A large-depth sand layer fine intelligent autonomous operation shore cleaning device and method

Abstract

The application discloses a kind of big depth sand layer fine intelligent autonomous operation beach cleaning device and method, comprising: vehicle body, rake sand conveying mechanism, screening mechanism, intelligent control module and bunker assembly, rake sand conveying mechanism includes transmission support, rake sand conveyor belt, transmission driver and angle regulator, transmission support is formed by the butt joint of upslope section and downslope section, upslope section extends to the outside of car shell, at least two interval distribution support shafts are sequentially provided on transmission support along transmission path, the tail end of transmission support is rotatably connected with power transmission shaft, power transmission shaft penetrates transmission support and is rotatably connected with car body support, and driven wheel is sleeved on power transmission shaft and support shaft. Through angle regulator in rake sand conveying mechanism, the height of rake sand conveyor belt is flexibly adjusted, the variable aperture design is used in vibrating screen, the large-hole screen mesh on the lower side realizes the rapid backfill of sand particles, and the small-hole screen mesh on the upper side improves the capture rate of small-size waste such as cigarette butts and microplastics.

Description

Technical Field

[0001] This invention relates to the field of coastal beach cleaning technology, and in particular to a sophisticated, intelligent, and autonomous coastal beach cleaning device and method for deep sand layers. Background Technology

[0002] With the booming development of coastal tourism and beach sports industries, the frequency and intensity of beach use have continued to rise, leading to increasingly serious waste pollution problems. Of particular concern is the continuous migration of fine debris such as cigarette butts, glass shards, and microplastics into the deeper layers of the sand under the combined effects of waves, tides, and human trampling, resulting in large quantities being buried in the deep sand layers below the surface. This type of hidden waste cannot be effectively removed through traditional manual cleaning or conventional shallow-water cleaning equipment. Its long-term accumulation not only disrupts the material cycle and habitat of the beach ecosystem but also directly threatens the safety and health of tourists due to risks such as injuries from sharp objects and the release of chemical substances. Therefore, achieving efficient, continuous, and autonomous cleaning of the deep sand layers on beaches has become a key technological bottleneck that urgently needs to be overcome in current beach environmental management.

[0003] However, existing beach cleaning equipment—especially the various beach cleaning robots that have emerged in recent years—has revealed several common technical defects in practical applications that seriously limit its ability to perform deep-sea operations. These are as follows: First, most existing equipment operates only at the surface of sand, making it difficult to effectively clean deep sand layers (more than 10cm deep). Most of them use fixed-aperture vibrating screens or simple mesh belt conveyor screening structures, which not only have low screening efficiency but also poor capture rate of fine waste when operating at great depths.

[0004] Secondly, under deep-sea operating conditions, the robot chassis penetrates the sand more deeply, and the resistance fluctuates drastically, causing significant changes in the drive motor current. Since most robots do not achieve effective separation of strong and weak currents in their electrical architecture, there is an electromagnetic coupling path between the high-current power circuit and the satellite positioning receiver chip (especially the RTK-GNSS high-precision positioning module). The dynamically changing strong magnetic field directly interferes with the normal operation of the positioning chip, causing RTK positioning to experience random drift at the centimeter or even decimeter level or frequent loss of lock, making it impossible to maintain the stable, continuous, and high-precision trajectory tracking capability necessary for deep-sea autonomous navigation.

[0005] Finally, at the environmental perception level, existing solutions generally rely on lidar as the primary obstacle avoidance sensor. On sunny days, the intense direct sunlight on beaches, combined with the sand's high reflectivity, causes lidar to receive a large amount of strong ambient light noise, resulting in numerous false alarms, noise, and even temporary blindness in the point cloud data. This strong light interference problem is particularly pronounced during deep-sea operations—robots need to operate closer to the sand surface, the lidar's viewing angle is lower, and it is more significantly affected by the sand's specular reflection. Some studies have attempted to mitigate this through algorithmic filtering, but the effectiveness is limited by the physical characteristics of the sensors.

[0006] Therefore, there is an urgent need for a sophisticated, intelligent, and autonomous beach cleaning device and method for deep sand layers to solve the aforementioned technical problems. Summary of the Invention

[0007] The present invention aims to solve the above-mentioned technical problems, namely, to address the following existing issues: First, most existing equipment operates at depths limited to the surface layer of sand, making it difficult to effectively clean deep sand layers; most of them use fixed-aperture vibrating screens or simple mesh belt conveyor screening structures, which not only result in low screening efficiency but also poor capture rate of fine waste in deep-sea operations; Second, existing equipment generally relies solely on lidar for environmental perception and lacks effective optical protection against the strong light and high reflectivity of the beach environment, leading to a significant decrease in obstacle avoidance reliability in complex beach environments; Third, existing equipment does not achieve a strong and weak current separation design, and there is a lack of effective physical isolation and electromagnetic shielding between the high-current power circuit and the RTK high-precision positioning module, which cannot meet the continuous high-precision trajectory tracking requirements for deep-sea autonomous navigation.

[0008] To this end, in a first aspect, the present invention provides a sophisticated, intelligent, and autonomous beach cleaning device for deep sand layers, comprising: The vehicle body includes a vehicle shell, a tracked running gear, and a body support frame disposed inside the vehicle shell. The body support frame is connected to the tracked running gear to enable the vehicle body to move. The sand-raking conveying mechanism includes a conveying support frame, a sand-raking conveyor belt, a conveying driver, and an angle adjuster. The conveying support frame is formed by connecting an uphill section and a downhill section. The conveying support frame is located inside the vehicle body, and the uphill section extends to the outside of the vehicle body. At least two spaced support shafts are sequentially arranged on the conveying support frame along the conveying path. A power transmission shaft is rotatably connected to the rear end of the conveying support frame. The power transmission shaft passes through the conveying support frame and is rotatably connected to the vehicle body frame. Driven wheels are fitted on both the power transmission shaft and the support shaft. The sand-raking conveyor belt is fitted on the outside of the conveying support frame and connected to the driven wheels. The conveyor drive is mounted on the vehicle frame on the rear side of the conveyor support and drives the sand-raking conveyor belt to rotate via the drive power transmission shaft. The sand-raking conveyor belt is configured to automatically collect the material to be screened during rotation and transport it to the screening mechanism by first going uphill and then downhill. Angle adjusters are respectively provided on the vehicle frames on both sides of the conveyor support. The angle adjusters are connected to the conveyor support to drive the sand-raking conveyor belt to rotate around the axis of the power transmission shaft to adjust the sand entry depth of the sand-raking conveyor belt. The sand-raking conveyor belt is provided with multiple spaced sand leakage holes. The screening mechanism is installed on the vehicle frame on the rear side of the sand-sweeping conveyor and is located below the tail end of the sand-sweeping conveyor. It is used to screen the material to be screened that is conveyed from the tail end of the sand-sweeping conveyor. A hopper assembly, mounted on the vehicle frame at the rear of the screening mechanism and located below the tail end of the screening mechanism, is used for secondary screening and collection of the screened material; and The intelligent control module includes an industrial control computer and a path planning and perception unit and an autonomous obstacle avoidance unit connected thereto. The industrial control computer is configured to construct an environmental perception model based on multi-source information fusion and plan the operation path and autonomous obstacle avoidance in order to control the tracked walking mechanism to move autonomously.

[0009] In a specific embodiment of the above-mentioned deep sand layer fine-grained intelligent autonomous operation beach cleaning device, the sand-raking conveyor belt includes two first flexible transmission components arranged in a ring and multiple L-shaped folding plates. The two first flexible transmission components are distributed side by side on both sides of the conveyor support and mesh with the driven wheels on the support shaft and the power transmission shaft so that they can rotate. Multiple L-shaped folding plates are fixed between the two first flexible transmission components and are spaced apart along the ring path of the first flexible transmission components. An elbow plate is fixed to each of the two ends of the L-shaped folding plate. The elbow plate, the L-shaped folding plate and the adjacent L-shaped folding plate together form a sand-raking trough for holding the collected material to be screened during rotation. Multiple sand-leaking holes are provided on the L-shaped folding plate and the elbow plate at intervals.

[0010] In a specific embodiment of the above-mentioned deep sand layer fine-tuning intelligent autonomous operation beach cleaning device, the angle adjuster is set at the front end of the vehicle frame, the angle adjuster is an electro-hydraulic rod, the cylinder on the electro-hydraulic rod is hinged to the vehicle frame, and the push rod of the electro-hydraulic rod is hinged to the transmission bracket.

[0011] In the specific implementation of the above-mentioned deep sand layer fine intelligent autonomous operation beach cleaning device, the support shaft passes through the conveyor support and is fixedly connected to it. Both ends of the support shaft are rotatably connected to the driven wheel. Driven wheels are fixed on the power transmission shafts on both sides of the conveyor support. There are two support shafts. One support shaft is set at the beginning of the conveyor support, and the other support shaft is set at the junction of the uphill and downhill sections. Both ends of the support shaft are connected to an angle adjuster so as to adjust the sand entry depth of the sand-raking conveyor belt by driving the support shaft to move.

[0012] In a specific embodiment of the above-mentioned deep sand layer fine-grained intelligent autonomous beach cleaning device, the sand-raking conveyor mechanism further includes a conveyor belt straightening component. The conveyor belt straightening component includes a connecting rod, a limiting shaft, and multiple support blocks. Two support blocks are fixed on the bottom wall of each L-shaped fold plate, spaced apart along the length of the L-shaped fold plate. The top of the support block extends to the outside of the L-shaped fold plate. The limiting shaft is located below the sand-raking conveyor belt and is fixedly connected to the conveyor support through the connecting rod. Two rollers corresponding to the two support blocks on the L-shaped fold plate are rotatably connected to the limiting shaft. The rollers are in contact with the support block directly above to straighten the lower surface of the sand-raking conveyor belt into a shape that is uphill and then downhill, the same as the upper surface.

[0013] In a specific embodiment of the above-mentioned deep sand layer fine intelligent autonomous operation beach cleaning device, the transmission drive includes a drive motor, a drive shaft and a drive wheel. The drive motor is installed on the vehicle body support on the rear side of the transmission support and is located above the screening mechanism. The drive motor is connected to the drive shaft to drive it to rotate. Drive wheels are fixed at both ends of the drive shaft. A drive wheel is fixed at the part of the power transmission shaft corresponding to the drive wheel. The drive wheel is connected to the drive wheel through a second flexible transmission component to drive the power transmission shaft to rotate.

[0014] In a specific embodiment of the above-mentioned deep sand layer fine intelligent autonomous operation beach cleaning device, the screening mechanism includes a vibrating screen, a vibration transmission component, and a vibration driver. The vibrating screen is arranged in an inclined manner with a lower front and a higher rear on the vehicle body support behind the sand-raking conveyor and located inside the vehicle shell. The front end of the vibrating screen is located directly above the rear end of the sand-raking conveyor. The front and rear ends of the vibrating screen are connected to the vehicle body support through a set of vibration transmission components to keep the vibrating screen in a suspended state. The vibration driver is installed on the vehicle body support behind the vibrating screen and connected to the vibrating screen to drive the vibrating screen to reciprocate to screen the material to be screened and simultaneously convey it towards the hopper component.

[0015] In the specific implementation of the above-mentioned deep sand layer fine intelligent autonomous operation beach cleaning device, the vibrating screen is provided with a large-hole screen and a small-hole screen in sequence along the transmission direction. The length of the large-hole screen is shorter than that of the small-hole screen, and the cross-sections of both the large-hole screen and the small-hole screen are continuous and have varying lengths in a multi-level "V" shape. The short side is set at a small angle to the vertical direction, and the long side is set at a large angle to the vertical direction to block the large-sized material to be collected from the screen from descending. The screen hole area of ​​the large-hole screen is larger than that of the small-hole screen.

[0016] In a specific embodiment of the aforementioned deep sand layer fine-grained intelligent autonomous beach cleaning device, the hopper assembly includes a hopper, springs, and a vibrator. The top of the hopper is open, and a detachable hopper screen is provided at the bottom. The hopper is located below the rear end of the vibrating screen and is slidably connected to the vehicle frame. The front wall, rear wall, and left and right side walls of the hopper are all connected to the vehicle frame via horizontally arranged springs. The vibrator is installed on the vehicle frame at the front of the hopper. The vibrator is connected to the spring on the front wall of the hopper to drive the hopper to reciprocate, which is used to further screen the mixture of materials to be collected after screening. An outlet is provided on the rear side wall of the vehicle shell at a location corresponding to the hopper. A flap is installed at the outlet to open and close the outlet, which allows the hopper screen to be removed when the outlet is open.

[0017] In a specific embodiment of the aforementioned deep sand layer fine-grained intelligent autonomous beach cleaning device, a power supply unit is also included. The power supply unit includes a battery, a low-voltage box, and a high-voltage box. The low-voltage box and the high-voltage box are both installed on the vehicle body bracket on the rear side inside the vehicle shell and located above the material bin. The battery is installed inside the low-voltage box and electrically connected to both the low-voltage box and the high-voltage box. The low-voltage box and the high-voltage box are spaced apart to achieve electromagnetic isolation. The low-voltage box is used to provide a low-voltage stable power supply to the intelligent control module, and the high-voltage box is used to provide a high-voltage power signal to other electrical components.

[0018] In a specific implementation of the aforementioned deep sand layer refined intelligent autonomous beach cleaning device, the path planning and perception unit includes two sets of RTK positioning systems. The RTK antenna in each RTK positioning system is mounted on the top of the vehicle's outer shell, and the signal processing unit is installed inside the weak current box. The RTK positioning system receives real-time satellite data from the base station via wireless equipment and calculates the three-dimensional coordinates of the beach cleaning device in real-time based on this data. The industrial control computer is configured to receive coordinate information provided by the two sets of RTK positioning systems, construct the work area as a weighted directed graph mesh based on this information, and run Dijkstra's algorithm. By continuously expanding the shortest path nodes and updating the relaxation distance, iteratively plans the optimal work path covering the entire area from the starting point, and generates corresponding speed and steering control commands to drive the tracked walking mechanism to proceed along the optimal work path.

[0019] In a specific embodiment of the aforementioned deep sand layer fine-grained intelligent autonomous beach cleaning device, the autonomous obstacle avoidance unit includes one set of lidar and four sets of ultrasonic radar. The lidar is installed on the front top of the vehicle shell, and calculates the precise distance to the target by emitting laser beams and measuring their round-trip flight time. It continuously emits laser points using a high-speed rotation or scanning mechanism to acquire three-dimensional spatial information of the surrounding environment. The four sets of ultrasonic radar are respectively installed on the left and right side walls of the front and rear of the vehicle shell to supplement the micro-topographic information of the work site that the RTK positioning system cannot obtain. The industrial control computer receives the detection signals from the lidar and ultrasonic radar in real time to control the tracked walking mechanism to adjust the direction of travel or perform emergency braking. Meanwhile, a sunshade is fixed to the top of the vehicle body near the lidar to suppress interference from the lidar caused by the strong reflection of the sand.

[0020] In a second aspect, the present invention also provides an autonomous cleaning method based on the deep sand layer fine-grained intelligent autonomous operation beach cleaning device described in the first aspect, comprising the following steps: The real-time high-precision three-dimensional coordinates of the vehicle body are obtained through the RTK positioning system, the three-dimensional spatial information of the surrounding environment is obtained through the lidar, and the near-ground blind spot and micro-terrain information is obtained through the ultrasonic sensor. The industrial control computer fuses and processes the acquired multi-source information, constructs an environmental perception model, and plans the globally optimal operation path; The industrial control computer controls the tracked walking mechanism based on the environmental perception model fused from multiple sources of information, enabling autonomous movement with global path tracking and local dynamic obstacle avoidance; During the process, the sand-raking conveyor belt collects the material to be screened and transports it to the screening mechanism while rotating. During the transportation process, some of the sand particles of the material to be screened fall back to the sand layer through the sand leakage hole for primary screening. The vibrating screen in the screening mechanism is driven by a vibration driver to reciprocate along the conveying direction of the material to be screened. The material to be screened, which falls from the tail end of the sand rake conveying mechanism, first falls onto the large-hole screen for screening to achieve rapid backfilling of sand particles in the material to be screened. As it is conveyed towards the hopper, it enters the small-hole screen for fine screening. After being screened upwards, the mixture of the screened material falls into the hopper. The silo vibrates reciprocally under the drive of the vibrator to further screen the mixture of materials falling from the vibrating screen in order to accurately capture the materials and store them only in the silo, thus completing the beach cleaning.

[0021] Compared with the prior art, the beneficial effects of the present invention are: 1. The sand-raking conveyor mechanism designed in this invention uses an angle adjuster to flexibly adjust the height of the sand-raking conveyor belt. Compared with traditional bucket or fixed rake tooth structures, the depth of penetration into the sand is significantly increased, effectively excavating and lifting hidden waste such as cigarette butts, glass fragments, and microplastics buried in deep sand layers to the surface. Each L-shaped folding plate is made of a perforated plate, which achieves higher structural strength with the same amount of material and realizes a preliminary screening function during the conveying process: as the material to be collected rises with the conveyor belt, smaller sand particles can fall back to the sand bed in advance through the holes, thereby reducing the screening pressure on the vibrating screen at the rear and extending the overall service life of the device. It achieves an integrated operation capability of "deep raking, stable delivery, and early screening".

[0022] 2. The vibrating screen consists of large-aperture and small-aperture screens with varying apertures, employing a variable aperture design. The large-aperture screen at the bottom allows for rapid backfilling of sand particles, while the small-aperture screen at the top improves the capture rate of small-sized waste such as cigarette butts and microplastics. The screen cross-section is V-shaped, causing waste to be conveyed upwards step by step under vibration and eventually fall into the hopper. Based on the principle of sand separation kinetics, high-density sand particles preferentially fall back from the bottom large apertures, while lightweight waste remains on the screen surface due to inertia and moves upwards step by step, achieving a synergistic optimization of high sand leakage efficiency and high capture rate.

[0023] 3. The hopper has no top cover to receive waste from the vibrating screen. The vibrator generates high-frequency horizontal vibration in the hopper, causing fine particles such as sand and dust falling into the hopper to be further screened through the bottom screen and backfilled onto the beach. This ensures that only the material to be collected remains in the hopper, significantly improving the hopper's effective loading efficiency and extending continuous operation time. Furthermore, the bottom screen of the hopper is detachable. After operation, there is no need to disassemble the entire machine; simply open the latched flap to directly remove the screen and quickly retrieve the material to be collected, facilitating subsequent waste sorting and disposal.

[0024] 4. By setting up weak current boxes and strong current boxes, a strict separation strategy for strong and weak currents is implemented. High current power lines are physically isolated and electromagnetically shielded from RTK positioning receiver chips, antennas and signal processing circuits, cutting off the transmission path of magnetic field interference and ensuring centimeter-level positioning accuracy and long-term stability.

[0025] 5. A light shield is installed above the LiDAR to effectively attenuate the intensity of incident ambient light along the optical path, suppressing sensing failures caused by sand surface reflection. Dual RTK provides high-precision absolute coordinates, the LiDAR constructs a 3D point cloud map in real time, and the ultrasonic radar supplements near-ground blind spots and micro-topographic information. The electronic control cabin uses the Dijkstra algorithm based on fused data to achieve global path planning and executes a coupled obstacle avoidance strategy of long-range LiDAR detection and near-range ultrasonic blind spot compensation, achieving centimeter-level positioning and real-time dynamic obstacle avoidance in high-density crowd environments, effectively protecting pedestrians, surrounding objects, and the device itself. Attached Figure Description

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which: Figure 1 This is a schematic diagram of the overall structure of a deep sand layer fine-tuning intelligent autonomous operation beach cleaning device provided by the present invention; Figure 2 yes Figure 1 Another perspective of the overall structure; Figure 3 This is a schematic diagram of the structure of the sand conveying mechanism, screening mechanism and hopper assembly installed on the vehicle body support; Figure 4 This is an enlarged view of the structure of the screening mechanism and hopper assembly mounted on the vehicle body support; Figure 5 This is a cross-sectional view of the overall structure of the present invention; Figure 6 This is an enlarged view of the structure of the sand-raking conveyor belt; Figure 7 This is an enlarged view of the structure of a vibrating screen. Figure 8 This is a cross-sectional view of the screening mechanism and hopper assembly mounted on the vehicle body support; Figure 9 This is a cross-sectional view of the silo screen installed on the silo; Figure 10 This is a schematic diagram of the conveyor belt straightening assembly. Figure 11 This is a schematic diagram illustrating the principle of the overall device of the present invention for beach cleaning.

[0027] List of reference numerals in the attached diagram: 1. Front cover plate; 2. Rear cover plate; 3. Rear cover handle; 4. Sand-raking conveyor mechanism; 401. Sand-raking conveyor belt; 4011. L-shaped folding plate; 4012. Elbow plate; 402. Conveyor bracket; 403. Driven wheel; 404. Roller; 405. Conveyor driver; 4051. Drive wheel; 4052. Drive motor; 4053. Drive shaft; 406. Power transmission shaft; 407. Support shaft; 408. Support block; 409. Angle adjuster; 410. Drive wheel; 411. Connecting rod; 412. Limiting shaft; 5. RTK antenna; 6. Tracked walking mechanism; 7. Front cover plate observation port; 8. Headlight; 9. Laser radar 10. Sunshade; 11. Ultrasonic radar; 12. First emergency stop button; 13. Charging port; 14. Buckle; 15. Flip plate; 16. Rear cover shaft; 17. Hopper observation port; 18. Hopper; 19. Vibration driver; 20. Vibrating screen; 2001. Large-hole screen; 2002. Small-hole screen; 21. Vibrating screen bracket; 22. Vibration transmission rod; 23. Support frame; 24. High-voltage electrical box; 25. Low-voltage electrical box; 26. Hopper screen; 2601. Hopper bracket; 2602. Hopper screen; 27. Spring; 28. Vibrator; 29. ​​Body bracket; 30. Hopper cover plate; 31. Pin; 32. Positioning block. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0029] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the system or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the use of terms such as "first" and "second" to define components is merely for the convenience of distinguishing the aforementioned components. Unless otherwise stated, these terms have no special meaning and should not be construed as indicating or implying relative importance.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] This invention relates to the field of coastal beach cleaning technology, and in particular to a refined, intelligent, and autonomous coastal beach cleaning device and method for deep sand layers. It includes: a vehicle body, a sand-raking and conveying mechanism, a screening mechanism, and a hopper assembly. By using an angle adjuster in the sand-raking and conveying mechanism to flexibly adjust the height of the conveyor belt, the depth of penetration into the sand is significantly increased compared to traditional bucket or fixed rake tooth structures. This effectively excavates and elevates hidden waste such as cigarette butts, glass fragments, and microplastics buried in deep sand layers to the surface. The vibrating screen adopts a variable aperture design; the large-aperture screen on the lower side allows for rapid sand backfilling, while the small-aperture screen on the upper side improves the capture rate of small-sized waste such as cigarette butts and microplastics. The screen cross-section is "V"-shaped, allowing the waste to be conveyed upwards step by step under vibration, ultimately falling into the hopper.

[0032] The following is a detailed description, with reference to the accompanying drawings, of a sophisticated intelligent autonomous beach cleaning device and method for deep sand layers provided by an embodiment of the present invention.

[0033] Example 1 See Figure 1-11 This invention provides a sophisticated, intelligent, and autonomous beach cleaning device for deep sand layers, comprising: The vehicle body includes a vehicle shell, a tracked running gear, and a body support 29 disposed inside the vehicle shell. The body support 29 is connected to the tracked running gear to enable the vehicle body to move. The sand-raking conveying mechanism 4 includes a conveying support 402, a sand-raking conveyor belt 401, a conveying driver 405, and an angle adjuster 409. The conveying support 402 is formed by connecting an uphill section and a downhill section. The conveying support is located inside the vehicle body near the front end, and the uphill section extends to the outside of the vehicle body. At least two spaced support shafts 407 are sequentially arranged on the conveying support 402 along the conveying path. A power transmission shaft 406 is rotatably connected to the tail end of the conveying support 402. The power transmission shaft 406 passes through the conveying support 402 and is rotatably connected to the vehicle body support 29. Driven wheels 403 are fitted on both the power transmission shaft 406 and the support shafts 407. The sand-raking conveyor belt 401 is fitted on the conveying support 402. The outer side engages with the driven wheel 403. The transmission driver 405 is mounted on the body support 29 on the rear side of the transmission bracket 402 and drives the power transmission shaft 406 to rotate the sand rake conveyor belt 401. The sand rake conveyor belt 401 is configured to automatically collect the material to be screened during rotation and transport it to the screening mechanism in a manner of first going uphill and then downhill. Angle adjusters 409 are respectively provided on the body support 29 on both sides of the transmission bracket 402. The angle adjusters 409 are connected to the transmission bracket 402 so that they drive the sand rake conveyor belt 401 to rotate around the axis of the power transmission shaft 406 to adjust the sand entry depth of the sand rake conveyor belt. The sand rake conveyor belt 401 is provided with multiple sand leakage holes distributed at intervals. The screening mechanism is set on the vehicle frame 29 on the rear side of the sand rake conveyor 4 and located below the tail end of the sand rake conveyor 4. It is used to screen the material to be screened that is conveyed from the tail end of the sand rake conveyor 4. The hopper assembly is mounted on the vehicle body support 29 on the rear side of the screening mechanism and located below the tail end of the screening mechanism. It is used for further screening and collecting the screened material. The intelligent control module includes an industrial control computer and a path planning and perception unit and an autonomous obstacle avoidance unit connected to it. The industrial control computer is configured to construct an environmental perception model based on multi-source information fusion and plan the operation path and autonomous obstacle avoidance in order to control the tracked walking mechanism to move autonomously.

[0034] Specifically, see Figure 1-2The inner side of the vehicle body support 29 is hollow to allow sand particles screened by the sand rake conveyor belt 401, the screening mechanism, and the hopper assembly to be backfilled into the sand layer. In this application, the front end is defined as the side facing the vehicle's forward direction. The vehicle body includes a front cover 1, a rear cover 2, and a hopper cover 30. The front cover 1 is fixed to the front of the vehicle body support 29. The front end of the front cover 1 has an opening for the sand rake conveyor belt 401 to extend to the outside, so that the sand rake conveyor belt 401 can transport the collected material to be screened upwards and drop it onto the screening mechanism inside the vehicle body. The front cover 1 has a shape that is narrower at the top and wider at the bottom, which can effectively prevent rainwater accumulation. The upper side of the front cover plate 1 is provided with a front cover plate observation port 7, which allows observation of the upper end of the sand rake conveyor belt 401 and related conveyor drivers 405 and angle adjusters 409 without unloading or dismantling. The front cover plate 1 is provided with a headlight 8 on the front side, and side lights and a first emergency stop button 12 on both sides. A rainproof charging port 13 is provided on the left front side for charging the battery.

[0035] The rear cover 2 is located at the rear of the vehicle body and is connected to the front cover 1 by several buckles 14. The front and sides of the rear cover 2 are narrow at the top and wide at the bottom, while the rear side is a straight plate. The upper rear side of the rear cover 2 is provided with a rear cover handle 3. The rear cover 2 can be flipped relative to the vehicle body bracket 29. After unfastening each buckle 14, the rear cover 2 can be lifted to facilitate handling of the high voltage box 24, the battery and the low voltage box 25.

[0036] The hopper cover 30 is located at the lower rear side of the vehicle body support 29. The rear bottom of the rear cover 2 is hinged to the hopper cover 30 via the rear cover shaft 16 so that it can be flipped relative to the vehicle body support 29. The hopper cover, together with the front cover 1 and the rear cover 2, constitutes the vehicle shell. The hopper cover 30 is welded together from three straight plates that surround the hopper 18 on three sides. A second emergency stop button and a hopper observation port 17 are provided above the rear straight plate. The first emergency stop button 12 and the second emergency stop button together form an emergency handling facility covering the front, rear, left and right sides of the vehicle body. The latter allows for easy observation of the storage status of the hopper 18 and the working status of the surrounding components.

[0037] In the above embodiments, preferably, see [reference needed]. Figure 5 and Figure 8-9The hopper assembly includes a hopper 18, springs 27, and a vibrator 28. The top of the hopper 18 is open, and a detachable hopper screen 26 is installed at the bottom. The hopper 18 is located below the rear end of the vibrating screen and is slidably connected to the vehicle body support. The front wall, rear wall, and left and right side walls of the hopper 18 are all connected to the vehicle body support 29 via springs 27. The vibrator 28 is installed on the vehicle body support 29 at the front of the hopper 18. The vibrator 28 is connected to the springs 27 on the front wall of the hopper to drive the hopper 18 to reciprocate, which is used to re-screen the mixture of materials to be collected after screening. An outlet is provided on the rear side wall of the vehicle body corresponding to the hopper. The outlet is equipped with a flap that can open and close the outlet, so that the hopper screen can be removed when it is open.

[0038] Specifically, the outlet is located below the hopper cover 30. The top or bottom of the flap 15 is hinged to the hopper cover 30. The two side walls of the flap 15 are connected to the hopper cover 30 via latches 14, so that when the latches 14 are opened, the flap 15 can flip to open the outlet, allowing the hopper screen 26 to be directly pulled out. When the latches 14 are closed, the flap 15 can cover the outlet. Slider blocks are fixed on the two opposite outer side walls of the hopper, and slide rails that cooperate with the sliders are fixed on the vehicle frame. The sliders are slidably connected to the slide rails, realizing the sliding connection between the hopper and the vehicle frame. The sliders slide along the trajectory of the slide rails, which is consistent with the vibration direction of the vibrator, so that the hopper reciprocates horizontally along the slide rail direction under the action of the vibrator.

[0039] More specifically, the hopper screen 26 includes a hopper support 2601 and a hopper screen 2602, with the screen 2602 fixed to the hopper support 2601. A pull-out opening is provided on the rear side wall of the hopper 18, and a support protrusion is fixed to the bottom of the inner wall of the hopper 18 to support the hopper screen 26 when it is inserted into the hopper 18 through the pull-out opening. The rear end of the hopper screen 26 extends to the outside of the hopper 18 and has at least two evenly distributed first insertion holes. A positioning block 32 is fixed on the rear side wall of the hopper 18 below the hopper screen 26, and the positioning block 32 has second insertion holes corresponding to the first insertion holes. When the hopper screen 26 is inserted into the hopper 18, the first and second insertion holes are aligned and fixed by a pin 31. When the pin 31 is pulled out, the hopper screen 26 can be pulled out of the hopper 18 to retrieve the material to be collected. The hopper support has a baffle plate extending upwards from the part corresponding to the pull-out port. When the hopper screen is inserted into the hopper, the baffle plate will block the pull-out port to prevent the material to be collected from being discharged from the pull-out port during vibration.

[0040] The top of the hopper 18 is uncovered to receive the mixture of materials to be collected after screening by the vibrating screen. The vibrator 28 causes the hopper 18 to vibrate at high frequency in the horizontal direction. Under this vibration, fine particles such as sand and dust falling into the hopper 18 are further screened through the bottom screen and backfilled into the sand, ensuring that only the materials to be collected (also known as target waste) remain in the hopper 18. This significantly improves the effective loading efficiency of the hopper 18 and extends the continuous operation time. Furthermore, the bottom screen of the hopper 18 is detachable. After operation, there is no need to disassemble the entire machine; simply open the flap 15 below the hopper cover 30, which is fixed by the buckle 14, to directly pull out the screen and quickly obtain the materials to be collected, facilitating subsequent waste classification and disposal. In summary, this invention, through the combination of springs, vibrator-driven vibration, and a detachable screen, achieves self-cleaning and capacity expansion of the hopper 18 and convenient unloading, improving the practicality and maintenance convenience of deep continuous operation.

[0041] In the above embodiments, preferably, see [reference needed]. Figure 1 , Figure 3 , Figure 5 and Figure 6 The sand-raking conveyor belt 401 includes two annular first flexible transmission members and multiple L-shaped baffles 4011. The two first flexible transmission members are arranged side by side on both sides of the conveyor support 402 and mesh with driven wheels 403 on the supporting shaft 407 and the power transmission shaft 406 to enable them to rotate. Multiple L-shaped baffles 4011 are fixed between the two first flexible transmission members and spaced apart along the annular path of the first flexible transmission members. Elbow plates 4012 are fixed to the two ends of the L-shaped baffles 4011 respectively. The elbow plates 4012 and the L-shaped baffles 4011 together with the adjacent L-shaped baffles 4011 form a sand-raking trough for holding the collected material to be screened during rotation. Multiple sand-draining holes are provided on both the L-shaped baffles 4011 and the elbow plates 4012. Exemplarily, the first flexible transmission members can be chains and the driven wheels can be sprockets.

[0042] Specifically, such as Figure 6 As shown, the sand-leaking holes on the L-shaped folding plate 4011 are evenly distributed at equal intervals. By setting the elbow plate 4012, the material to be screened in the sand-raking trough can be prevented from falling from both sides.

[0043] In the above embodiments, preferably, see [reference needed]. Figure 3 Angle adjuster 409 is located at the front end of body bracket 29. Angle adjuster 409 is an electro-hydraulic rod. The cylinder on the electro-hydraulic rod is hinged to the body bracket 29. The push rod of the electro-hydraulic rod is hinged to the transmission bracket 402.

[0044] In the above embodiments, preferably, see [reference needed]. Figure 3The support shaft 407 passes through the conveyor support 402 and is fixedly connected to it. Both ends of the support shaft 407 are rotatably connected to driven wheels 403. Driven wheels 403 are fixed on the power transmission shafts 406 on both sides of the conveyor support 402. There are two support shafts 407. One support shaft 407 is located at the beginning of the conveyor support 402, and the other support shaft 407 is located at the junction of the uphill and downhill sections. Both ends of the support shaft 407 are connected to an angle adjuster 409, that is, hinged to the push rod of the electric hydraulic rod, so as to adjust the sand entry depth of the sand-raking conveyor belt 401 by driving the support shaft 407 to move.

[0045] In the above embodiment, preferably, the conveying driver 405 includes a drive motor 4052, a drive shaft 4053, and a drive wheel 4051. The drive motor 4052 is mounted on the vehicle body support 29 on the rear side of the conveying bracket 402 and located above the screening mechanism. The drive motor 4052 is connected to the drive shaft 4053 to drive it to rotate. Drive wheels 4051 are fixed at both ends of the drive shaft 4053. A drive wheel 410 is fixed on the power transmission shaft 406 at the part corresponding to the drive wheel 4051. The drive wheel 4051 is connected to the drive wheel 410 through a second flexible transmission member to drive the power transmission shaft 406 to rotate.

[0046] Specifically, a support plate is provided above the screening mechanism. The support plate is fixed to the vehicle body bracket 29 by a fixing rod. A bevel gear box is installed on the support plate. The drive shaft 4053 passes through the bevel gear box and is rotatably connected to it. A driven bevel gear is fixed on the drive shaft 4053 inside the bevel gear box. The drive motor 4052 is mounted on the support plate, and a driving bevel gear is fixed on its output shaft. The driving bevel gear meshes with the driven bevel gear to make the drive motor 4052 drive the drive shaft 4053 to rotate. The drive wheel 4051 and the driving wheel 410 can both be sprockets, while the second flexible transmission component is a chain.

[0047] In the above embodiments, see Figure 5 and Figure 10 The sand-raking conveyor mechanism 4 also includes a conveyor belt straightening assembly, which includes a connecting rod 411, a limiting shaft 412, and multiple support blocks 408. Two support blocks 408 are fixed on the bottom wall of each L-shaped folding plate 4011, which are spaced apart along the length of the L-shaped folding plate 4011. The top of the support block 408 extends to the outside of the L-shaped folding plate 4011. The limiting shaft 412 is located below the sand-raking conveyor belt and is fixedly connected to the conveyor bracket 402 through the connecting rod 411. Two rollers 404 are rotatably connected to the limiting shaft 412, which correspond one-to-one with the two support blocks 408 on the L-shaped folding plate 4011. The rollers 404 are in contact with the support block 408 directly above to straighten the lower surface of the sand-raking conveyor belt 401 into the same uphill and downhill shape as the upper surface.

[0048] Specifically, a connecting rod 411 is fixed to each end of the limiting shaft 412, and the top of the connecting rod 411 is fixedly connected to the support shaft 407 located at the joint of the uphill and downhill sections. The shape of the lower surface of the conveyor belt is changed by the transmission belt straightening component to avoid the lower surface from easily contacting the vehicle frame 29 and affecting the adjustment of the overall height of the sand-raking conveyor belt 401, thereby adjusting the sand entry depth.

[0049] In the above embodiments, the sand-raking and conveying mechanism 4 integrates sand-raking, conveying, and preliminary screening functions. Connected to the vehicle frame 29 via an electro-hydraulic rod, the height of the sand-raking conveyor belt 401 can be flexibly adjusted by the extension and retraction of the electro-hydraulic rod. Compared to traditional buckets or fixed rake tooth structures, the depth of penetration into the sand is significantly increased, effectively excavating and lifting hidden waste such as cigarette butts, glass fragments, and microplastics buried in deep sand layers to the surface. Each L-shaped folding plate 4011 is made of a perforated plate, achieving higher structural strength with the same material usage, and also realizing the preliminary screening function during the conveying process: as the material to be collected rises with the conveyor belt, smaller sand particles can fall back to the sand bed in advance through the holes, thereby reducing the screening pressure on the rear vibrating screen and extending the overall service life of the device. This achieves an integrated operational capability of "deep raking, stable conveying, and early screening."

[0050] In the above embodiments, preferably, see [reference needed]. Figure 3-5 , Figure 8 The screening mechanism includes a vibrating screen, a vibration transmission assembly, and a vibration driver 19. The vibrating screen is arranged on the vehicle body support 29 on the rear side of the sand-raking conveyor mechanism with a lower front and higher rear, and is located inside the vehicle body. The front end of the vibrating screen is located directly above the rear end of the sand-raking conveyor mechanism 4, so that the material to be screened conveyed by the sand-raking conveyor belt can fall onto the vibrating screen. The front and rear ends of the vibrating screen are connected to the vehicle body support 29 through a set of vibration transmission assemblies so that the vibrating screen is in a suspended state. The vibration driver 19 is installed on the vehicle body support 29 on the rear side of the vibrating screen and connected to the vibrating screen to drive the vibrating screen to reciprocate to screen the material to be screened and also to convey it towards the hopper assembly.

[0051] Specifically, in the above embodiment, the vibration transmission assembly includes two vibration transmission rods 22, which are located on the left and right sides of the vibrating screen, respectively. For the vibration transmission assembly connected to the front end of the vibrating screen, the bottom end of the vibration transmission rod 22 is hinged to the front side wall of the vibrating screen, and the top end of the vibration transmission rod 22 is hinged to the vehicle body bracket 29. For the vibration transmission assembly connected to the rear end of the vibrating screen, the bottom end of the vibration transmission rod 22 is hinged to the rear side wall of the vibrating screen, and the top end of the vibration transmission rod 22 is hinged to the vehicle body bracket 29. The vibration transmission rods 22 are in an inclined state during use to ensure that the vibrating screen can reciprocate.

[0052] More specifically, a support frame 23 that tilts in the same direction as the vibrating screen is arranged above the vibrating screen, the support frame 23 is fixedly connected to a vehicle body bracket 29, and the top end of a vibration transmission rod 22 is hingedly connected to the support frame 23.

[0053] Specifically, the vibration driver 19 includes a vibration motor, an eccentric wheel, a first transmission rod and a second transmission rod. The vibration motor is mounted on the vehicle body bracket 29 at the rear side of the vibrating screen and located above the material box, an output shaft of the vibration motor is connected to the eccentric wheel, the first transmission rod is hinged to the eccentric wheel, one end of the second transmission rod is hinged to the first transmission rod, and the other end is hinged to the rear wall of the vibrating screen, so that when the vibration motor drives the eccentric wheel to rotate, the rotational motion is converted into the reciprocating motion of the vibrating screen through the cooperation of the first transmission rod and the second transmission rod, so that the vibrating screen generates vibration for the material to be screened thereon. Wherein, the first transmission rod and the second transmission rod are not shown in the drawings.

[0054] In the above embodiment, preferably, referring to Figure 7 , the vibrating screen is provided with a large-pore screen mesh 2001 and a small-pore screen mesh 2002 arranged sequentially along the transmission direction, that is, the large-pore screen mesh 2001 is located on the lower side relative to the small-pore screen mesh 2002, the large-pore screen mesh and the small-pore screen mesh are spliced to form a vibrating screen mesh 20, the length of the large-pore screen mesh 2001 is less than that of the small-pore screen mesh 2002, and the cross sections of both the large-pore screen mesh 2001 and the small-pore screen mesh 2002 present a multi-stage continuous "V" shape with uneven lengths, wherein the short side forms a small inclination angle with the vertical direction, and the long side forms a large inclination angle with the vertical direction, so as to block the screened large-sized objects to be collected from moving downward, and the screen pore area of the large-pore screen mesh 2001 is larger than that of the small-pore screen mesh 2002. The screen pores of the large-pore screen mesh 2001 are rectangular pores, and the screen pores of the small-pore screen mesh 2001 are circular pores. As shown in Figure 7 , the red arrow indicates the conveying direction of the objects to be collected under the action of the vibrating screen, and the blue arrow indicates that sand screened out from the vibrating screen is backfilled into the sand layer.

[0055] Specifically, the vibrating screen further comprises a vibrating screen bracket 21, the large-pore screen mesh 2001 and the small-pore screen mesh 2002 are respectively detachably and fixedly mounted on the vibrating screen bracket 21, baffle plates are fixedly arranged on the left side wall, the right side wall and the front side wall of the vibrating screen bracket 21 to prevent the material to be screened from falling off from the edge of the screen mesh. Illustratively, the vibrating screen bracket 21 is a "Japanese-shaped" frame. Both the vibration transmission rod 22 and the second transmission rod are hingedly connected to the vibrating screen bracket 21 of the vibrating screen.

[0056] In the above embodiment, the vibrating screen consists of a large-aperture screen 2001 and a small-aperture screen 2002 with different aperture sizes, employing a variable aperture design. The lower large-aperture screen 2001 (rectangular aperture) enables rapid backfilling of sand particles, while the upper small-aperture screen 2002 (circular aperture) improves the capture rate of small-sized waste such as cigarette butts and microplastics. The screen cross-section is V-shaped, allowing waste to be conveyed upwards step by step under vibration, eventually falling into the hopper 18. Based on the principle of sand separation dynamics, high-density sand particles preferentially fall back from the bottom large apertures, while lightweight waste remains on the screen surface due to inertia and moves upwards step by step, achieving a synergistic optimization of high sand leakage efficiency and high capture rate. This solves the technical problem of existing beach cleaning equipment using fixed-aperture screens, where fine sand and wet sand clumps easily clog the screen apertures and the capture rate of small waste is low during deep operations.

[0057] In the above embodiments, the buckles 14 used for connecting the rear cover plate 2 and the flip plate 15 can both be stainless steel buckles.

[0058] In the above embodiments, see Figure 8 and Figure 11 It also includes a power supply unit, which comprises a battery, a low-voltage box 25, and a high-voltage box 24. Both the low-voltage box 25 and the high-voltage box 24 are mounted on the rear body support 29 inside the vehicle shell, above the hopper 18. The battery is installed inside the low-voltage box 25 and electrically connected to both the low-voltage box 25 and the high-voltage box 24. The low-voltage box 25 and the high-voltage box 24 are spaced apart to achieve electromagnetic isolation. The low-voltage box 25 provides a low-voltage stable power supply to the intelligent control module. The high-voltage box 24 provides a high-voltage power signal to other electrical components.

[0059] Specifically, the power supply unit is located above the hopper 18 and is fixedly connected to the vehicle body support 29. The high-voltage power box 24 is used to provide high-voltage power signals to other electrical components, which refer to components such as the conveyor driver 405 and angle adjuster 409 in the sand rake conveying mechanism 4, the vibration driver 19, vibrator 28, headlight 8, and side lights in the screening mechanism.

[0060] In the above embodiments, by setting up a weak current box 25 and a strong current box 24, a strict separation strategy of strong and weak current is implemented. The high current power line is physically isolated and electromagnetically shielded from the RTK positioning receiver chip, antenna and signal processing circuit, cutting off the transmission path of magnetic field interference, and ensuring centimeter-level positioning accuracy and long-term stability.

[0061] In the above embodiment, preferably, the path planning perception unit includes two sets of RTK positioning systems. The RTK antenna 5 in the RTK positioning system is installed on the top of the outer shell of the vehicle. The signal processing body in the RTK positioning system is installed in the weak current box 25. The RTK positioning system receives satellite data sent in real time by the base station through wireless equipment and calculates the three-dimensional coordinates of the beach cleaning device in real time based on the data. The industrial control computer is set to receive the coordinate information provided by the two sets of RTK positioning systems, construct the work area as a weighted directed graph mesh based on the information, and run the Dijkstra algorithm to plan the optimal coverage path so as to drive the tracked walking mechanism 6 to execute according to the optimal coverage path.

[0062] In the above embodiment, an electrical control cabin is installed on the vehicle body support 29 above the hopper 18, and an industrial control computer is installed inside the electrical control cabin. The RTK positioning system receives satellite signals through an antenna and receives differential correction data sent in real time by the base station through a radio communication link. Based on the principle of relative positioning, it calculates the three-dimensional coordinates and positioning accuracy of the beach cleaning device in real time and transmits the calculated data to the industrial control computer. The industrial control computer discretizes the working area into a weighted directed graph mesh based on the real-time three-dimensional coordinates and heading information provided by the two sets of RTK positioning systems. The nodes represent positions, and the edge weights represent distances or energy consumption. The processor in the industrial control computer runs the built-in Dijkstra algorithm. By continuously expanding the shortest path nodes and updating the relaxation distance, it iteratively plans the optimal working path covering the entire area from the starting point, generates corresponding speed and steering control commands, and sends them to the driver in the tracked walking mechanism 6 to drive the tracked walking mechanism 6 to execute according to the optimal coverage path.

[0063] In the above embodiments, preferably, the autonomous obstacle avoidance unit includes a set of lidar 9 (which can be SLAM lidar) and four sets of ultrasonic radars 11. The lidar 9 is installed on the top front end of the vehicle body. It calculates the precise distance to the target by emitting laser beams and measuring their round-trip flight time. It continuously emits laser points using a high-speed rotation or scanning mechanism to obtain three-dimensional spatial information of the surrounding environment. The four ultrasonic radars are respectively installed on the left and right side walls of the front and rear ends of the vehicle body to supplement the micro-terrain information of the work site that the RTK positioning system cannot obtain. The industrial control computer receives the detection signals of lidar 9 and ultrasonic radar 11 in real time to control the tracked walking mechanism to adjust the direction of travel or perform emergency braking. At the same time, a sunshade 10 is fixed on the top of the vehicle body near the lidar 9 to cover the space above the lidar 9 and to suppress the interference of strong sand light high reflection on the lidar. The sunshade 10 is formed by bending a plate in a horizontal-vertical-horizontal pattern to form a Z shape. Specifically, by utilizing the complementary coupling of LiDAR 9 and ultrasonic radar 11, when LiDAR 9 detects a distant obstacle, it controls the tracked walking mechanism to adjust its direction of travel according to a preset turning angle; when ultrasonic radar 11 detects a sudden obstacle or low-lying pothole at close range, it controls the tracked walking mechanism to perform emergency braking or adjust its travel angle to avoid the obstacle. Finally, the industrial control computer controls the rotational speed of the tracked walking mechanism based on the fused environmental model, achieving intelligent autonomous operation with global path tracking and local dynamic obstacle avoidance.

[0064] In the above embodiments, to address the problem of LiDAR 9 being affected by strong direct sunlight and sand reflection in a high-reflectivity beach environment, resulting in numerous false alarms, noise, and even short-term blindness in point cloud data, this invention specifically designs and adds a light shield 10 to LiDAR 9. This effectively attenuates the intensity of incident ambient light along the optical path, suppressing sensing failure caused by sand reflection. Furthermore, to address the problem of drastic fluctuations in travel resistance during deep-field operations causing current changes in the drive motor 4052 and generating strong magnetic fields that interfere with the RTK high-precision positioning module, this invention implements a strict separation strategy for strong and weak currents. This physically isolates and electromagnetically shields the high-current power lines from the RTK positioning receiver chip, antenna, and signal processing circuit, cutting off the transmission path of magnetic field interference and ensuring centimeter-level positioning accuracy and long-term stability. The industrial control computer runs the Dijkstra algorithm based on fused data to achieve global path planning and executes a coupled obstacle avoidance strategy of long-range detection by LiDAR 9 and near-range ultrasonic blind spot compensation. This achieves centimeter-level positioning and real-time dynamic obstacle avoidance in high-density crowd environments, effectively protecting pedestrians, surrounding objects, and the device itself.

[0065] Example 2 See Figure 11 The present invention also provides an autonomous cleaning method based on the deep sand layer fine-grained intelligent autonomous operation beach cleaning device described in Embodiment 1, comprising the following steps: S1 obtains the real-time high-precision three-dimensional coordinates of the vehicle body through the RTK positioning system, obtains the three-dimensional spatial information of the surrounding environment through the lidar, and obtains the near-ground blind zone and micro-terrain information through the ultrasonic sensor; S2, the industrial control computer fuses and processes the acquired multi-source information, constructs an environmental perception model, and plans the globally optimal operation path; S3: The industrial control computer controls the tracked walking mechanism based on the environmental perception model fused from multiple sources of information, so as to achieve autonomous movement with global path tracking and local dynamic obstacle avoidance. S4, during the process of moving, the sand-raking conveyor belt 401 collects the material to be screened, lifts it to the soil surface and transports it to the screening mechanism. During the transportation process, some of the sand particles of the material to be screened fall back to the sand layer through the sand leakage hole for primary screening. S5, the vibrating screen in the screening mechanism is driven by the vibration driver 19 to vibrate back and forth along the conveying direction of the material to be screened. The material to be screened falling from the tail end of the sand rake conveying mechanism 4 first falls onto the large-hole screen 2001 for screening to achieve rapid backfilling of sand particles in the material to be screened. As it is conveyed towards the hopper 18, it enters the small-hole screen 2002 for fine screening. After gradually being screened upwards, the mixture of the material to be screened falls into the hopper 18. S6, the hopper 18 vibrates horizontally under the drive of the vibrator 28 to re-screen the mixture of materials falling from the vibrating screen to accurately capture the materials, ensuring that only the materials to be collected are stored in the hopper 18, improving storage efficiency and completing the beach cleaning. Before proceeding, the depth of the sand-raking conveyor belt 401 into the sand is adjusted by the angle adjuster 409.

[0066] Specifically, the RTK positioning system receives satellite data transmitted in real time from the base station via wireless equipment, calculates the three-dimensional coordinates of the beach cleaning device in real time based on the data, and then transmits it to the industrial control computer. Based on the three-dimensional coordinate information received from the two sets of RTK positioning systems, the industrial control computer constructs the work area into a weighted directed graph mesh, and then runs the built-in Dijkstra algorithm to plan and obtain the optimal coverage path. The industrial control computer outputs control commands based on the optimal coverage path and transmits them to the driver of the tracked walking mechanism 6. The tracked walking mechanism 6 then executes the actions according to the control commands. The lidar 9 and ultrasonic radar 11 respectively transmit the corresponding detection signals to the industrial control computer; When the industrial control computer receives a signal from the lidar 9 that a distant obstacle has been detected, the industrial control computer calculates the preset avoidance angle based on the received signal data, and generates a control command to send to the driver of the tracked walking mechanism so that the tracked walking mechanism adjusts its direction of travel according to the preset avoidance angle. When the industrial control computer receives a signal from the ultrasonic radar detecting a sudden obstacle or low-lying pothole at close range, it calculates and generates control commands based on the received signal data and sends them to the drive unit of the tracked walking mechanism to adjust its direction of travel or perform an emergency braking action. Specifically, the industrial control computer receives real-time signals from the ultrasonic radar indicating the distance to the obstacle ahead and the depth of the pothole, and calculates the safe braking distance and minimum turning distance based on the current walking speed. When the distance to the obstacle is greater than or equal to the minimum turning distance and less than the safe braking distance, the industrial control computer sends a direction adjustment command to the drive unit, controlling the tracked walking mechanism to turn and avoid the obstacle according to the preset avoidance angle. When the distance to the obstacle is less than the minimum turning distance, the industrial control computer sends an emergency braking command to the drive unit to control the tracked walking mechanism to stop urgently.

[0067] When a pothole is detected ahead and its depth exceeds the chassis's ground clearance, the industrial control computer executes an emergency braking action to stop the vehicle from moving.

[0068] This invention integrates SLAM lidar, ultrasonic radar, and a dual-antenna RTK positioning system to collaboratively complete environmental modeling, target recognition, path planning, and dynamic control. The SLAM lidar constructs a 3D point cloud map in real time, while the RTK positioning system provides centimeter-level absolute positioning. The fusion of these two technologies achieves high-precision positioning and local mapping in dynamic environments. The ultrasonic radar supplements information on near-ground obstacles and micro-topography. This enables intelligent perception, high-precision positioning, and fully autonomous operation control in a beach environment. For locomotion, based on path planning results and real-time fused perception data, differential control enables steering and terrain adaptation of the tracked locomotive.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sophisticated, intelligent, and autonomous shoreline cleaning device for deep sand layers, characterized in that: include: The vehicle body includes a vehicle shell, a tracked running gear, and a body support frame disposed inside the vehicle shell. The body support frame is connected to the tracked running gear to enable the vehicle body to move. The sand-raking conveying mechanism includes a conveying support frame, a sand-raking conveyor belt, a conveying driver, and an angle adjuster. The conveying support frame is formed by connecting an uphill section and a downhill section. The conveying support frame is located inside the vehicle body, and the uphill section extends to the outside of the vehicle body. At least two spaced support shafts are sequentially arranged on the conveying support frame along the conveying path. A power transmission shaft is rotatably connected to the rear end of the conveying support frame. The power transmission shaft passes through the conveying support frame and is rotatably connected to the vehicle body frame. Driven wheels are fitted on both the power transmission shaft and the support shaft. The sand-raking conveyor belt is fitted on the outside of the conveying support frame and connected to the driven wheels. The conveyor drive is mounted on the vehicle frame on the rear side of the conveyor support and drives the sand-raking conveyor belt to rotate via the drive power transmission shaft. The sand-raking conveyor belt is configured to automatically collect the material to be screened during rotation and transport it to the screening mechanism by first going uphill and then downhill. Angle adjusters are respectively provided on the vehicle frames on both sides of the conveyor support. The angle adjusters are connected to the conveyor support to drive the sand-raking conveyor belt to rotate around the axis of the power transmission shaft to adjust the sand entry depth of the sand-raking conveyor belt. The sand-raking conveyor belt is provided with multiple spaced sand leakage holes. The screening mechanism is installed on the vehicle frame on the rear side of the sand-sweeping conveyor and is located below the tail end of the sand-sweeping conveyor. It is used to screen the material to be screened that is conveyed from the tail end of the sand-sweeping conveyor. The hopper assembly is mounted on the vehicle frame on the rear side of the screening mechanism and located below the tail end of the screening mechanism. It is used for further screening and collecting the screened material. The intelligent control module includes an industrial control computer and a path planning and perception unit and an autonomous obstacle avoidance unit connected thereto. The industrial control computer is configured to construct an environmental perception model based on multi-source information fusion and plan the operation path and autonomous obstacle avoidance in order to control the tracked walking mechanism to move autonomously.

2. The deep sand layer fine-tuning intelligent autonomous operation beach cleaning device according to claim 1, characterized in that, The sand-raking conveyor belt includes two first flexible transmission components arranged in a ring and multiple L-shaped baffles. The two first flexible transmission components are arranged side by side on both sides of the conveyor support and mesh with the driven wheels on the support shaft and the power transmission shaft to enable them to rotate. Multiple L-shaped baffles are fixed between the two first flexible transmission components and spaced apart along the ring path of the first flexible transmission components. An elbow plate is fixed to each of the two ends of the L-shaped baffle. The elbow plate, the L-shaped baffle, and the adjacent L-shaped baffle together form a sand-raking trough for holding the collected material to be screened during rotation. Multiple sand-leaking holes are provided on both the L-shaped baffle and the elbow plate.

3. The deep sand layer fine-tuning intelligent autonomous operation beach cleaning device according to claim 1, characterized in that, The angle adjuster is located at the front end of the vehicle body bracket. The angle adjuster is an electro-hydraulic rod. The cylinder of the electro-hydraulic rod is hinged to the vehicle body bracket, and the push rod of the electro-hydraulic rod is hinged to the transmission bracket. The transmission driver includes a drive motor, a drive shaft, and drive wheels. The drive motor is mounted on the vehicle body support behind the transmission bracket and located above the screening mechanism. The drive motor is connected to the drive shaft to drive it to rotate. Drive wheels are fixed at both ends of the drive shaft. A drive wheel is fixed at the part of the power transmission shaft corresponding to the drive wheel. The drive wheel is connected to the drive wheel through a second flexible transmission component to drive the power transmission shaft to rotate.

4. The deep sand layer fine-tuning intelligent autonomous operation beach cleaning device according to claim 1, characterized in that, The support shaft passes through the conveyor support and is fixedly connected to it. Both ends of the support shaft are rotatably connected to the driven wheels. The driven wheels are fixed on the power transmission shafts on both sides of the conveyor support. There are two support shafts. One support shaft is located at the beginning of the conveyor support, and the other support shaft is located at the junction of the uphill and downhill sections. Both ends of the support shaft are connected to an angle adjuster to adjust the sand entry depth of the sand-raking conveyor belt by driving the support shaft to move.

5. The deep sand layer fine-tuning intelligent autonomous operation beach cleaning device according to claim 1, characterized in that, The screening mechanism includes a vibrating screen, a vibration transmission assembly, and a vibration driver. The vibrating screen is arranged at an incline, lower at the front and higher at the rear, on the vehicle body support behind the sand-raking conveyor and located inside the vehicle shell. The front end of the vibrating screen is located directly above the rear end of the sand-raking conveyor. Both the front and rear ends of the vibrating screen are connected to the vehicle body support through a set of vibration transmission assemblies to keep the vibrating screen in a suspended state. The vibration driver is installed on the vehicle body support behind the vibrating screen and connected to the vibrating screen to drive the vibrating screen to reciprocate and vibrate, thereby screening the material to be screened and conveying it towards the hopper assembly.

6. The deep sand layer fine-tuning intelligent autonomous operation beach cleaning device according to claim 5, characterized in that, The vibrating screen is provided with large-hole screens and small-hole screens arranged sequentially along the transmission direction. The length of the large-hole screen is shorter than that of the small-hole screen, and the cross-sections of both the large-hole screen and the small-hole screen are continuous and have varying lengths in a multi-level "V" shape. The short side is set at a small angle to the vertical direction, while the long side is set at a large angle to the vertical direction to prevent large-sized materials from falling downwards. The screen area of ​​the large-hole screen is larger than that of the small-hole screen.

7. The deep sand layer fine-tuning intelligent autonomous operation beach cleaning device according to claim 1, characterized in that, The hopper assembly includes a hopper, springs, and a vibrator. The top of the hopper is open, and a detachable hopper screen is provided at the bottom. The hopper is located below the rear end of the vibrating screen and is slidably connected to the vehicle frame. The front wall, rear wall, and left and right side walls of the hopper are all connected to the vehicle frame via springs. The vibrator is installed on the vehicle frame at the front of the hopper. The vibrator is connected to the spring on the front wall of the hopper to drive the hopper to reciprocate and vibrate, which is used to re-screen the mixture of materials to be collected after screening. An outlet is provided on the rear side wall of the vehicle body, corresponding to the hopper. The outlet is equipped with a flap that can open and close the outlet, so that the hopper screen can be removed when the outlet is open.

8. The deep sand layer fine-tuning intelligent autonomous beach cleaning device according to any one of claims 1-7, characterized in that, It also includes a power supply unit, which comprises a battery, a low-voltage box, and a high-voltage box. The low-voltage box and the high-voltage box are both installed on the rear side of the vehicle body frame inside the vehicle shell and located above the hopper. The battery is installed inside the low-voltage box and electrically connected to both the low-voltage box and the high-voltage box. The low-voltage box and the high-voltage box are spaced apart to achieve electromagnetic isolation. The low-voltage box is used to provide a low-voltage stable power supply to the intelligent control module, and the high-voltage box is used to provide a high-voltage power signal to other electrical components.

9. The deep sand layer fine-tuning intelligent autonomous operation beach cleaning device according to claim 8, characterized in that, The path planning and perception unit includes two RTK positioning systems. The RTK antenna in each system is mounted on the top of the vehicle's outer shell, and the signal processing unit is installed inside the low-voltage box. Each RTK positioning system receives real-time satellite data from a base station via wireless equipment and calculates the three-dimensional coordinates of the beach cleaning device in real time based on this data. The industrial control computer is configured to receive coordinate information from the two RTK positioning systems, construct a weighted directed graph mesh of the work area based on this information, and run Dijkstra's algorithm. By continuously expanding the shortest path nodes and updating the relaxation distance, it iteratively plans the optimal work path covering the entire area from the starting point, and generates corresponding speed and steering control commands to drive the tracked walking mechanism along the optimal work path. The autonomous obstacle avoidance unit includes one set of lidar and four sets of ultrasonic radar. The lidar is installed on the front top of the vehicle body and calculates the precise distance to the target by emitting laser beams and measuring their round-trip flight time. It continuously emits laser points using a high-speed rotating or scanning mechanism to acquire three-dimensional spatial information of the surrounding environment. The four ultrasonic radars are respectively installed on the left and right side walls of the front and rear of the vehicle body to supplement the micro-terrain information of the work area that the RTK positioning system cannot obtain. The industrial control computer receives the detection signals from the lidar and ultrasonic radar in real time to control the tracked walking mechanism to adjust the direction of travel or perform emergency braking. Meanwhile, a sunshade is fixed to the top of the vehicle body near the lidar to suppress interference from the lidar caused by the strong reflection of the sand.

10. An autonomous cleaning method based on the deep sand layer fine-grained intelligent autonomous operation beach cleaning device as described in claim 9, characterized in that, Includes the following steps: The real-time high-precision three-dimensional coordinates of the vehicle body are obtained through the RTK positioning system, the three-dimensional spatial information of the surrounding environment is obtained through the lidar, and the near-ground blind spot and micro-terrain information is obtained through the ultrasonic sensor. The industrial control computer fuses and processes the acquired multi-source information, constructs an environmental perception model, and plans the globally optimal operation path; The industrial control computer controls the tracked walking mechanism based on the environmental perception model fused from multiple sources of information, enabling autonomous movement with global path tracking and local dynamic obstacle avoidance; During the process, the sand-raking conveyor belt collects the material to be screened and transports it to the screening mechanism while rotating. During the transportation process, some of the sand particles of the material to be screened fall back to the sand layer through the sand leakage hole for primary screening. The vibrating screen in the screening mechanism is driven by a vibration driver to reciprocate along the conveying direction of the material to be screened. The material to be screened, which falls from the tail end of the sand rake conveying mechanism, first falls onto the large-hole screen for screening to achieve rapid backfilling of sand particles in the material to be screened. As it is conveyed towards the hopper, it enters the small-hole screen for fine screening. After being screened upwards, the mixture of the screened material falls into the hopper. The silo vibrates reciprocally under the drive of the vibrator to further screen the mixture of materials falling from the vibrating screen in order to accurately capture the materials and store them only in the silo, thus completing the beach cleaning.

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