex terrain.

[0173] Therefore, the transverse sand barrier bag orientation placement mechanism 8 of this embodiment can support, transport, limit, straighten, and release the transverse sand barrier bags after they are formed, so that the transverse sand barrier bags can fall to the ground according to a preset position and posture. This mechanism, together with the transverse sand barrier bag forming and filling mechanism 2, the longitudinal sand barrier bag filling, forming, and laying mechanism 7, and the collaborative control system, can realize the automated orientation placement of transverse sand barrier bags and improve the laying accuracy and consistency of the crisscrossing sand barrier grid structure.

[0174] VIII. Integrated or Separate Embodiments of Reciprocating Lateral Moving Platform and Orienting Placement Mechanism In this embodiment, the lateral sand barrier bag transfer and placement mechanism can adopt an integrated structure or a split structure. An integrated structure means that the lateral sand barrier bag orientation and placement mechanism 8 simultaneously possesses the functions of receiving, laterally transferring, adjusting the posture of, and releasing the lateral sand barrier bags. A split structure means that the lateral sand barrier bag transfer function is undertaken by a reciprocating lateral moving platform, while the posture adjustment and release functions are undertaken by the lateral sand barrier bag orientation and placement mechanism 8. Both methods enable the lateral sand barrier bags, after being output from the lateral sand barrier bag forming and filling mechanism 2, to be transferred to a preset placement position and released onto the ground according to a preset posture.

[0175] In the integrated embodiment, the transverse sand barrier bag orientation and placement mechanism 8 can also function as a reciprocating transverse moving platform. Specifically, after the transverse sand barrier bag forming and filling mechanism 2 forms the transverse sand barrier bag, the transverse sand barrier bag enters the supporting and conveying assembly of the transverse sand barrier bag orientation and placement mechanism 8 via the buffer guide 701. The supporting and conveying assembly includes a supporting and conveying assembly frame 810, a sprocket 811, an anti-slip conveying chain 812, and a non-powered shaft 813. The third drive member 806 drives the anti-slip conveying chain 812 to move via the sprocket 811 and the series drive chain 809, causing the transverse sand barrier bag to move laterally to a preset placement position. The limiting and guiding assembly 801 limits and guides the transverse sand barrier bag during its movement, gradually adjusting its posture to a preset state. Subsequently, the release component drive member 803 drives the supporting and conveying assembly frame 810 to flip, tilt, or swing around the flipping shaft 804 or the rotating hinge 808, releasing the transverse sand barrier bag to the ground.

[0176] When an integrated structure is adopted, the supporting and conveying component serves as both the receiving component and the lateral movement component for the transverse sandbags, while also participating in maintaining the posture of the transverse sandbags before release. In other words, after the transverse sandbags are output from the forming and filling mechanism, they do not need to undergo secondary transfer between multiple independent mechanisms; instead, they directly enter the transverse sandbag orientation and placement mechanism 8, where lateral transfer, limit alignment, and release are completed within the same mechanism. This method shortens the transport path of the transverse sandbags, reduces the number of mechanisms, and lowers the possibility of the transverse sandbags shifting, rolling, or getting stuck during transport.

[0177] In the integrated embodiment, the supporting and conveying component can control the lateral movement distance based on the sand barrier grid parameters. For example, when a lateral sand barrier bag needs to be released into the empty area between the already laid longitudinal sand barrier bags, the collaborative control system can control the rotation time, rotation angle, or conveying distance of the third drive component 806 based on the spacing between the longitudinal sand barrier bags, the length of the lateral sand barrier bag, the current position of the chassis 1, and the target release position, so that the lateral sand barrier bag moves to the corresponding preset placement position. After the lateral movement is completed, the collaborative control system controls the release component drive component 803 to actuate, so that the lateral sand barrier bag falls to the ground, thereby forming a lateral sand barrier bag arrangement.

[0178] In the integrated embodiment, the transverse sand barrier bag orientation and placement mechanism 8 can be configured as a single-row support and conveying assembly or a multi-row support and conveying assembly. A single-row support and conveying assembly is suitable for receiving and releasing one transverse sand barrier bag at a time; a multi-row support and conveying assembly is suitable for receiving multiple transverse sand barrier bags at a time. For multi-row support and conveying assemblies, each assembly can be driven by the same third drive member 806 via a series drive chain 809, or it can be driven independently by multiple third drive members 806. When multiple transverse sand barrier bags need to be released synchronously, the multi-row support and conveying assemblies can simultaneously flip or open; when multiple transverse sand barrier bags need to be released sequentially, each support and conveying assembly can perform the release action sequentially according to a preset timing sequence.

[0179] The advantages of adopting an integrated structure are as follows: First, after the transverse sandbags are formed, they can directly enter the same mechanism to complete the transfer and release, reducing intermediate transfer links; Second, the supporting and conveying components and the limiting and guiding components 801 can continuously constrain the transverse sandbags, which helps to maintain the stability of the transverse sandbags' posture; Third, the overall structure is more compact, which is suitable for scenarios with limited installation space or requiring simplified equipment structure; Fourth, the transverse transfer distance and release timing of the transverse sandbags can be uniformly controlled by the collaborative control system, which helps to improve the landing accuracy of the transverse sandbags at the grid nodes.

[0180] In the split-type embodiment, the reciprocating lateral moving platform and the lateral sand barrier bag orientation and placement mechanism 8 can be set separately. The reciprocating lateral moving platform is used to receive the lateral sand barrier bags output by the lateral sand barrier bag forming and filling mechanism 2, and to drive the lateral sand barrier bags to move laterally to the preset placement position; the lateral sand barrier bag orientation and placement mechanism 8 is used to receive the lateral sand barrier bags moved to the position by the reciprocating lateral moving platform, and to adjust their posture and release them. This structure is suitable for situations where the lateral conveying distance is long, the working width is large, the number of lateral sand barrier bags is large, or multiple points of release are required.

[0181] In the split-type embodiment, the reciprocating lateral moving platform may include a support unit capable of lateral reciprocating movement. The support unit may be a flat plate, an tiltable support plate, a V-groove, a U-groove, a limiting groove, a support trolley, a sliding frame, or a conveyor pallet structure. The support unit can reciprocate laterally under the drive of a lateral guide rail, slide rail, chute, chain drive mechanism, screw drive mechanism, gear and rack mechanism, synchronous belt mechanism, hydraulic cylinder, or electric push rod. After the lateral sandbags enter the support unit, the support unit moves the lateral sandbags to a preset placement position, and then the lateral sandbag orientation and placement mechanism 8 performs the straightening and release actions.

[0182] In one split-type embodiment, the support portion of the reciprocating lateral moving platform is configured with a V-shaped groove or a U-shaped groove structure. After the lateral sandbag enters the support portion, the V-shaped groove or U-shaped groove can initially limit the lateral sandbag, reducing its rolling and offset during lateral movement. When the support portion moves to the preset placement position, the lateral sandbag can be transferred to the lateral sandbag orientation placement mechanism 8 by tilting, flipping, bottom opening and closing, or side pushing; the lateral sandbag orientation placement mechanism 8 then performs final posture adjustment and release of the lateral sandbag through the limiting guide component 801 and the release component drive component 803.

[0183] In another split-type embodiment, the support portion of the reciprocating lateral moving platform can be a tiltable support plate. After the lateral sandbag enters the support plate via the buffer guide 701, the support plate moves laterally to the target position. Once in position, the support plate can tilt at a certain angle, allowing the lateral sandbag to slide into the support and conveying assembly or limiting channel of the lateral sandbag orientation and placement mechanism 8. This method has a simple structure and is suitable for scenarios where the lateral sandbag is relatively light or the lateral movement distance is short.

[0184] In another split-type embodiment, the reciprocating lateral moving platform can be equipped with multiple support units. These support units can be arranged laterally or distributed longitudinally. The lateral sandbag forming and filling mechanism 2 can sequentially or simultaneously output multiple lateral sandbags, with each support unit receiving its corresponding lateral sandbag and transferring it to a different preset placement position. The lateral sandbag orientation and placement mechanism 8 can then release the multiple lateral sandbags simultaneously or sequentially. In this way, the deployment of multiple lateral sandbags can be completed within one work cycle, improving lateral deployment efficiency.

[0185] In the split-type embodiment, a transition guide can be provided between the reciprocating lateral moving platform and the lateral sandbag orientation mechanism 8. This transition guide can be a guide plate, an arc-shaped groove, a flexible buffer pad, a roller guide, a transition conveyor belt, or a limiting channel, used to smoothly guide the lateral sandbags from the reciprocating lateral moving platform into the lateral sandbag orientation mechanism 8. By providing a transition guide, the problems of lateral sandbags falling, overturning, or getting stuck at the junction of the mechanisms can be reduced.

[0186] In the split-type embodiment, the collaborative control system can control the reciprocating lateral moving platform and the lateral sand barrier bag orientation and placement mechanism 8 separately. Specifically, the collaborative control system determines the target placement position of the lateral sand barrier bag based on the sand barrier grid parameters and the position of the chassis 1; controls the lateral movement distance of the reciprocating lateral moving platform based on the target placement position; when the reciprocating lateral moving platform is in place, it controls the lateral sand barrier bag orientation and placement mechanism 8 to adjust its attitude; when the attitude of the lateral sand barrier bag meets the release conditions, it controls the release component drive 803 to execute the release action. Thus, the lateral transfer, alignment, and release actions can be performed in a predetermined sequence, avoiding action conflicts.

[0187] The advantages of adopting a split structure are as follows: First, the reciprocating lateral moving platform can undertake lateral movement over a longer distance, enabling the lateral sand barrier bags to be delivered to target positions over a wider range; second, the lateral sand barrier bag orientation and placement mechanism 8 can be specially adjusted for attitude and release, which facilitates improved release accuracy; third, the reciprocating lateral moving platform and the lateral sand barrier bag orientation and placement mechanism 8 can be optimized according to the equipment width, sand barrier bag length, and grid size; fourth, the split structure is easy to expand into multi-station, multi-row, or wide-width laying forms, which is suitable for large-area sand barrier grid laying operations.

[0188] In both integrated and separate embodiments, the lateral sandbag transfer and placement mechanism can be equipped with position detection elements and arrival detection elements. The position detection elements detect the position of the lateral sandbags on the support unit or supporting conveyor assembly; the arrival detection elements detect whether the support unit, supporting conveyor assembly, or lateral sandbags have reached the preset placement position. The position detection elements and arrival detection elements can be photoelectric sensors, proximity switches, limit switches, encoders, vision recognition modules, or laser ranging modules. The collaborative control system can control lateral movement, stopping, attitude adjustment, and release actions based on the detection results.

[0189] In integrated or separate embodiments, the lateral sandbag transfer and placement mechanism may also be equipped with an anti-fall structure. The anti-fall structure can be a side baffle, a limiting rod, an openable stop block, a flexible baffle, a clamping element, or a limiting groove. The anti-fall structure is used to prevent the lateral sandbag from accidentally slipping off the support or supporting conveyor assembly during lateral movement. Once the preset placement position is reached, the anti-fall structure can release its restraint, cooperating with the release assembly to complete the release of the lateral sandbag.

[0190] In integrated or separate embodiments, the lateral sandbag transfer and placement mechanism can also be equipped with a terrain-adaptive structure. This structure may include a release height adjustment mechanism, a release angle adjustment mechanism, contour wheels, a distance detection element, or a flexible drop guide. Through this terrain-adaptive structure, the release height and angle of the lateral sandbags can be adjusted according to the sand's undulations, slope angle, or surface softness, reducing the risk of the sandbags rolling, tilting, or deviating from their preset positions after landing.

[0191] In this embodiment, the ingenuity of the integrated or separate design of the reciprocating lateral moving platform and the lateral sandbag directional placement mechanism 8 is mainly reflected in the following: after the lateral sandbags are formed, they do not simply fall freely, but undergo lateral transport, attitude adjustment, and directional release; simultaneously, the lateral transport function and the directional placement function can be integrated into the same mechanism according to the equipment structure requirements, or they can be performed by different mechanisms respectively. This design enables the present invention to adapt not only to compact equipment, but also to wide-width, multi-row, or multi-point release equipment, thereby improving the system's structural adaptability and protection range.

[0192] Through the integrated or modular implementation methods described above, this invention can flexibly realize the transfer and placement of lateral sand barrier bags according to different construction scenarios. In cases of smaller working widths or limited equipment space, an integrated structure can be used to simplify the mechanism and improve the efficiency of action connections; in cases of larger working widths or the need for multi-point release, a modular structure can be used to improve the lateral transfer range and release accuracy. Regardless of the structure used, the lateral sand barrier bags can be released to the ground according to the target position and orientation corresponding to the sand barrier grid parameters, thereby improving the consistency of the formation of the crisscrossing sand barrier grid structure.

[0193] IX. Examples of Navigation Path Planning Systems and Cooperative Control Systems The automatic sand barrier bag filling and grid-based collaborative laying system of this embodiment also includes a navigation path planning system and a collaborative control system. The navigation path planning system is used to generate a working path based on the boundary of the working area, terrain conditions, and sand barrier grid parameters; the collaborative control system is used to coordinate the sand feeding mechanism 5, the sand screening and storage mechanism 6, the longitudinal sand barrier bag filling, forming and laying mechanism 7, the transverse sand barrier bag forming and filling mechanism 2, and the transverse sand barrier bag orientation and placement mechanism 8 to work together based on the working path, sand barrier grid parameters, and the traveling status of the chassis 1, thereby forming a crisscrossing sand barrier grid structure on the ground.

[0194] In this embodiment, the navigation path planning system may include one or more of the following: a satellite positioning module, an inertial navigation module, a visual recognition module, a lidar module, a terrain perception module, or a work area modeling module. The satellite positioning module can be used to acquire the position information of the chassis 1 within the work area; the inertial navigation module can be used to acquire the attitude, heading, and motion state of the chassis 1; the visual recognition module can be used to identify work boundaries, obstacles, laid sandbags, or surface features; the lidar module can be used to perceive terrain undulations, obstacles, and the outline of the work area; the terrain perception module can be used to acquire dune slopes, ground undulations, or softness; and the work area modeling module can be used to establish a work model based on the work area boundaries and grid parameters.

[0195] The parameters of the sand barrier grid can include the longitudinal spacing of the sand barrier bags, the transverse spacing of the sand barrier bags, the grid length, the grid width, the transverse length of the sand barrier bags, the number of transverse sand barrier bags released, the start point of the operation, the end point of the operation, the operation boundary, and the turning radius of the path. The navigation path planning system can generate the operation path of chassis 1 based on the above parameters, enabling chassis 1 to travel in the sandy operation area according to the predetermined route, and providing a path basis for the continuous laying of longitudinal sand barrier bags and the intermittent placement of transverse sand barrier bags.

[0196] In one implementation, the navigation path planning system generates multiple parallel or nearly parallel travel paths based on the boundaries of the work area. As the chassis 1 travels along each path, the longitudinal sandbag filling and laying mechanism 7 continuously forms and lays longitudinal sandbags. When the chassis 1 reaches a preset transverse laying position corresponding to the sandbag grid parameters, the collaborative control system controls the transverse sandbag forming and filling mechanism 2 to form transverse sandbags, and controls the transverse sandbag orientation and placement mechanism 8 to laterally move, align, and release the transverse sandbags onto the ground. After completing one travel path, the chassis 1 can switch to an adjacent travel path to continue working, thereby gradually forming a large-area sandbag grid structure.

[0197] The collaborative control system may include a main controller, a travel control unit, a sand-feeding control unit, a sand-screening and storage control unit, a longitudinal bag-forming and laying control unit, a transverse bag-forming control unit, a transverse transfer and placement control unit, and a human-machine interface unit. The main controller receives the work path and sand barrier grid parameters generated by the navigation path planning system and generates control commands based on feedback information from various sensors. The travel control unit controls the travel speed, steering, and start / stop of the chassis 1; the sand-feeding control unit controls the sand-feeding amount and feeding speed of the sand-feeding mechanism 5; the sand-screening and storage control unit controls the sand-screening, uniform material distribution, anti-blocking, and material feeding processes; the longitudinal bag-forming and laying control unit controls the forming, filling, sealing, cutting, and laying of longitudinal sand barrier bags; the transverse bag-forming control unit controls the forming cycle of transverse sand barrier bags; and the transverse transfer and placement control unit controls the transverse transfer, attitude adjustment, and release of transverse sand barrier bags.

[0198] In one implementation, the collaborative control system triggers the lateral sandbag laying action based on the position of chassis 1. Specifically, the navigation path planning system or satellite positioning module acquires the position of chassis 1 in real time. When chassis 1 reaches the preset lateral laying position, the collaborative control system controls the lateral sandbag forming and filling mechanism 2 to complete the output of lateral sandbags, and controls the lateral sandbag orientation and placement mechanism 8 to release the lateral sandbags onto the ground. This control method is suitable for construction scenarios where the work area boundaries are clearly defined, the positioning accuracy is high, and the grid node positions need to correspond to geographical coordinates.

[0199] In another embodiment, the collaborative control system triggers the lateral sandbag laying action based on the travel distance of the chassis 1. The chassis 1 may be equipped with an encoder, wheel speed sensor, track travel detector, or other travel distance detection element. When the cumulative travel distance of the chassis 1 from the last lateral sandbag release position reaches the preset grid spacing, the collaborative control system triggers the operation of the lateral sandbag forming and filling mechanism 2 and the lateral sandbag orientation and placement mechanism 8. This method has low dependence on satellite positioning and is suitable for operating environments with sand dune obstruction, unstable signals, or where relative distance control is required.

[0200] In another embodiment, the collaborative control system triggers the laying of transverse sandbags based on the length of the laid longitudinal sandbags. The longitudinal sandbag filling and laying mechanism 7 can be equipped with a roll traction length detection element or a longitudinal sandbag output length detection element. When the length of the laid longitudinal sandbags reaches the preset grid spacing, the collaborative control system controls the transverse sandbag forming and filling mechanism 2 to form transverse sandbags and controls the transverse sandbag orientation and placement mechanism 8 to release the transverse sandbags. This method enables the release position of the transverse sandbags to match the actual laying length of the longitudinal sandbags, reducing grid spacing errors caused by track slippage, soft ground, or fluctuations in travel speed.

[0201] In another embodiment, the collaborative control system can also trigger the lateral sandbag laying action based on the travel time. When the chassis 1 travels at a relatively stable speed, the collaborative control system can calculate the lateral sandbag release cycle based on the travel speed and the preset grid spacing, and control the lateral sandbag forming and filling mechanism 2 and the lateral sandbag directional placement mechanism 8 to operate intermittently according to this cycle. This control method has a simple structure and is suitable for scenarios with relatively flat terrain and relatively stable travel speed. Preferably, the time triggering method can be combined with the position triggering, distance triggering, or longitudinal sandbag length triggering method to improve control accuracy.

[0202] In a preferred embodiment, the collaborative control system employs an advance triggering control strategy. Since the transverse sandbag forming and filling mechanism 2 requires a certain amount of time to complete the roll traction, sand filling, sealing, and cutting, if bag forming only begins when the chassis 1 has just reached the preset transverse laying position, the release of the transverse sandbags may be delayed. Therefore, the collaborative control system can activate the transverse sandbag forming and filling mechanism 2 in advance based on the transverse sandbag forming cycle, the chassis 1's traveling speed, and the target release position, ensuring that the transverse sandbags complete forming, filling, sealing, and cutting before the chassis 1 reaches the preset transverse laying position. When the chassis 1 reaches the target position, the transverse sandbags are already in a ready-to-be-released state, thereby improving the accuracy of the release position.

[0203] Furthermore, the collaborative control system can perform release timing control based on the lateral sandbag transfer distance and the operation cycle of the lateral sandbag orientation placement mechanism 8. After the lateral sandbag enters the supporting conveyor assembly, the collaborative control system controls the third drive component 806 to drive the anti-slip conveyor chain 812, causing the lateral sandbag to move laterally to the preset placement position. When the position detection element detects that the lateral sandbag has arrived in place, the collaborative control system controls the third drive component 806 to stop and controls the release component drive component 803 to actuate, causing the lateral sandbag to be released to the ground. Through this timing control, the lateral bagging, lateral transfer, and orientation release actions can be coordinated to avoid action conflicts.

[0204] In this embodiment, the collaborative control system can also control the material supply rhythm of the sand feeding mechanism 5 and the sand screening and storage mechanism 6. Specifically, the collaborative control system can control the opening and closing state or the discharge amount of the attitude adjustment component 501 of the sand feeding mechanism 5, the first drive component 509, the second drive component 607 of the sand screening and storage mechanism 6, and the multiple discharge channels 605 according to the material level of the storage bin 601, the material discharge requirements of the longitudinal sand barrier bag filling and forming laying mechanism 7, the bag forming cycle of the transverse sand barrier bag forming and filling mechanism 2, and the traveling speed of the chassis 1. This allows the sand feeding amount, sand screening amount, storage amount, and filling material amount to be matched, reducing problems such as insufficient material supply or sand accumulation.

[0205] In one embodiment, the collaborative control system can continuously control the longitudinal sandbag filling and laying mechanism 7. The longitudinal sandbag filling and laying mechanism 7 operates continuously during the movement of the chassis 1. The roll material traction assembly 207 pulls the roll material 201 to form the bag structure, the sewing and edge-locking mechanism 204 performs side edge locking, the filling hopper 206 fills the bag with sand, and the sewing, sealing, and cutting mechanism 205 seals and cuts the bag according to a set length or work node. The collaborative control system can adjust the traction speed of the roll material traction assembly 207 according to the traveling speed of the chassis 1, so that the output speed of the longitudinal sandbag matches the traveling speed of the chassis 1, preventing the longitudinal sandbag from being pulled too tightly or accumulating on the ground.

[0206] In one embodiment, the collaborative control system can intermittently control the transverse sand barrier bag forming and filling mechanism 2. Upon receiving a transverse laying trigger command, the transverse sand barrier bag forming and filling mechanism 2 completes the forming of one or more transverse sand barrier bags according to a preset length and filling amount. The collaborative control system can control the traction distance of the roll material traction assembly 207, the opening time of the feeding channel 605, and the sealing and cutting actions of the sewing sealing and cutting mechanism 205, thereby ensuring that the length, filling amount, and sealing status of the transverse sand barrier bags meet the requirements of grid-based laying.

[0207] In one embodiment, the collaborative control system can control the transverse sandbag orientation and placement mechanism 8 to release a single bag, release multiple bags simultaneously, or release multiple bags sequentially. When the transverse sandbag orientation and placement mechanism 8 carries a single transverse sandbag, the collaborative control system can control the release component drive 803 to actuate after the sandbag reaches a preset placement position, thus releasing the single bag. When the supporting and conveying component carries multiple transverse sandbags, the collaborative control system can control the simultaneous release of multiple transverse sandbags or their sequential release in a preset order based on grid parameters. This control method can adapt to operational needs with different widths, different grid spacings, and different deployment densities.

[0208] In a preferred embodiment, the collaborative control system can correct the release position or attitude of the lateral sandbags based on terrain perception results. When the terrain perception module detects dune slope, ground undulation, or obstacles, the collaborative control system can appropriately adjust the travel path of the chassis 1, the transport distance of the lateral sandbags, the release height, or the release angle to reduce the problem of the lateral sandbags rolling, sliding, or deviating from the preset position after landing. For areas with large terrain undulations, the collaborative control system can also reduce the travel speed or delay the release action to improve placement stability.

[0209] In another preferred embodiment, the collaborative control system can identify the positions of the laid longitudinal sand barrier bags using a visual recognition module or a lidar module, and correct the release positions of the transverse sand barrier bags based on the identification results. Specifically, when the system detects a deviation between the actual laying position of the longitudinal sand barrier bags and the theoretical path, the collaborative control system can adjust the transfer distance or release timing of the transverse sand barrier bags to ensure that the transverse sand barrier bags still form a relatively regular intersection with the longitudinal sand barrier bags. This closed-loop correction method can improve the forming quality of the sand barrier grid structure in actual sandy environments.

[0210] In this embodiment, the collaborative control system can also be equipped with a human-machine interface (HMI) unit. Operators can input the work area boundary, sand barrier grid size, longitudinal laying speed, transverse sand barrier bag length, transverse release spacing, filling volume, work mode, and equipment operating parameters through the HMI unit. The HMI unit can also display the position of chassis 1, work path, laid length, material level in storage bin 601, operating status of each mechanism, fault alarm information, and work progress. Through the HMI unit, operators can set system parameters, monitor system status, and perform necessary manual interventions.

[0211] In one implementation, the collaborative control system may further include a remote control unit. The remote control unit receives remote operation instructions, operation area parameters, sand barrier grid parameters, and equipment operating parameters, and feeds back equipment operating status, fault information, and operation progress to the remote control terminal. Through the remote control unit, the system can achieve minimally staffed or unmanned operations in high-temperature, strong wind, sandstorm, or remote areas, reducing the risk of workers being exposed to harsh environments for extended periods.

[0212] In this embodiment, the innovation of the navigation path planning system and the collaborative control system is mainly reflected in the following aspects: First, it does not control the movement of the chassis 1 alone, but coordinates the movement path of the chassis 1 with sand collection, sand screening, longitudinal bag laying, transverse bag laying, transverse transfer, and directional release as a whole; Second, it controls the continuous laying of longitudinal sand barrier bags and the intermittent placement of transverse sand barrier bags according to the sand barrier grid parameters, so that the sand barrier bags can automatically form a crisscross grid structure; Third, it can trigger the laying of transverse sand barrier bags according to various conditions such as location, travel distance, length of laid longitudinal sand barrier bags, or travel time, improving adaptability under different working conditions; Fourth, it can perform advance triggering and timing control according to the bag laying cycle and transfer and release cycle, improving the accuracy of transverse sand barrier bag landing point; Fifth, it can combine terrain perception, visual recognition, or positioning information to correct the path and release position, improving the laying consistency in complex sandy environments.

[0213] The aforementioned navigation path planning system and collaborative control system can achieve the following beneficial effects: First, they can automatically generate work paths based on the boundaries of the work area and the parameters of the sand barrier grid, reducing the workload of manual measurement and planning. Second, they can trigger lateral laying actions based on the position of chassis 1, the travel distance, or the longitudinal sand barrier bag laying length, improving the consistency of grid spacing. Third, they can coordinate the amount of sand taken, the amount of sand screened, the amount of material fed, and the bag forming speed, improving the stability of continuous system operation. Fourth, they can match the continuous laying of longitudinal sand barrier bags with the intermittent forming, transfer, and release of lateral sand barrier bags, improving the forming quality of the crisscrossing sand barrier grid structure. Fifth, they can reduce the intensity of manual labor and improve the efficiency of sand control operations through remote control and automated control.

[0214] In other alternative implementations, the navigation path planning system can employ satellite positioning navigation, inertial navigation, visual navigation, lidar navigation, terrain matching navigation, preset trajectory navigation, or a combination of these methods. The collaborative control system can utilize a PLC controller, industrial computer, embedded controller, vehicle-mounted controller, distributed controller, or remote cloud control platform. The various mechanisms can be connected via wired communication, wireless communication, bus communication, or independent control lines. Any implementation that coordinates the longitudinal continuous laying and lateral intermittent placement of the mechanisms according to the work path and sand barrier grid parameters falls under the alternative implementations of this invention.

[0215] Therefore, this embodiment enables the automatic filling and grid-based collaborative laying system of sand barrier bags to operate automatically according to the boundary of the work area, the parameters of the sand barrier grid, and the travel status of the chassis 1 through the navigation path planning system and the collaborative control system. This not only realizes the continuous laying of sand barrier bags in the longitudinal direction and the intermittent directional placement of sand barrier bags in the transverse direction, but also improves the laying accuracy, forming consistency and continuous operation capability of the sand barrier grid structure.

[0216] 10. Implementation Example of Complete System Operation Flow This embodiment also provides a complete operation process for an automatic sand barrier bag filling and grid-based collaborative laying system. This operation process is based on the aforementioned chassis 1, sand feeding mechanism 5, sand screening and storage mechanism 6, longitudinal sand barrier bag filling, forming and laying mechanism 7, transverse sand barrier bag forming and filling mechanism 2, transverse sand barrier bag orientation and placement mechanism 8, navigation path planning system and collaborative control system, and is used to automatically form a crisscrossing sand barrier grid structure within the sandy work area.

[0217] During the preparation phase, the roll material 201 is first installed onto the roll material support assembly 208 of the longitudinal sand barrier bag filling and forming laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2, respectively. After the roll material 201 is installed, it passes sequentially through the roll material tensioning assembly 209 and the roll material spreading assembly 202, and is then introduced into the corresponding forming area. The roll material tensioning assembly 209 tensions and guides the roll material 201, ensuring that it maintains appropriate tension before entering the forming area; the roll material spreading assembly 202 cooperates with the filling hopper 206 or the forming device to enable the roll material 201 to form a bag structure for containing sand.

[0218] During the preparation phase, parameters such as the work area boundary, sand barrier grid parameters, longitudinal sand barrier bag laying spacing, transverse sand barrier bag laying spacing, transverse sand barrier bag length, sand barrier bag filling volume, chassis speed, transverse release method, and work start and end points can be input through the human-machine interface unit. The navigation path planning system generates the work path based on these parameters and sends the work path to the collaborative control system. The collaborative control system determines the longitudinal continuous laying cycle, transverse bag formation trigger position, transverse conveying distance, and transverse release timing based on the work path and sand barrier grid parameters.

[0219] After the system starts, the power source 3 and drive system 4 provide power to the chassis 1 and various working mechanisms. Driven by the self-propelled tracks 103, the chassis 1 travels along the working path generated by the navigation path planning system. During the movement of the chassis 1, the sand-collecting and feeding mechanism 5 is located at the front of the chassis 1 and moves synchronously with it. The sand-gathering component 505 collects the sand in front of or below the chassis 1 into the sand-collecting and feeding area of ​​the sand-collecting and feeding mechanism 5. The first drive component 509 drives the lifting and conveying component 507 to operate. The lifting and conveying component 507 drives the lifting plate 506 to circulate, lifting and conveying the sand to the sand screening and storage mechanism 6.

[0220] During the sand extraction and feeding process, the collaborative control system can adjust the sand extraction amount of the sand extraction and feeding mechanism 5 based on the material level in the storage silo 601, the material feeding speed of the longitudinal sand barrier bag filling and laying mechanism 7, and the bag forming rhythm of the transverse sand barrier bag forming and filling mechanism 2. When the material level in the storage silo 601 is low or the subsequent material demand is large, the collaborative control system can control the attitude adjustment component 501 to increase the sand insertion depth of the sand extraction and feeding mechanism 5, or increase the running speed of the first drive component 509; when the material level in the storage silo 601 is high or the equipment load is large, the sand extraction depth can be appropriately reduced or the lifting and conveying speed can be reduced. In this way, the amount of sand extracted on site is matched with the amount of material used for subsequent filling.

[0221] After entering the sand screening and storage mechanism 6, the sand first falls into the screening trough 604. The screening trough 604 screens the sand, and sand with the required particle size falls into the storage bin 601 through the screen holes or screen mesh. Larger impurities such as stones, branches, and grass roots are blocked in the screening trough 604. The second driving component 607 drives the material equalization and anti-blocking component 603 to push the sand entering the screening trough 604 to different screening areas, so that the sand is more evenly distributed in the screening trough 604, reducing local accumulation and screen hole blockage. The screened sand is temporarily stored in the storage bin 601 and is fed to the longitudinal sand barrier bag filling and forming laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2 through multiple feeding channels 605.

[0222] During the longitudinal continuous laying stage, the longitudinal sand barrier bag filling and forming laying mechanism 7 operates continuously. The roll material 201 moves along the bagging direction under the traction of the roll material traction assembly 207. After being tensioned by the roll material tensioning assembly 209, the outer peripheral guide of the roll material spreading assembly 202 and the filling hopper 206 forms the bag structure. The sewing and locking mechanism 204 continuously sews and locks the sides of the bag, making the roll material 201 form a bag-shaped structure capable of holding sand. The bottom sewing mechanism in the sewing sealing and cutting mechanism 205 sews the bottom of the bag to form the bag bottom. Subsequently, the sand in the sand screening and storage mechanism 6 enters the bag through the corresponding feeding channel 605 and the filling hopper 206.

[0223] When the filling length, filling volume, or running time of the longitudinal sand barrier bags reaches the set conditions, the sewing and sealing cutting mechanism 205 sews and seals the upper part of the bag body and cuts it as needed. For longitudinal sand barrier bags that need to be laid continuously, sealing and cutting can be done at the starting end, ending end, or preset segment positions; for longitudinal sand barrier bags that need to be laid in sections, sealing and cutting can be done periodically according to preset lengths. When the chassis 1 travels along the working path, the longitudinal sand barrier bags are continuously output and laid on the ground along with the longitudinal sand barrier bag filling and forming laying mechanism 7, forming a longitudinal sand barrier belt extending along the traveling direction of the chassis 1.

[0224] During the intermittent lateral forming stage, the collaborative control system determines whether the lateral laying conditions have been met based on the sand barrier grid parameters and the travel status of chassis 1. The lateral laying conditions can be that chassis 1 reaches a preset lateral laying position, the cumulative travel distance of chassis 1 since the last lateral release position reaches a preset grid spacing, the length of the laid longitudinal sand barrier bags reaches a preset grid spacing, or the travel time reaches a preset cycle. When the lateral laying conditions are met, the collaborative control system triggers the lateral sand barrier bag forming and filling mechanism 2 to operate.

[0225] When the transverse sand barrier bag forming and filling mechanism 2 is working, the roll material 201 forms a bag structure through the roll material tensioning component 209 and the roll material spreading component 202. The sewing and locking mechanism 204 locks the sides of the bag body, and the sewing and sealing cutting mechanism 205 seals the bottom of the bag body. Subsequently, the sand screening and storage mechanism 6 supplies material to the transverse sand barrier bag forming and filling mechanism 2 through the corresponding feeding channel 605, and the sand enters the bag body through the filling hopper 206. When the length, filling amount, or bag forming time of the transverse sand barrier bag reaches the set value, the sewing and sealing cutting mechanism 205 seals the upper part of the bag body and cuts the bag body to form a transverse sand barrier bag.

[0226] In a preferred operating mode, the transverse sandbag forming and filling mechanism 2 can be activated before the chassis 1 reaches the preset transverse laying position. The collaborative control system calculates the advance triggering time or advance triggering distance based on the transverse sandbag forming cycle, the chassis 1's traveling speed, and the target release position. When the chassis 1 is still a certain distance from the target release position, the transverse sandbag forming and filling mechanism 2 completes the roll forming, sand filling, sealing, and cutting in advance; when the chassis 1 reaches the target release position, the transverse sandbag is already in a state of waiting to be transferred or released. This reduces the impact of bag-forming delays on transverse release accuracy.

[0227] After the transverse sandbags are formed, they enter the transverse sandbag orientation and placement mechanism 8 or the transverse sandbag transfer and placement mechanism via the buffer guide 701. The buffer guide 701 buffers and guides the transverse sandbags, reducing the impact during the falling or transfer process, and allowing the transverse sandbags to enter the supporting conveyor assembly in a relatively stable posture. After the transverse sandbags enter the supporting conveyor assembly, the third drive unit 806 drives the anti-slip conveyor chain 812 to run, and the anti-slip conveyor chain 812 moves the transverse sandbags in the transverse direction. The limiting guide assembly 801 restricts the position and posture of the transverse sandbags during the transverse movement, so that the transverse sandbags are gradually straightened and moved to the preset placement position.

[0228] Once the transverse sandbags have moved to their preset positions, the collaborative control system stops the third drive component 806 and activates the release component drive component 803. The release component drive component 803 causes the supporting conveyor frame 810 to rotate, tilt, swing, or open around the flipping axis 804 or the rotating hinge 808, changing the limiting space between the supporting conveyor component and the limiting guide component 801. Under its own weight, the transverse sandbags are released from the supporting conveyor component onto the ground, intersecting with the already laid longitudinal sandbags, thus forming the transverse portion of the sand barrier grid structure.

[0229] When the lateral sandbag transfer and placement mechanism adopts an integrated structure, the lateral sandbag orientation and placement mechanism 8 itself completes the receiving, lateral transfer, attitude adjustment, and release of the lateral sandbags. When the lateral sandbag transfer and placement mechanism adopts a split structure, the lateral sandbags can first be received by a reciprocating lateral moving platform and laterally transferred to a preset position, and then the lateral sandbag orientation and placement mechanism 8 will straighten and release them. Regardless of whether an integrated or split structure is used, the lateral sandbags can be placed on the ground according to the position and attitude corresponding to the sandbag grid parameters.

[0230] In multi-bag operation mode, the transverse sand barrier bag forming and filling mechanism 2 can form multiple transverse sand barrier bags within one operation cycle, or continuously form multiple transverse sand barrier bags and temporarily store them on the transverse sand barrier bag transfer and placement mechanism. The transverse sand barrier bag transfer and placement mechanism can carry multiple transverse sand barrier bags and, after reaching the preset placement position, release the multiple transverse sand barrier bags simultaneously or sequentially to the ground. Simultaneous release is suitable for scenarios where multiple transverse sand barrier bags need to fall into the same arrangement area at the same time; sequential release is suitable for scenarios where multiple transverse sand barrier bags need to be laid out in sequence according to different spacings or different positions.

[0231] Throughout the entire operation, the collaborative control system continuously coordinates the movement of chassis 1, sand feeding, sand screening and storage, longitudinal bag laying, transverse bag filling, and transverse orientation placement. Specifically, the collaborative control system adjusts the traction speed of the roll traction component 207 according to the movement speed of chassis 1, so that the output speed of the longitudinal sand barrier bags matches the movement speed of chassis 1; adjusts the working status of the sand feeding mechanism 5 and the unloading channel 605 according to the material level in the storage bin 601; adjusts the start timing, bag length, and filling amount of the transverse sand barrier bag forming and filling mechanism 2 according to the sand barrier grid parameters and transverse release position; and controls the action sequence of the third drive component 806 and the release component drive component 803 according to the transverse sand barrier bag position detection results.

[0232] As chassis 1 continues to move along the work path, the longitudinal sandbag filling and laying mechanism 7 continuously outputs longitudinal sandbags, while the transverse sandbag forming and filling mechanism 2 intermittently forms transverse sandbags according to a preset grid spacing. The transverse sandbag orientation and placement mechanism 8 laterally moves, straightens, and releases the transverse sandbags onto the ground. Thus, the longitudinal and transverse sandbags gradually form a crisscrossing sand barrier grid structure on the ground. After completing one work path, chassis 1 can switch to the next work path according to instructions from the navigation path planning system to continue working until the sand barrier grid laying of the entire work area is completed.

[0233] In a specific operational example, as chassis 1 advances along the first planned path, the longitudinal sandbag filling and laying mechanism 7 continuously lays the first longitudinal sandbag. The collaborative control system triggers the transverse sandbag forming and filling mechanism 2 every preset distance, causing the transverse sandbags to be formed, moved laterally, and released to the ground. After completing the first planned path, chassis 1 enters the second planned path, which is spaced at a preset grid width from the first planned path, and continues to lay the second longitudinal sandbag. Transverse sandbags are released at preset intervals between adjacent longitudinal sandbags or at their intersections, gradually forming a regular grid-like sand barrier structure.

[0234] In another specific operational example, the transverse sandbag placement mechanism 8 can release transverse sandbags to one or both sides of the chassis 1. As the system travels along an operational path, longitudinal sandbags are formed along the direction of travel; transverse sandbags are then released to a preset area on one or both sides of the longitudinal sandbags according to grid parameters. If the system is equipped with a dual-sided transverse placement mechanism, transverse sandbags can be deployed to the left and right sides simultaneously during the same travel, thereby expanding the coverage width of a single operation and improving the efficiency of large-area sand control construction.

[0235] At the end of the operation, when chassis 1 reaches the end point of the operation or completes the preset operation area, the collaborative control system controls the sand feeding mechanism 5 to stop collecting sand, controls the sand screening and storage mechanism 6 to stop discharging material, controls the longitudinal sand barrier bag filling, forming and laying mechanism 7 to complete the end sealing and cutting, controls the transverse sand barrier bag forming and filling mechanism 2 to stop bag forming, and controls the transverse sand barrier bag orientation and placement mechanism 8 to release or empty the transverse sand barrier bags it carries. Subsequently, chassis 1 can leave the operation area or move to the next operation area to continue construction.

[0236] Through the complete workflow described above, this embodiment can achieve continuous automated operation from on-site sand collection to grid-based laying. Compared with manual laying, this process reduces the steps of manual sand collection, manual bagging, manual sealing, manual handling, manual distance measurement, and manual placement. Compared with a single bagging device, this process can not only complete the forming and filling of sand barrier bags, but also achieve coordinated operation of continuous longitudinal laying and intermittent lateral placement by combining the travel status of chassis 1 and the parameters of the sand barrier grid.

[0237] The innovation of this complete operation process lies in the coordinated operation of the sand material flow path, sand barrier bag forming path, equipment travel path, and lateral delivery path, forming a continuous operation chain of "traveling and collecting sand—screening and storing sand—distributing and supplying material—continuous longitudinal laying—intermittent lateral forming—lateral transfer and placement—automatic grid forming." This operation chain enables the system to acquire sand material on-site and automatically lay sand barrier bags in complex sandy environments. In particular, it can achieve rhythm matching between longitudinal and lateral sand barrier bags through a collaborative control system, thereby improving the laying efficiency, positional consistency, and continuous operation stability of the sand barrier grid structure.

[0238] Through the above embodiments, this invention enables integrated operations in sandy areas, including sand extraction, sieving, storage, distribution and supply, roll forming, sand filling, bag sealing, bag cutting, continuous longitudinal laying, intermittent transverse transport and placement, and path coordination control. Compared with manual laying or equipment that can only perform single functions such as bagging and conveying, this invention integrates sand supply, automatic sand barrier bag forming, and grid laying processes into the same self-propelled operating system. This reduces manual steps such as sand extraction, bagging, sealing, handling, distance measurement, and placement, thereby improving the automation level and continuous construction capability of sand barrier bag laying operations.

[0239] This invention utilizes a sand-collecting and feeding mechanism 5 to collect sand on-site during the movement of the chassis 1, and continuously transports the sand to a sand-screening and storage mechanism 6, enabling the system to complete the sandbag filling operation using sand from the construction site. This method reduces the need for external material supply and manual loading, lowers sand transportation costs, and is beneficial for improving construction efficiency in remote sandy areas, large-scale sandy land management areas, or windy and sandy environments.

[0240] This invention utilizes a sand screening and storage mechanism 6 to screen, homogenize, prevent clogging, and temporarily store sand. This prevents larger impurities such as stones, branches, and grass roots from entering the filling mechanism, reducing the likelihood of impurities entering the feeding channel 605, filling hopper 206, or bag forming channel. The storage silo 601 buffers fluctuations between the amount of sand taken and the amount used for filling. Multiple feeding channels 605 can distribute material to the longitudinal sand barrier bag filling and forming laying mechanism 7 and the transverse sand barrier bag forming and filling mechanism 2, thereby improving the continuity and stability of sand supply.

[0241] This invention utilizes a longitudinal sand barrier bag filling and laying mechanism 7 to continuously form, fill, and lay sand barriers on-site using roll material 201. This allows the longitudinal sand barrier bags to be continuously formed and laid on the ground as the chassis 1 moves. This structure reduces the need for transporting prefabricated bags, manually supporting the bags, manually filling them with sand, and manually sealing them. Furthermore, it allows the output speed of the longitudinal sand barrier bags to match the travel speed of the chassis 1, thereby improving the laying efficiency and continuity of the longitudinal sand barrier strip.

[0242] This invention utilizes a transverse sand barrier bag forming and filling mechanism 2 to intermittently form transverse sand barrier bags according to sand barrier grid parameters, eliminating the need for manual prefabrication, handling, and placement of the transverse sand barrier bags. The transverse sand barrier bag forming and filling mechanism 2 can form transverse sand barrier bags at preset transverse laying positions based on the position of the chassis 1, the travel distance, the length of the already laid longitudinal sand barrier bags, or the travel time, thereby providing transverse components for the automatic formation of the crisscrossing sand barrier grid structure.

[0243] This invention utilizes a transverse sandbag conveying and placement mechanism, particularly a transverse sandbag orientation placement mechanism 8, to support, transversely convey, limit and guide, adjust the posture of, and release the transverse sandbags. This prevents the sandbags from falling freely after being output from the forming and filling mechanism, which could cause posture deviation, inaccurate landing, or damage to the bags. Through the cooperation of the supporting and conveying component, the limiting and guiding component 801, and the release component drive component 803, the transverse sandbags can be released to the ground according to a preset position and posture, improving the accuracy of the transverse sandbag arrangement and the consistency of the grid formation.

[0244] This invention generates a work path based on the work area boundary, terrain conditions, and sand barrier grid parameters through a navigation path planning system. A collaborative control system then controls the coordinated operation of each mechanism based on the work path, sand barrier grid parameters, and the travel status of chassis 1. This enables rhythmic matching between the continuous laying of longitudinal sand barrier bags and the intermittent forming, transfer, and release of transverse sand barrier bags. This collaborative control method reduces errors from manual ranging and positioning, ensuring that transverse sand barrier bags are released according to the preset grid spacing, thereby improving the overall forming quality of the crisscrossing sand barrier grid structure.

[0245] This invention also improves the system's structural adaptability through integrated or separate transverse sandbag transfer and placement schemes. In scenarios with compact equipment structures or small working widths, the transverse sandbag directional placement mechanism 8 can perform both transverse transfer and directional release functions; in scenarios with large working widths, long transverse transfer distances, or multiple-point release requirements, an independent reciprocating transverse moving platform can be used in conjunction with the transverse sandbag directional placement mechanism 8. Therefore, this invention can adapt to different grid sizes, different sandbag specifications, and different construction area requirements.

[0246] In summary, this invention, through the structural coordination and collaborative control of various mechanisms, can form a continuous operation chain of "moving and collecting sand—screening and storing sand—distributing and supplying materials—continuous longitudinal bag laying—intermittent transverse bag laying—transverse transfer and placement—automatic grid formation." This solves the problems of high manual labor intensity, low work efficiency, easy clogging by sand impurities, insufficient transverse sand bag placement accuracy, and difficulty in automatically forming a crisscrossing sand barrier grid structure in the existing sand barrier bag laying process. It has a high degree of automation, continuous operation capability, and consistency in sand barrier grid laying.

[0247] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It should be understood that those skilled in the art can make various modifications, substitutions, or combinations to the structural form, connection method, driving method, control method, material selection, and component arrangement in the above embodiments without departing from the concept of the present invention. Such modifications, substitutions, or combinations, as long as they do not depart from the spirit and substance of the present invention, should all fall within the scope of protection of the present invention.

[0248] It should be noted that, where there is no conflict, the various embodiments of the present invention and the technical features thereof can be combined with each other. The descriptions of specific structures, quantities, positional relationships, driving methods, and control methods in the specification are only for helping to understand the technical solutions of the present invention and do not constitute a limitation on the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A system for automatically filling and gridding sand barrier bags, characterized in that, It includes a self-propelled bearing platform, a sand feeding mechanism, a sand screening and storage mechanism, a longitudinal sand barrier bag filling, forming and laying mechanism, a transverse sand barrier bag forming and filling mechanism, a transverse sand barrier bag transfer and placement mechanism, and a collaborative control system. The sand-collecting and feeding mechanism is used to collect sand and transport it to the sand-screening and storage mechanism during the movement of the self-propelled bearing platform. The sand screening and storage mechanism is used to screen and temporarily store sand and distribute it to the longitudinal sand barrier bag filling and laying mechanism and the transverse sand barrier bag forming and filling mechanism. The longitudinal sandbag filling, forming and laying mechanism is used to continuously fill, form and lay longitudinal sandbags as the self-propelled bearing platform travels along the working path. The transverse sand barrier bag forming and filling mechanism is used to fill and form transverse sand barrier bags when the self-propelled bearing platform travels to the preset transverse laying position; The transverse sand barrier bag transfer and placement mechanism is used to receive the transverse sand barrier bag, transfer the transverse sand barrier bag laterally to the preset placement position, and release the transverse sand barrier bag to the ground after adjusting its posture. The collaborative control system is used to control the longitudinal sand barrier bag filling and laying mechanism to operate continuously according to the sand barrier grid parameters and the travel status of the self-propelled carrying platform, and to control the transverse sand barrier bag forming and filling mechanism and the transverse sand barrier bag transfer and placement mechanism to operate intermittently, so as to form a crisscrossing sand barrier grid structure.

2. The automatic filling and grid-based collaborative laying system for sand barrier bags according to claim 1, characterized in that, The collaborative control system triggers the intermittent operation of the transverse sand barrier bag forming and filling mechanism and the transverse sand barrier bag transferring and placing mechanism based on the position, travel distance, length of the laid longitudinal sand barrier bags, or travel time of the self-propelled carrying platform, so that the transverse sand barrier bags are released to the ground according to the grid spacing corresponding to the sand barrier grid parameters.

3. The automatic filling and grid-based collaborative laying system for sand barrier bags according to claim 1, characterized in that, The system also includes a navigation path planning system, which generates the operation path based on the operation area boundary and sand barrier grid parameters, and sends the operation path to the collaborative control system.

4. The automatic sand barrier bag filling and grid-based collaborative laying system according to claim 1, characterized in that, The sand feeding mechanism includes a sand gathering component, a lifting and conveying component, and a posture adjustment component; The sand-gathering component is used to collect sand into the sand-feeding area of ​​the sand-collecting and feeding mechanism; The lifting and conveying assembly is used to lift and convey the collected sand to the sand screening and storage mechanism; The attitude adjustment component is used to adjust the tilt angle, height, or sand entry depth of the sand feeding mechanism to change the amount of sand collected.

5. The automatic filling and grid-based collaborative laying system for sand barrier bags according to claim 1, characterized in that, The sand screening and storage mechanism includes a sand screening trough, a material equalization and anti-blocking component, a storage bin, and multiple material discharge channels; The sand screening trough is used to receive the sand conveyed by the sand feeding mechanism and to screen the sand. The material equalization and anti-clogging component is used to push the sand entering the sand screening trough to different screening areas. The storage bin is used to temporarily store the screened sand. The multiple feeding channels are respectively connected to the longitudinal sandbag filling and laying mechanism and the transverse sandbag forming and filling mechanism to distribute materials to the corresponding mechanisms.

6. The automatic filling and grid-based collaborative laying system for sand barrier bags according to claim 1, characterized in that, Both the longitudinal sand barrier bag filling and forming laying mechanism and the transverse sand barrier bag forming and filling mechanism include a roll material support assembly, a roll material tensioning assembly, a roll material spreading assembly, a forming device, a material discharge and sand leakage pipe, a filling hopper, a sewing and locking mechanism, a bottom sewing mechanism for the sand barrier bag, a top sewing and sealing mechanism for the sand barrier bag, a roll material traction assembly, and a cutting mechanism.

7. The automatic filling and grid-based collaborative laying system for sand barrier bags according to claim 6, characterized in that, The roll material used to form the sand barrier bag is supported by the roll material support assembly and tensioned by the roll material tensioning assembly. The roll material opening assembly and the forming device form the bag structure. Sand material enters the bag structure through the discharge sand leakage pipe and the filling hopper. The sewing and overlocking mechanism is used to sew and overlock the sides of the bag. The bottom sewing mechanism of the sand barrier bag is used to form the bottom of the bag. The upper sewing and sealing mechanism of the sand barrier bag is used to sew and seal the upper part of the filled bag. The cutting mechanism is used to cut the sealed bag to form the sand barrier bag.

8. The automatic filling and grid-based collaborative laying system for sand barrier bags according to claim 1, characterized in that, The transverse sand barrier bag transfer and placement mechanism includes a transverse transfer unit and a directional placement unit, which are either separately configured or integrated. The transverse transfer unit includes a reciprocating transverse moving platform, and the directional placement unit includes a transverse sand barrier bag directional placement mechanism.

9. The automatic filling and grid-based collaborative laying system for sand barrier bags according to claim 8, characterized in that, The transverse sand barrier bag orientation and placement mechanism includes a supporting and conveying component, a limiting and guiding component, and a release component. The supporting and conveying component is used to support and convey the transverse sand barrier bags. The limiting and guiding component is used to restrict the position and orientation of the transverse sand barrier bags. An angled groove, a V-shaped groove, a U-shaped groove, or a limiting channel is formed between the supporting and conveying component and the limiting and guiding component. The release component is used to change the relative position between the supporting and conveying component and the limiting and guiding component to release the transverse sand barrier bags to the ground.

10. The automatic filling and grid-based collaborative laying system for sand barrier bags according to claim 1, characterized in that, The system also includes a power source and a drive system. The power source is a fuel power source, an electric power source, a hybrid power source, or an external power source. The drive system is a hydraulic drive system, an electric drive system, a pneumatic drive system, or a hybrid drive system.

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