Self-driven underwater bionic robot

Abstract

The invention provides a self-driven underwater bionic robot. The self-driven underwater bionic robot comprises a head, a body, four limbs and a tail. The head is provided with a visual system, a water inlet hole and a control system; a power supply system and a positioning system are arranged inside the body, and a motion system is arranged outside the body; a detection system and a communication system are arranged in the four limbs; a water outlet hole is formed in the tail part, the interior of the tail part is of a hollow structure, and the tail part is connected with the body through a rotating shaft; according to the coral reef ecological restoration system, the coral reef ecological system can be restored, and the labor cost is greatly reduced.

Description

Technical Field

[0001] The invention relates to a self-driven underwater bionic robot, in particular to a self-driven underwater robot for repairing a coral reef ecosystem and a repairing method. Background Art

[0002] At present, the world is paying more and more attention to the restoration of coral reef ecosystems. The reason is that environmental and climate change have led to the loss of coral reef ecosystem service functions, causing the coral reef coverage rate to decline at an alarming rate. At present, the common restoration methods in China mainly refer to the "Technical Guidelines for Marine Ecological Restoration Part 2: Coral Reef Ecological Restoration" (GB / T 41339.2-2022) implemented in 2022, which uses artificial means to build artificial reefs, transplant healthy corals in damaged coral reef areas, and use steel and concrete to build stable coral reef structures. Abroad, the coral restoration process is to transplant artificially cultivated small corals to damaged coral reefs-this is done by transplanting small corals into small plugs and then inserting them into artificial stone bases. In order to save labor costs, Coral Maker uses Autodesk's design platform combined with artificial intelligence and vision systems to train robots to locate, pick tiny live corals and put them into molds.

[0003] Although existing technologies have been effective in restoring coral reef ecosystems, the high labor costs make it difficult to expand the scale of the technology. Even if the robots trained by Coral Maker can complete the transplantation of small corals to a certain extent, the subsequent release and transplantation of small corals into the ocean will still require a lot of manpower and material resources.

[0004] Therefore, how to achieve good restoration results while significantly reducing labor costs is an urgent problem to be solved. Summary of the invention

[0005] In view of the above-mentioned prior art, the present invention provides a self-propelled underwater bionic robot and a repair method, which mainly solve the problems existing in the above-mentioned background technology.

[0006] The present specification provides a self-propelled underwater bionic robot, comprising a head (1), a body (2), four limbs (3) and a tail (4); the head (1) is provided with a visual system (5), a water inlet (6) and a control system; the body is provided with a power supply system and a positioning system inside, and a motion system outside; the four limbs are provided with a detection system and a communication system; the tail is provided with a water outlet (7), the interior of the tail is a hollow structure, and is connected to the body by a rotating shaft (8).

[0007] Furthermore, the self-driving underwater bionic robot is a self-driving underwater robot for repairing the coral reef ecosystem. It is based on the hawksbill turtle of the reptile family Chelonia and includes a head, a turtle body, paddle-shaped limbs and a tail. The head is provided with a visual system that serves as the robot's "eyes", a water inlet that serves as the robot's "mouth" and the front end of the upper jaw is hooked and shaped like an eagle's beak, and a control system that serves as the robot's "brain"; the turtle body is provided with a power supply system that serves as the robot's "stomach" and a positioning system, and is connected to a motion system externally; the paddle-shaped limbs are provided with a monitoring system and a communication system; the tail is provided with a water outlet at the bottom, and the interior is hollow; the turtle body and the tail are connected by a rotating shaft.

[0008] Furthermore, the visual system includes a camera and a memory, and the number of the cameras is 2.

[0009] Furthermore, the control system is a controller.

[0010] Furthermore, the power supply system is a dual-chamber microbial fuel cell group.

[0011] Furthermore, the positioning system is GPS.

[0012] Furthermore, the motion system includes vertical thrusters and horizontal thrusters. There are four vertical thrusters, two on each side, and two horizontal thrusters, which are arranged at the bottom of the turtle body, one on each side.

[0013] Furthermore, the monitoring system includes various types of water quality sensors.

[0014] Furthermore, the communication system is a 4G or 5G module.

[0015] Furthermore, the dual-chamber microbial fuel cell group adopts the following technical solutions: 1. Anode material preparation (1) Preparation of biochar anode materials ① Choose naturally mature seaweed and separate the mature seaweed into pieces of 4 to 5 cm in size for later use.

[0016] ②Use anhydrous ethanol and deionized water to ultrasonically treat the seaweed for 10 to 20 minutes respectively to wash away the stains on the surface, and then place it in an electric heated air drying oven at 60°C to dry until the water is completely evaporated.

[0017] ③ Then weigh 3 portions of seaweed respectively, put them into crucibles, and then place them in muffle furnaces at 300℃, 400℃, and 500℃ for carbonization, number them respectively, set the time to 60 min, and take out the seaweed biochar after the muffle furnace cools to room temperature.

[0018] (2) Preparation of polyaniline-modified seaweed-based biochar ① Solution preparation: First, prepare a 0.8-1.6 mol / L hydrochloric acid (HCl) aqueous solution as the medium acid.

[0019] ② Preparation of stock solution: Dissolve 5-10 g of aniline in the above hydrochloric acid solution to form a reaction stock solution.

[0020] ③ Biochar pretreatment: Add seaweed biochar to aniline solution to enhance its conductivity and catalytic activity.

[0021] ④Polymerization reaction: Stir the mixture with a magnetic stirrer at room temperature (26°C) for 1 to 2 hours to ensure uniform dispersion.

[0022] ⑤Cooling treatment: Seal the mixed solution and cool it in a refrigerator to 0-5°C to reduce the reaction rate and control the polymerization process.

[0023] ⑥ Initiation of polymerization: quickly add ammonium persulfate (APS) as an oxidant to the cooled solution, use a magnetic stirrer to mix evenly, and trigger the polymerization reaction of aniline.

[0024] ⑦Polymerization process: The reaction system was placed in a constant temperature water bath oscillator and maintained at a constant speed for 10 to 15 hours to promote the growth of polyaniline and adsorb it on the surface of seaweed biochar. The color of the solution changed from light yellow to dark green.

[0025] ⑧Reaction termination: When the aniline in the solution reacts completely, the polymerization reaction terminates naturally.

[0026] ⑨ Post-treatment: The seaweed biochar modified with polyaniline was taken out from the solution and washed with a large amount of deionized water to remove unreacted impurities on the surface.

[0027] ⑩ Drying treatment: Finally, the cleaned polyaniline-modified seaweed biochar is placed in a drying oven preheated to 70°C for drying in preparation for subsequent use.

[0028] 2. Cathode Material Preparation (1) Pretreatment of carbon felt substrate: Spread the carbon felt flat and cut it into small pieces of appropriate size. Then, treat the cut carbon felt pieces in a water bath at 100°C deionized water for 1 to 2 hours. After treatment, dry the carbon felt at room temperature for subsequent use.

[0029] (2) Preparation of cathode diffusion layer: Place polytetrafluoroethylene (PTFE, 50-60wt%) solution in an ultrasonic oscillator and oscillate for 10-20 minutes to ensure uniform mixing of the solution. Then, use a wool brush or spray gun to evenly coat a layer of PTFE solution on the carbon felt. After coating, let the PTFE layer air dry naturally and heat it in a muffle furnace at 300-500℃ for 30 minutes. This coating and heating process is repeated 2-6 times.

[0030] (3) Preparation of cathode catalyst layer: Place a disposable short test tube on an electronic balance and peel it. Then, according to the surface area of ​​the cathode, weigh an appropriate amount of Pt / C catalyst at a ratio of 0.2 to 0.6 mg / cm² and place it at the bottom of the test tube. Next, add deionized water to the test tube at a volume ratio of 0.7 to 0.9 μL / mg to Pt / C. Similarly, drip the Nafion solution into the test tube at a volume ratio of 5 to 8 μL / mg to Pt / C. Finally, drip the isopropanol solution into the test tube at a volume ratio of 1500 to 2000 μL / mg to Pt / C. After sealing the mouth of the test tube with a test tube stopper or rubber band, shake the test tube manually to mix the solution, and then place it in an ultrasonic oscillator for 30 minutes to ensure that the catalyst, Nafion and isopropanol are fully mixed. After mixing evenly, use a small brush to evenly coat the catalytic slurry on the other side of the carbon felt diffusion layer to form a cathode catalytic layer.

[0031] 3. Assemble and test the microbial fuel cell to obtain the optimal microbial fuel cell.

[0032] This specification also provides a method for a self-driving underwater robot to repair a coral reef ecosystem, the method comprising: Vision systems are used to capture images of underwater environments; Furthermore, the robot is equipped with a deep learning pre-trained model specifically designed to recognize coral images as the basis for target detection; Furthermore, the control system processes the collected images, plans an optimal path, and instructs the motion system to drive the robot to move to the detected coral position, while performing obstacle avoidance processing to ensure that the robot does not collide with obstacles or target corals; Furthermore, due to the inertia of the robot moving forward, harmful substances such as nitrogen and phosphorus in seawater and some seabed sediments flow into the power system inside the robot, that is, the microbial fuel cell, through the water inlet of the robot head, providing organic matter as "fuel" for the anode chamber and providing the required oxygen for the cathode chamber. The anode chamber uses a microbial "fuel cell" filled with electrogenic bacteria, which oxidize organic matter during its metabolic process. This survival process simultaneously produces electrons and protons, which are finally transferred to the anode solution outside the cell through NADH dehydrogenase, cytochrome and other electron transport chain components. Subsequently, the electrons move to the cathode through the anode through the wire. In the cathode chamber, protons and electrons meet and participate in the redox reaction, combining with oxygen to generate water, which is discharged through the water outlet at the tail of the robot together with the unreacted seawater and sediments in the anode chamber. In this process, the chemical energy decomposed by electrogenic bacteria is converted into electrical energy and stored for use by the robot.

[0033] After the sediment at the target coral is lower than the threshold, the control system controls the motion system to turn the robot around and repeat the above steps; Optionally, if the robot fails to identify other corals again after turning 90°, the robot is controlled to continue moving forward until a coral is identified, and the above steps are repeated.

[0034] Due to the metabolism and reproduction of the electricity-producing bacteria, as well as the movement of the robot and the action of sea waves, a steady stream of seawater and nitrogen, phosphorus and other harmful substances from some seabed sediments will flow in through the water inlet, making the robot's battery system "self-sufficient" and providing power for the robot for a long time.

[0035] The robot tail is hollow and connected to the turtle body by a rotating shaft 8. The robot tail can be used to place fixed zooxanthellae carriers, small corals artificially cultivated and transplanted on small stones, etc. After reaching a specific sea area, the robot tail is opened by controlling the rotating shaft to realize the method of placing corals instead of artificial ones.

[0036] 1. The underwater self-driving robot power source adopts biofuel cell technology, which is essentially the respiratory metabolism process of electrogenic bacteria, so that the robot can continuously obtain "fuel" in seawater and provide itself with a source of electricity. Its power generation process is green and environmentally friendly. Taking glucose as an example, the reaction equation of the microbial fuel cell is as follows: Anode reaction: ; Cathode reaction: ; Overall reaction: ; The use of the microbial fuel cell consumes some of the nitrogen, phosphorus and other harmful substances that affect the health of corals in the coral reef ecosystem, prevents coral bleaching and death caused by sediment eutrophication, and alleviates seabed environmental problems to a certain extent.

[0037] The hollow and rotating shaft design of the robot's tail can carry some products that use biological means to repair the coral reef ecosystem, such as fixed zooxanthellae carriers, and release them to specific sea areas to prevent them from being washed away by waves and failing to achieve the expected results. In addition, it can carry artificially cultivated small corals instead of manual release, saving labor costs.

[0038] The robot is designed with the appearance of a hawksbill turtle as its prototype. Its paddle-like limbs help the robot maintain balance in the water. It is equipped with monitoring sensors to implement water quality monitoring of the coral reef ecosystem. The water inlet hole at the front end of its upper jaw is hooked in an eagle-beak shape to ensure that more sediment impurities at the bottom can enter, thereby allowing the battery to purify more harmful substances. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings: Figure 1 This is a schematic structural diagram of a self-propelled underwater bionic robot for repairing coral reef ecosystems according to the present invention; Figure 2 This is a functional block diagram of a self-driving underwater robot for repairing coral reef ecosystems according to the present invention; Figure 3 It is a schematic diagram of the structure of the dual-chamber microbial fuel cell involved in the present invention. DETAILED DESCRIPTION

[0040] The technical solution of the present invention is further specifically described below in conjunction with examples.

[0041] A self-driving underwater bionic robot is a self-driving underwater robot for repairing coral reef ecosystems, comprising a head 1, a turtle body 2, paddle-shaped limbs 3 and a tail 4. The head 1 is provided with a visual system 5, a water inlet 6 and a control system; the turtle body is provided with a power supply system and a positioning system inside, and a motion system outside; the paddle-shaped limbs are provided with a detection system and a communication system inside; the tail is provided with a water outlet 7, the interior of which is a hollow structure, and is connected to the turtle body by a rotating shaft 8.

[0042] Furthermore, the visual system 5 includes a camera and a memory, and the number of the cameras is 2.

[0043] Furthermore, the control system is a controller.

[0044] Furthermore, the power supply system is a dual-chamber microbial fuel cell group.

[0045] Furthermore, the positioning system is GPS.

[0046] Furthermore, the motion system includes vertical thrusters 9 and horizontal thrusters 10. There are four vertical thrusters 9, two on the left and two on the right. There are two horizontal thrusters 10, one on the left and one on the right, which are arranged at the bottom of the turtle body.

[0047] Furthermore, the monitoring system includes various types of water quality sensors.

[0048] Furthermore, the communication system is a 4G or 5G module.

[0049] Furthermore, the dual-chamber microbial fuel cell group is prepared by the following method: 1. Anode material preparation (1) Preparation of biochar anode materials ① Choose naturally mature seaweed and separate the mature seaweed into pieces of 4 to 5 cm in size for later use.

[0050] ②Use anhydrous ethanol and deionized water to ultrasonically treat the seaweed for 20 minutes respectively to wash away the stains on the surface, and then place it in an electric heated air drying oven at 60°C to dry until the water is completely evaporated.

[0051] ③ Then weigh 3 portions of seaweed respectively, put them into crucibles, and then place them in muffle furnaces at 300℃, 400℃, and 500℃ for carbonization, number them respectively, set the time to 60 min, and take out the seaweed biochar after the muffle furnace cools to room temperature.

[0052] (2) Preparation of polyaniline-modified seaweed-based biochar ① Solution preparation: First, prepare 100 ml of 1 mol / L hydrochloric acid (HCl) aqueous solution as the medium acid.

[0053] ② Preparation of stock solution: Dissolve 9.3 g of aniline in the above hydrochloric acid solution to form a reaction stock solution.

[0054] ③ Biochar pretreatment: Add seaweed biochar to aniline solution to enhance its conductivity and catalytic activity.

[0055] ④Polymerization reaction: Stir the mixture with a magnetic stirrer at room temperature (26°C) for 2 hours to ensure uniform dispersion.

[0056] ⑤Cooling treatment: Seal the mixed solution and cool it to 5°C in a refrigerator to reduce the reaction rate and control the polymerization process.

[0057] ⑥ Initiation of polymerization: quickly add ammonium persulfate (APS) as an oxidant to the cooled solution, use a magnetic stirrer to mix evenly, and trigger the polymerization reaction of aniline.

[0058] ⑦Polymerization process: The reaction system was placed in a constant temperature water bath oscillator and maintained at a constant speed for 15 hours to promote the growth of polyaniline and adsorb it on the surface of seaweed biochar. The color of the solution changed from light yellow to dark green.

[0059] ⑧Reaction termination: When the aniline in the solution reacts completely, the polymerization reaction terminates naturally.

[0060] ⑨ Post-treatment: The seaweed biochar modified with polyaniline was taken out from the solution and washed with a large amount of deionized water to remove unreacted impurities on the surface.

[0061] ⑩ Drying treatment: Finally, the cleaned polyaniline-modified seaweed biochar is placed in a drying oven preheated to 70°C for drying in preparation for subsequent use.

[0062] 2. Cathode Material Preparation (1) Pretreatment of carbon felt substrate: Spread the carbon felt flat and cut it into small pieces of appropriate size. Then, treat the cut carbon felt pieces in a water bath at 100°C deionized water for 2 hours. After treatment, dry the carbon felt at room temperature for subsequent use.

[0063] (2) Preparation of cathode diffusion layer: Place polytetrafluoroethylene (PTFE, 60wt%) solution in an ultrasonic oscillator and oscillate for 20 minutes to ensure that the solution is evenly mixed. Then, use a wool brush or spray gun to evenly coat a layer of PTFE solution on the carbon felt. After coating, let the PTFE layer air dry naturally and heat it in a muffle furnace at 350℃ for 30 minutes. This coating and heating process is repeated 4 times to ensure that the PTFE loading reaches 25 μL / mg.

[0064] (3) Preparation of cathode catalyst layer: Place a disposable short test tube on an electronic balance and peel it. Then, according to the surface area of ​​the cathode, weigh an appropriate amount of Pt / C catalyst at a ratio of 0.5 mg / cm² and place it at the bottom of the test tube. Next, add deionized water to the test tube at a volume ratio of 0.85 μL / mg to Pt / C. Similarly, drip the Nafion solution into the test tube at a volume ratio of 6.65 μL / mg to Pt / C. Finally, drip the isopropanol solution into the test tube at a volume ratio of 1800 μL / mg to Pt / C. After sealing the mouth of the test tube with a test tube stopper or rubber band, shake the test tube manually to mix the solution, and then place it in an ultrasonic oscillator for 30 minutes to ensure that the catalyst, Nafion and isopropanol are fully mixed. After mixing evenly, use a small brush to evenly apply the catalytic slurry on the other side of the carbon felt diffusion layer to form a cathode catalyst layer.

[0065] 3. Assemble and test the microbial fuel cell to obtain the optimal microbial fuel cell.

[0066] A method for restoring a coral reef ecosystem using a self-driving underwater robot, wherein the image is collected by a visual system 5; Furthermore, a coral image model is pre-trained through deep learning to be used as a source for target detection; Furthermore, the control system processes the collected images, plans the optimal path, and then controls the motion system to operate the vertical thruster 9 and the horizontal thruster 10, so that the robot moves toward the detected coral position and avoids obstacles to ensure that the robot does not collide with obstacles and target corals; Furthermore, due to the inertia of the robot during the forward movement, harmful substances such as nitrogen and phosphorus in seawater and some seabed sediments flow into the power system inside the robot, that is, the microbial fuel cell, through the water inlet 6 of the robot head, providing organic matter as "fuel" for the anode chamber 11 and providing the required oxygen for the cathode chamber 12. A microbial "fuel cell" is used in the anode chamber 11, which is full of electrogenic bacteria. Its metabolic process oxidizes organic matter. This survival process simultaneously produces electrons and protons. The electrons are finally transferred to the anode solution outside the cell through the electron transport chain components such as NADH dehydrogenase and cytochrome. Subsequently, the electrons move to the cathode 14 through the anode 13 through the wire. In the cathode chamber 12, the protons and electrons meet and participate in the redox reaction, combining with oxygen to generate water, and are discharged through the water outlet 7 at the tail of the robot together with the unreacted seawater and sediments in the anode chamber 11. In this process, the chemical energy decomposed by the electrogenic bacteria is converted into electrical energy and stored for use by the robot.

[0067] After the sediment at the target coral is lower than the threshold, the control system controls the motion system to make the robot turn around and repeat the above steps; Optionally, if the robot fails to identify other corals again after turning 90°, the robot is controlled to continue moving forward until a coral is identified, and the above steps are repeated.

[0068] Due to the metabolism and reproduction of the electricity-producing bacteria, as well as the movement of the robot and the action of sea waves, a steady stream of seawater and nitrogen, phosphorus and other harmful substances from some seabed sediments will flow in through the water inlet, making the robot's battery system "self-sufficient" and providing power for the robot for a long time.

[0069] The interior of the robot's tail is hollow and connected to the turtle body by a rotating shaft 8. Fixed zooxanthellae carriers, small corals artificially cultivated and transplanted onto small stones, etc. can be placed inside the hollow tail. When arriving in a specific sea area, the tail can be opened by controlling the rotating shaft 8, thereby realizing a method of replacing manual delivery with a machine.

[0070] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. The protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A self-propelled underwater bionic robot, comprising a head (1), a body (2), limbs (3) and a tail (4); characterized in that: The head (1) is provided with a visual system (5), a water inlet (6) and a control system; the body is provided with a power supply system and a positioning system inside, and a motion system outside; the limbs are provided with a detection system and a communication system; the tail is provided with a water outlet (7), the tail is hollow inside, and is connected to the body via a rotating shaft (8); wherein the power supply system is a dual-chamber microbial fuel cell group, the dual-chamber microbial fuel cell group comprises two left and right chambers, one side chamber is an anode chamber (11), and the other side chamber is a cathode chamber (12), the anode chamber (11) is provided with an anode (13), the anode chamber (11) The interior includes electrogenic bacteria, whose metabolic process oxidizes organic matter and generates electrons and protons at the same time. The electrons are transferred to the anode solution outside the cell through the electron transport chain components including NADH dehydrogenase and cytochrome; the cathode chamber (12) is provided with a cathode (14), and the electrons move to the cathode (14) through the anode (13) through the wire; in the cathode chamber (12), the protons and electrons meet and participate in the redox reaction, combining with oxygen to generate water, which is discharged through the water outlet (7) at the tail of the robot together with the unreacted seawater and sediment in the anode chamber (11).

2. The self-propelled underwater bionic robot according to claim 1, characterized in that: The visual system (5) comprises a camera and a memory, the number of the cameras being 2; the control system being a controller; and the positioning system being a GPS.

3. The self-propelled underwater bionic robot according to claim 2, characterized in that: The motion system comprises a vertical thruster (9) and a horizontal thruster (10). The vertical thrusters (9) are four in number, two on each side, and the horizontal thrusters (10) are two in number, one on each side, and one on each side, respectively.

4. The self-propelled underwater bionic robot according to claim 3, characterized in that: The detection system includes various water quality sensors.

5. The self-propelled underwater bionic robot according to claim 4, characterized in that: The communication system is a 4G or 5G module.

6. A method for repairing a coral reef ecosystem using the self-propelled underwater bionic robot as claimed in claim 1, characterized in that: The image is collected through the visual system (5); the coral image model is recognized through deep learning pre-training as a target detection source; the control system processes the collected image, plans the optimal path, and then controls the motion system to operate the vertical thruster (9) and the horizontal thruster (10), so that the robot moves toward the detected coral position and avoids obstacles to ensure that the robot does not collide with obstacles and target corals; the inertial effect of the robot moving forward causes nitrogen and phosphorus harmful substances in seawater and some seabed sediments to flow into the microbial fuel cell inside the robot through the water inlet (6) on the head of the robot.

7. The method for repairing coral reef ecosystem by a self-propelled underwater bionic robot according to claim 6, characterized in that: The dual-chamber microbial fuel cell group was prepared by the following method:

1. Anode material preparation (1) Preparation of biochar anode materials ①Select naturally mature seaweed and separate the mature seaweed into 4-5cm pieces for later use; ②Use anhydrous ethanol and deionized water to ultrasonically treat the seaweed for 20 minutes respectively to wash away the stains on the surface, and then place it in an electric hot air drying oven at 60°C to dry until the water is completely evaporated; ③ Then weigh 3 portions of seaweed, put them into crucibles, and then put them into muffle furnaces at 300℃, 400℃, and 500℃ for carbonization, number them respectively, set the time to 60 min, and take out the seaweed biochar after the muffle furnace cools to room temperature; (2) Preparation of polyaniline-modified seaweed-based biochar ① Solution preparation: First, prepare 100 ml of 1 mol / L hydrochloric acid aqueous solution as the medium acid; ② Preparation of stock solution: dissolve 9.3 g of aniline in the above hydrochloric acid solution to form a reaction stock solution; ③ Biochar pretreatment: adding seaweed biochar to aniline solution to enhance its conductivity and catalytic activity; ④Polymerization reaction: Stir the mixture with a magnetic stirrer for 2 hours at room temperature 26°C to ensure uniform dispersion; ⑤Cooling treatment: Seal the mixed solution and cool it to 5°C in a refrigerator to reduce the reaction rate and control the polymerization process; ⑥ Initiation of polymerization: quickly add ammonium persulfate as an oxidant to the cooled solution, mix evenly using a magnetic stirrer to trigger the polymerization reaction of aniline; ⑦Polymerization process: The reaction system was placed in a constant temperature water bath oscillator and kept shaking at a constant speed for 15 hours to promote the growth of polyaniline and adsorb it on the surface of seaweed biochar. The color of the solution changed from light yellow to dark green. ⑧Reaction termination: When the aniline in the solution reacts completely, the polymerization reaction terminates naturally; ⑨ Post-treatment: The seaweed biochar modified with polyaniline is taken out from the solution and washed with a large amount of deionized water to remove the unreacted impurities on the surface; ⑩ Drying treatment: Finally, the washed polyaniline-modified seaweed biochar was placed in a drying oven preheated to 70°C for drying in preparation for subsequent use; 2. Cathode Material Preparation (1) Pretreatment of the carbon felt substrate: the carbon felt was laid flat and cut into small pieces of appropriate size. Subsequently, the cut carbon felt pieces were treated in a water bath at 100°C deionized water for 2 hours. After the treatment, the carbon felt was placed at room temperature to dry for subsequent use. (2) Preparation of cathode diffusion layer: Place a polytetrafluoroethylene solution with a concentration of 1.577 W in an ultrasonic oscillator and oscillate for 20 minutes to ensure that the solution is evenly mixed. Then, use a wool brush or spray gun to evenly coat a layer of polytetrafluoroethylene solution on the carbon felt. After coating, let the polytetrafluoroethylene layer air dry naturally and heat it in a muffle furnace at 350 °C for 30 minutes. Repeat this coating and heating process 4 times to ensure that the loading amount of polytetrafluoroethylene reaches 25 μL / mg. (3) Preparation of cathode catalyst layer: Place a disposable short test tube on an electronic balance for peeling. Then, according to the surface area of ​​the cathode, weigh an appropriate amount of Pt / C catalyst at a ratio of 0.5 mg / cm² and place it at the bottom of the test tube. Next, add deionized water to the test tube at a volume ratio of 0.85 μL / mg to Pt / C. Similarly, drop the Nafion solution into the test tube at a volume ratio of 6.65 μL / mg to Pt / C. Finally, drop the isopropanol solution into the test tube at a volume ratio of 1800 μL / mg to Pt / C. After sealing the mouth of the test tube with a test tube stopper or rubber band, shake the test tube manually to mix the solution. Then, place it in an ultrasonic oscillator for 30 minutes to ensure that the catalyst, Nafion and isopropanol are fully mixed. After mixing evenly, use a small brush to evenly apply the catalytic slurry on the other side of the carbon felt diffusion layer to form a cathode catalyst layer. (4) Assemble and test the microbial fuel cell to obtain the optimal microbial fuel cell.

8. The method for repairing coral reef ecosystem by a self-propelled underwater bionic robot according to claim 7, characterized in that: After the sediment at the target coral is lower than the threshold, the control system controls the motion system to turn the robot around. If the robot fails to identify other corals again after turning around, the robot is controlled to continue moving forward until the coral is identified.

9. The method for repairing coral reef ecosystem by a self-propelled underwater bionic robot according to claim 8, characterized in that: The interior of the robot's tail is hollow and connected to the body by a rotating shaft 8. Fixed zooxanthellae carriers and small corals artificially cultivated and transplanted onto small stones can be placed inside the hollow tail. When arriving in a specific sea area, the tail can be opened by controlling the rotating shaft 8, thereby realizing a method of machine deployment instead of manual labor.

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