A floating ecological restoration bionic robot conforming to lake and reservoir environment and a restoration method

Abstract

The application discloses a kind of in accordance with lake and reservoir environment's floating type ecological restoration bionic robot and restoration method, robot includes jellyfish shape bionic floating device, multi-parameter water quality monitoring module of compartment, liquid reagent intelligent delivery unit, nanometer zero-valent iron recovery unit etc., realize module integration by TPU flexible connecting piece, utilize Beidou RTK positioning and LSTM-Transformer model realizes accurate operation.Restoration method triggers dosing by multi-parameter monitoring, combines magnetic separation adsorption and hydraulic disturbance to recover nanometer material, forms "monitoring-repair-recovery" closed loop.Demonstration area verification, the system can make algal biomass weekly decline, sediment heavy metal migration rate reduces, nanometer zero-valent iron recovery rate increases, applicable to eutrophication lake and reservoir in situ ecological restoration, with high efficiency and sustainability.

Description

Technical Field

[0001] This invention relates to the field of lake and reservoir ecological restoration technology, and in particular to a floating biomimetic robot and restoration method suitable for lake and reservoir environments. Background Technology

[0002] In recent years, with the rapid development of my country's economy and the acceleration of urbanization, the ecological environment of lakes and reservoirs has faced severe challenges. However, traditional water remediation methods, such as chemical and physical treatments, often require the construction of large-scale operating facilities, resulting in high costs, the need for professional personnel, and a high risk of secondary pollution. Therefore, combining new methods such as environmental reactors with artificial intelligence technology to accurately identify and suppress pollution sources is a promising approach.

[0003] Nano-iron-based particles are a novel material for environmental remediation, characterized by their small size, strong removal capacity, high reactivity, and good ecocompatibility. However, there are currently no precedents for their application in natural water bodies. Directly releasing them into polluted rivers and lakes is costly and causes metal pollution, including widespread metal oxidation that depletes dissolved oxygen and leads to secondary eutrophication. However, compared to other environmental remediation agents, their ability to be magnetically separated and recovered is a significant advantage. Targeted application of nano-iron-based particles could open the door to their use in natural water bodies.

[0004] Existing lake and reservoir ecological restoration robots lack governance capabilities, have poor mobility, and limited functionality; furthermore, their governance methods suffer from insufficient intelligence, such as unreasonable path planning and inaccurate monitoring and control; they also exhibit poor adaptability in complex environments and lack autonomous decision-making capabilities. These problems limit the application of ecological robots in lake and reservoir-related fields. The floating ecological restoration biomimetic robot of this invention utilizes nano-zero-valent iron-related water treatment materials for precise drug delivery and environmental recycling in lake and reservoir ecological restoration. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a floating biomimetic robot and restoration method suitable for lake and reservoir environments. It aims to solve the problems of lagging monitoring, extensive operations, and material waste in existing technologies, thereby improving the efficiency and sustainability of lake and reservoir ecological restoration. To achieve the above objectives, this invention adopts the following technical solution: A floating biomimetic robot suitable for lake and reservoir environments includes: A biomimetic floating device includes a hollow buoyancy chamber located in the middle for housing the equipment and at least four multi-degree-of-freedom propulsion systems for driving movement. The buoyancy chamber and the multi-degree-of-freedom propulsion systems are sealed and connected by TPU flexible connectors. The multi-degree-of-freedom propulsion systems are distributed in a ring around the outer periphery of the buoyancy chamber. A multi-parameter water quality monitoring module is installed at the front of the buoyancy chamber, including a compartmentalized multi-in-one water quality sensor and a dual-spectrum camera gimbal. The compartmentalized multi-in-one water quality sensor is connected to the buoyancy chamber through a watertight connector. The image transmission and positioning navigation module, configured to provide centimeter-level positioning and real-time data transmission, is integrated on the top of the buoyancy cabin. It includes a Beidou RTK positioning module and a 4G / 5G image transmission module. The antenna of the Beidou RTK positioning module is higher than the upper surface of the buoyancy support layer. The pollutant treatment module includes a liquid agent intelligent dispensing unit located at the center of the bottom of the buoyancy chamber and a nano zero-valent iron recovery unit located at the center of the dispensing unit. The liquid agent intelligent dispensing unit is configured to accurately dispense nano zero-valent iron suspension according to water quality data, and its dispensing port is lower than the bottom surface of the buoyancy chamber. The nano zero-valent iron recovery unit is configured to recover the nanomaterials after the reaction through magnetic separation adsorption combined with hydraulic disturbance. The energy supply module includes solar photovoltaic panels covering the upper surface of the buoyancy chamber and lithium battery packs installed on the inner wall of the buoyancy chamber, configured for operational endurance; The central control unit is installed in a sealed compartment in the middle of the buoyancy chamber. It is electrically connected to each module via waterproof cables and is configured to receive multi-source data and generate repair strategies.

[0006] Furthermore, the multi-degree-of-freedom propulsion system includes a float and six sets of vector thrusters. The float is shaped like a jellyfish and uses flexible materials and biomimetic design. Each set of thrusters is distributed in a ring at 60° intervals at the bottom of the float, and the thruster axis is inclined at an angle of 10° to 30° with the horizontal plane.

[0007] Furthermore, the multi-compartment water quality sensor has a cylindrical compartmentalized structure, with temperature sensor compartment, pH sensor compartment, turbidity sensor compartment, conductivity sensor compartment and dissolved oxygen sensor compartment arranged sequentially along the axial direction. Each sensor compartment is equipped with a corresponding sensor and is separated by a waterproof partition.

[0008] Furthermore, the intelligent liquid drug delivery unit includes a syringe-type liquid storage tank, which is vertically installed at the bottom of the buoyancy chamber. Its piston rod is connected to the output shaft of a stepper motor through a sealed bearing. The stepper motor is fixed to the inner wall of the buoyancy chamber, and the stepper motor is controlled by a central control unit to achieve precise drug delivery.

[0009] Furthermore, the nano-zero-valent iron recovery unit includes a permanent magnet array, an adjustable electromagnetic adsorption component, and a hydraulic stirrer. The permanent magnet array is ring-shaped and connected to the bottom of the buoyancy chamber via a cable. The adjustable electromagnetic adsorption component is located in the middle of the permanent magnet array and is used to control the adsorption force of the permanent magnet array to change linearly with the current. The hydraulic stirrer is installed inside the permanent magnet array and releases nanoparticles by agitating the sediment with stirring blades.

[0010] Furthermore, the central control unit incorporates an LSTM-Transformer pollution prediction model and an improved ant colony algorithm path planner. Through a multi-source data fusion algorithm, it integrates water quality data, location data, and image data in real time, generating a three-dimensional pollution heat map with an update frequency of ≤5 minutes / time.

[0011] Furthermore, the solar photovoltaic panels cover the upper surface of the buoyancy chamber, accounting for ≥70% of the area. The lithium battery pack is fixed to both sides of the inner wall of the buoyancy chamber by a bracket. The outer shell of the biomimetic floating device is made of TPU flexible material with a surface roughness Ra≤1.6μm and is equipped with a biomimetic adhesion coating.

[0012] This invention also provides a floating ecological restoration method suitable for lake and reservoir environments, using the biomimetic robot described above, including the following steps: The bionic robot cruises using six sets of vector thrusters in a multi-degree-of-freedom propulsion system and collects water quality data using a multi-parameter water quality monitoring module at the front end. The multi-parameter water quality monitoring module collects water turbidity, ORP, pH value and image data in real time. When the pollutant concentration exceeds the preset threshold, the central control unit's repair program is triggered. The central control unit plans the repair path based on the LSTM-Transformer model and controls the intelligent liquid agent delivery unit to deliver nano-zero valent iron suspension vertically downwards; Two to four hours after the drug is administered, the central control unit activates the nano-zero-valent iron recovery unit. Through the combination of a permanent magnet array and an adjustable electromagnetic adsorption component, along with a micro hydraulic stirrer to disturb the sediment, the nano-zero-valent iron particles are recovered. During the repair process, data is transmitted back to the cloud platform in real time to dynamically adjust the concentration and recovery time.

[0013] Furthermore, the nano-zero-valent iron suspension is placed at a depth of 1-3m and a concentration of 5-10g / m³. The placement depth is calibrated in real time using a pressure sensor, with a placement error of ≤±0.3m.

[0014] Furthermore, during the recovery process, the Beidou RTK positioning module calibrates the position in real time, controlling the recovery operation to cover a range of ±0.5m within the drug application area.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. Utilizing advanced sensor technology and data calibration algorithms, the system ensures the accuracy and reliability of monitoring data, achieving high-precision monitoring of various key pollutants (such as nitrogen, phosphorus, and heavy metals) in lakes and reservoirs, with an error not exceeding ±0.5%. 2. By developing intelligent algorithms and control systems, this product has achieved the robot's adaptive repair function under different environmental conditions. The robot can autonomously adjust the intensity of repair work based on real-time monitoring data. 3. Through long-term optimization of the power system and adjustment of energy management strategies, this product can achieve an operating cycle of more than 24 hours under standard operating conditions, and its energy consumption is lower than that of traditional ecological restoration methods. 4. The product uses corrosion-resistant materials and an easy-to-maintain modular design, which ensures an increased mean time between failures (MTBF) for the robot in complex aquatic environments and reduces maintenance costs compared to traditional ecological restoration methods. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the composition of the bionic robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a syringe-type liquid storage tank according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a biomimetic robot with a liquid drug intelligent dispensing module according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a biomimetic robot containing a nano-zero-valent iron recovery module according to an embodiment of the present invention; Figure 5 This is a comparison chart of COD, NH3-N, and TP data before and after adding the present invention in an experiment of an embodiment of the present invention; Figure 6 This is a comparison chart of conductivity, NTU, and chlorophyll data before and after adding the present invention in an experiment according to an embodiment of the present invention.

[0017] In the above figures: 1. Bionic floating device; 11. Buoyancy chamber; 12. Multi-degree-of-freedom propulsion system; 1201. Float; 1202. Vector thruster; 13. Connector; 2. Multi-parameter water quality monitoring module; 21. Compartmentalized multi-functional water quality sensor; 22. Dual-spectrum camera gimbal; 3. Image transmission and positioning navigation module; 4. Pollutant treatment module; 41. Intelligent liquid agent dispensing unit; 4101. Syringe-type liquid storage tank; 4102. Piston rod; 42. Nano-zero-valent iron recovery unit; 4201. Permanent magnet array; 4202. Adjustable electromagnetic adsorption component; 4203. Hydraulic stirrer; 5. Energy supply module. Detailed Implementation

[0018] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] like Figures 1-4 As shown in the figure, this invention proposes a floating biomimetic robot for ecological restoration that is suitable for lake and reservoir environments, comprising: The biomimetic floating device 1 includes a hollow buoyancy chamber 11 located in the middle for accommodating the equipment and at least four multi-degree-of-freedom propulsion systems 12 for driving movement. The buoyancy chamber 11 and the multi-degree-of-freedom propulsion systems 12 are sealed and connected by TPU flexible connectors 13. The multi-degree-of-freedom propulsion systems 12 are distributed in a ring around the outer periphery of the buoyancy chamber 11. The multi-parameter water quality monitoring module 2 is installed at the front end of the buoyancy chamber 11 and includes a compartmentalized multi-in-one water quality sensor 21 and a dual-spectrum camera gimbal 22. The compartmentalized multi-in-one water quality sensor 21 is connected to the buoyancy chamber 11 through a watertight connector. The image transmission and positioning navigation module 3 is configured to provide centimeter-level positioning and real-time data transmission. It is integrated on the top of the buoyancy cabin 11 and includes a Beidou RTK positioning module and a 4G / 5G image transmission module. The antenna of the Beidou RTK positioning module is higher than the upper surface of the buoyancy support layer. The pollutant treatment module 4 includes a liquid agent intelligent dispensing unit 41 located at the center of the bottom of the buoyancy chamber 11 and a nano zero-valent iron recovery unit 42 located at the center of the dispensing unit. The liquid agent intelligent dispensing unit 41 is configured to accurately dispense nano zero-valent iron suspension according to water quality data, and its dispensing port is lower than the bottom surface of the buoyancy chamber 11. The nano zero-valent iron recovery unit 42 is configured to recover the nanomaterials after the reaction through magnetic separation adsorption combined with hydraulic disturbance. The energy supply module 5 includes a solar photovoltaic panel covering the upper surface of the buoyancy chamber 11 and a lithium battery pack installed on the inner wall of the buoyancy chamber 11, configured for operational endurance; The central control unit is installed in the sealed compartment in the middle of the buoyancy chamber 11. It is electrically connected to each module through waterproof cables and is configured to receive multi-source data and generate repair strategies.

[0020] Among them, the hollow buoyancy chamber 11 is made of TPU-95A flexible material with a thickness of 3mm and a tensile strength of ≥18MPa. It is manufactured by Bayer AG of Germany, has a volume of 150L, ​​and its water tightness meets the GB / T16578.1-2008 standard. The multi-degree-of-freedom propulsion system 12 uses 6 sets of vector thrusters 1202, model VTP-60, manufactured by Shenzhen Autel Intelligent Equipment Co., Ltd., with a single thrust of 5N, rated voltage of 24V, and supports speed adjustment from 0-3000rpm. 21 multi-compartment water quality sensor with cylindrical stainless steel housing, 120mm in diameter, manufactured by Shanghai Boqu Instrument Co., Ltd., integrates temperature, pH, turbidity and other sensors. The Beidou RTK positioning module, model BDS-200, manufactured by Hi-Target, has a positioning accuracy of ±5cm, and the antenna height extends 15cm beyond the upper surface of the buoyancy chamber 11.

[0021] The biomimetic floating device 1 achieves a flexible connection between the buoyancy chamber 11 and the propulsion system through TPU flexible connectors 13, reducing water flow impact. The propulsion system forms vector thrust through a ring distribution, and the rotational speed of each group of thrusters is adjusted by the PID algorithm of the central control unit to achieve omnidirectional movement. Multi-parameter sensors transmit data in real time through watertight connectors, and Beidou positioning and 4G image transmission modules work together to achieve centimeter-level positioning and data transmission.

[0022] Preferably, the multi-degree-of-freedom propulsion system 12 includes a float 1201 and six sets of vector thrusters 1202. The float 1201 is shaped like a jellyfish and is made of flexible materials and biomimetic design. Each set of thrusters is distributed in a ring at 60° intervals at the bottom of the float 1201, and the axis of the thrusters is inclined at an angle of 10° to 30° with the horizontal plane.

[0023] Six sets of thrusters are arranged in a ring at 60° intervals on the bottom of the float 1201. The rotational speed and direction of each set of thrusters are independently controlled to create a three-dimensional vector thrust. When turning is required, the two side thrusters operate at differential speeds; when hovering in a fixed position, BeiDou positioning data is fed back to the central control unit in real time to adjust the thrusters and counteract the effects of water flow. This structure enables the robot to maintain a stable attitude in a 0.5m / s water flow, with a heading control accuracy of ±0.5°, improving operational efficiency by three times compared to traditional rigid hulls, and ensuring that the chemical delivery position error is ≤±0.5m.

[0024] Preferably, the compartmentalized multi-functional water quality sensor 21 has a cylindrical compartmentalized structure, with a temperature sensor compartment, a pH sensor compartment, a turbidity sensor compartment, a conductivity sensor compartment and a dissolved oxygen sensor compartment arranged sequentially along the axial direction. Each sensor compartment is equipped with a corresponding sensor and is separated by a waterproof partition.

[0025] The temperature sensor compartment houses an NTC thermistor, model MF52, with an accuracy of ±0.5℃, manufactured by Huaju Electronics. The pH sensor compartment houses a glass electrode sensor, model PHG-209, with an accuracy of ±0.05pH, manufactured by Shanghai Leici. The turbidity sensor compartment houses an infrared scattering module, model TUR-200, with a range of 0-400NTU and an accuracy of ±2%, manufactured by Hangzhou Liance. The conductivity sensor compartment houses a four-ring conductivity electrode, model EC-10D, with an accuracy of ±1.5%, manufactured by Hach (USA). The dissolved oxygen sensor compartment houses a polarographic membrane electrode, model DO-958, with an accuracy of ±0.3mg / L, manufactured by Jiangsu Jianghuan. Each sensor compartment is separated by a waterproof partition to prevent cross-interference. The sensors convert physicochemical signals into electrical signals, which are transmitted to the central control unit via a fully digital interface (RS-485). An automatic cleaning device, using a rotating scraper at 5 rpm, removes deposits from the sensor surfaces every 30 minutes.

[0026] Preferably, the intelligent liquid drug delivery unit 41 includes a syringe-type reservoir 4101, which is vertically installed at the bottom of the buoyancy chamber 11. Its piston rod 4102 is connected to the output shaft of a stepper motor via a sealed bearing. The stepper motor is fixed to the inner wall of the buoyancy chamber 11, and precise drug delivery is achieved by controlling the stepper motor through a central control unit. The syringe-type reservoir 4101 is made of medical-grade polyethylene, has a capacity of 10L, is manufactured by Corning Incorporated (USA), and has a hydrophobic inner wall. The stepper motor is model 42BYGH40-1704A, with a step angle of 1.8° and a driving accuracy of 0.1mm, manufactured by Orient Motor (Japan). The sealed bearing is model 608ZZ, with a waterproof rating of IP68, manufactured by SKF (Sweden). After the central control unit sends a drug delivery command, the stepper motor drives the piston rod 4102 to advance with an accuracy of 0.1mm, vertically extruding the nano-zero-valent iron suspension through the bottom delivery port. The spring-loaded flap gate system has an opening pressure of 0.2MPa, ensuring that the agent is dispensed at a depth of 1-3m. The pressure sensor, model MPM480, has an accuracy of ±0.1%FS and calibrates the depth in real time.

[0027] Preferably, the nano-zero-valent iron recovery unit 42 includes a permanent magnet array 4201, an adjustable electromagnetic adsorption component 4202, and a hydraulic stirrer 4203. The permanent magnet array 4201 is ring-shaped and connected to the bottom of the buoyancy chamber 11 via cables. The adjustable electromagnetic adsorption component 4202 is located in the middle of the permanent magnet array 4201 and is used to control the adsorption force of the permanent magnet array 4201 to change linearly with the current. The hydraulic stirrer 4203 is installed inside the permanent magnet array 4201 and releases nanoparticles by agitating the sediment with stirring blades. The permanent magnet array 4201 uses 12 neodymium iron boron magnets, N52 grade, with dimensions of 50mm×30mm×20mm, a surface magnetic field strength of 600mT, manufactured by Ningbo Yunsheng. The adjustable electromagnetic adsorption component 4202 is model EM-50, with a current adjustment range of 0-5A and an adsorption force that changes linearly from 0-80N, manufactured by Dongguan Baimu Magnetoelectric. The 4203 hydraulic agitator is model MS-300, with a speed of 1000-3000 rpm and a power of 24W (Shenzhen DJI). 2.5 hours after chemical dosing, the central control unit initiates the recovery program: first, the agitator is turned on at 2500 rpm to agitate the sediment for 3 minutes, releasing the nanoparticles; then, the electromagnetic adsorption component (4A current) is activated, where a permanent magnet and an electromagnet work together to generate a strong magnetic field, adsorbing the nano-zero-valent iron particles.

[0028] Preferably, the central control unit incorporates an LSTM-Transformer pollution prediction model and an improved ant colony algorithm path planner. It integrates water quality data, location data, and image data in real time through a multi-source data fusion algorithm, generating a 3D pollution heat map with an update frequency of ≤5 minutes per update. The main control chip is an ARM Cortex-A72, model RK3399Pro, with a computing power ≥1.5 TOPS, manufactured by Rockchip. Storage uses 8GB RAM + 128GB eMMC (Samsung Electronics). The algorithm development platform is based on Python 3.8 and integrates the TensorFlow framework. The multi-source data fusion algorithm integrates water quality sensor data (updated every 5 minutes), BeiDou positioning data (10Hz), and dual-spectral camera images in real time. It predicts pollution trends for the next 24 hours using the LSTM-Transformer model and plans the optimal path using the improved ant colony algorithm with a heuristic function weight α=1.5 and a pheromone weight β=2.0. The 3D pollution heat map is updated every 5 minutes, the algal bloom prediction error is ≤7.8%, the energy consumption of path planning is reduced by 37% compared with traditional algorithms, and dynamic adaptive repair is achieved.

[0029] Preferably, the solar photovoltaic panel covers the upper surface of the buoyancy chamber 11, accounting for ≥70% of the area. The lithium battery pack is fixed to both sides of the inner wall of the buoyancy chamber 11 by a bracket. The outer shell of the biomimetic floating device 1 is made of TPU flexible material with a surface roughness Ra≤1.6μm and is equipped with a biomimetic adhesion coating. The solar photovoltaic panel is model JASolar-JAMG6-60, with a conversion efficiency of 22.5% and an area of ​​1.2㎡, manufactured by Jinko Solar. The lithium battery pack uses 18650 lithium iron phosphate batteries, 3.2V / 5Ah, with 16 cells connected in series, manufactured by CATL. The biomimetic adhesion coating is model AC-700, with an adhesion strength ≥5N / cm, manufactured by PPG. The photovoltaic panel converts solar energy into electrical energy and stores it in the lithium battery pack through an MPPT controller. The energy management system (BMS-20S) optimizes the charging and discharging strategy. The TPU outer shell surface coating reduces surface energy and reduces the adhesion of algae and microorganisms.

[0030] This invention also provides a floating ecological restoration method suitable for lake and reservoir environments, using the biomimetic robot described above, including the following steps: The bionic robot cruises using six sets of vector thrusters 1202 in the multi-degree-of-freedom propulsion system 12 at a speed of 0.8 m / s. It collects water quality data using the multi-parameter water quality monitoring module 2 at the front end, with a data collection frequency of 15 minutes per time. The multi-parameter water quality monitoring module 2 collects water turbidity, ORP (oxidation-reduction potential), pH value and image data in real time. When the pollutant concentration exceeds the preset threshold, the central control unit's repair program is triggered. The central control unit plans the repair path based on the LSTM-Transformer model and controls the intelligent liquid agent delivery unit 41 to deliver the nano-zero valent iron suspension vertically downward. Two to four hours after the drug is administered, the central control unit activates the nano-zero-valent iron recovery unit 42. Through the cooperation of the permanent magnet array 4201 and the adjustable electromagnetic adsorption component 4202, combined with the micro hydraulic stirrer 4203 to disturb the sediment, the nano-zero-valent iron particles are recovered. During the repair process, data is transmitted back to the cloud platform in real time. Based on Alibaba Cloud ECS server, the Python Flask framework is deployed to dynamically adjust the application concentration and recycling time.

[0031] The nano-zero-valent iron suspension is deployed at a depth of 1-3m and a concentration of 5-10g / m³. The deployment depth is calibrated in real-time using a pressure sensor, with a deployment error ≤ ±0.3m. The pressure sensor is an MPM480 model, with a range of 0-10m and an accuracy of ±0.1%FS, manufactured by Beijing Kunlun Coast. The pressure sensor monitors the water depth in real-time, and the central control unit adjusts the stepper motor stroke based on the water depth data to compensate for deployment depth errors. The nano-zero-valent iron suspension is precisely extruded through a syringe-type storage tank 4101 to ensure uniform concentration.

[0032] During the retrieval process, the BeiDou RTK positioning module calibrates the position in real time, ensuring that the retrieval operation covers a range of ±0.5m within the drug delivery area. The BeiDou positioning module outputs the robot's coordinates in real time, and the central control unit compares these coordinates with the coordinates of the drug delivery area. By adjusting the thrusters, the robot's position is controlled to ensure that the retrieval operation covers a range of ±0.5m within the drug delivery area.

[0033] To better demonstrate the effectiveness of the technical solution of this invention, a restoration experiment was conducted in a water area of ​​an ecological agriculture demonstration zone in a certain city.

[0034] Experimental conditions: Time: March 14 - April 9, 2025, 200 mL of sulfur-modified nano-zero-valent iron suspension was administered daily; Monitoring indicators: heavy metals such as Hg, As, Pb, CODCr, NH3-N, TP, turbidity, chlorophyll a; Sensor configuration: The multi-parameter water quality sensor is calibrated according to the standard "HY / T126-2009", and the accuracy of the data is verified by daily manual sampling.

[0035] Verification steps and implementation process: 1. Preparation of iron-based nanomaterials: The preparation method involves preparing an aqueous alcoholic solution of Fe2+ complex using ferrous ions, citric acid, ethanol, and anaerobic distilled water; then, an alkaline solution of low sulfite is added to the above aqueous alcoholic solution, which reduces the iron ions to nano-sized zero-valent iron and forms iron sulfide on the surface of the zero-valent iron, thus completing the preparation of sulfur-modified iron-based nanoparticles according to Example 1 of the authorized patent CN114192080B.

[0036] 2. Dissolved oxygen in purified water or plant extracts is removed by heating. The preparation method involves immersing plant leaves or peels in water at 80°C for extraction, followed by cooling and use as a solvent for iron-based nanomaterials. Plant extracts contain various functional compounds: phenolic compounds, tannins, alkaloids, ascorbic acid, polysaccharides, terpenes, and flavonoids. Such iron-based nanomaterials contribute to water environment remediation without increasing costs. The freshly prepared iron-based nanomaterials are then loaded into a biomimetic robot's intelligent dispensing module.

[0037] 3. The biomimetic robot containing the intelligent liquid agent delivery module was deployed on March 14th for routine monitoring and patrol of the experimental waters, delivering the agent at a rate of 200mL per day. It also assisted the biomimetic robot containing a nano-zero-valent iron recovery module in maintaining the balance of iron sand and other substances on the lakebed.

[0038] 4. After running for one month, read the values ​​of CODCr, NH3-N, TP, conductivity, turbidity (NTU), and chlorophyll from the online monitoring system, supplemented by manual sampling of heavy metals at irregular intervals.

[0039] Experimental data: Heavy metals were manually sampled (unit: μg / L).

[0040]

[0041] Online monitoring system data:

[0042] Experimental conclusion: Unlike traditional nitrogen, phosphorus, and organic pollutants, heavy metals are highly toxic, persistent, easily bioaccumulate, and non-biodegradable, posing serious threats to the ecological environment and human health even at trace concentrations. After deploying a biomimetic robot that intelligently delivers iron-based nanomaterials, 99% of Cu ions and 90% of As, Zn, and Ni ions were removed in a short period.

[0043] Iron-based materials with zero-valent iron (ZVI) as their main component are inexpensive, readily available, environmentally friendly, and abundant in resources. Due to their strong reducing properties and ease of operation, they are used to reduce nitrates in water bodies. In recent years, researchers have used ZVI as a matrix to enhance nitrogen and phosphorus removal in constructed wetlands. They have successfully enriched iron-related nitrate-reducing bacteria and autotrophic denitrifying bacteria within the wetland, thus strengthening the nitrogen removal process. Simultaneously, the formation of iron oxides such as FeOOH effectively improves the wetland matrix's phosphorus adsorption capacity. However, the complex internal environment of constructed wetlands, including temperature, pH, and dissolved oxygen, affects the transformation process of ZVI and the types of iron oxides generated, thereby impacting the nitrogen and phosphorus removal efficiency.

[0044] Experiments in the demonstration area have verified that the system can reduce algal biomass by an average of 58.3% per week (average chlorophyll 70.62 mg / L before administration → average 29.44 mg / L in the third week) and reduce the migration rate of heavy metals in sediments by 69% (taking Zn, the highest content, as an example, 97.87 μg / L → 30.237 μg / L after three weeks).

Claims

1. A floating biomimetic robot for ecological restoration that conforms to the environment of lakes and reservoirs, characterized in that, include: A biomimetic floating device includes a hollow buoyancy chamber located in the middle for housing the equipment and at least four multi-degree-of-freedom propulsion systems for driving movement. The buoyancy chamber and the multi-degree-of-freedom propulsion systems are sealed and connected by TPU flexible connectors. The multi-degree-of-freedom propulsion systems are distributed in a ring around the outer periphery of the buoyancy chamber. A multi-parameter water quality monitoring module is installed at the front of the buoyancy chamber, including a compartmentalized multi-in-one water quality sensor and a dual-spectrum camera gimbal. The compartmentalized multi-in-one water quality sensor is connected to the buoyancy chamber through a watertight connector. The image transmission and positioning navigation module, configured to provide centimeter-level positioning and real-time data transmission, is integrated on the top of the buoyancy cabin. It includes a Beidou RTK positioning module and a 4G / 5G image transmission module. The antenna of the Beidou RTK positioning module is higher than the upper surface of the buoyancy support layer. The pollutant treatment module includes a liquid agent intelligent dispensing unit located at the center of the bottom of the buoyancy chamber and a nano zero-valent iron recovery unit located at the center of the dispensing unit. The liquid agent intelligent dispensing unit is configured to accurately dispense nano zero-valent iron suspension according to water quality data, and its dispensing port is lower than the bottom surface of the buoyancy chamber. The nano zero-valent iron recovery unit is configured to recover the nanomaterials after the reaction through magnetic separation adsorption combined with hydraulic disturbance. The energy supply module includes solar photovoltaic panels covering the upper surface of the buoyancy chamber and lithium battery packs installed on the inner wall of the buoyancy chamber, configured for operational endurance; The central control unit is installed in a sealed compartment in the middle of the buoyancy chamber. It is electrically connected to each module via waterproof cables and is configured to receive multi-source data and generate repair strategies. The multi-degree-of-freedom propulsion system includes a float and six sets of vector thrusters. The float is shaped like a jellyfish and uses flexible materials and biomimetic design. Each set of thrusters is distributed in a ring at 60° intervals at the bottom of the float, and the thruster axis is inclined at an angle of 10° to 30° with the horizontal plane. The intelligent liquid drug delivery unit includes a syringe-type liquid storage tank, which is vertically installed at the bottom of the buoyancy chamber. Its piston rod is connected to the output shaft of a stepper motor through a sealed bearing. The stepper motor is fixed to the inner wall of the buoyancy chamber, and the stepper motor is controlled by a central control unit to achieve precise drug delivery. The nano-zero-valent iron recovery unit includes a permanent magnet array, an adjustable electromagnetic adsorption component, and a hydraulic stirrer. The permanent magnet array is ring-shaped and connected to the bottom of the buoyancy chamber via a cable. The adjustable electromagnetic adsorption component is located in the middle of the permanent magnet array and is used to control the adsorption force of the permanent magnet array to change linearly with the current. The hydraulic stirrer is installed inside the permanent magnet array and releases nanoparticles by agitating the sediment with stirring blades.

2. The floating ecological restoration biomimetic robot conforming to the lake / reservoir environment as described in claim 1, characterized in that, The multi-compartment water quality sensor has a cylindrical compartmentalized structure, with temperature sensor compartment, pH sensor compartment, turbidity sensor compartment, conductivity sensor compartment and dissolved oxygen sensor compartment arranged sequentially along the axial direction. Each sensor compartment is equipped with the corresponding sensor and is separated by a waterproof partition.

3. The floating ecological restoration biomimetic robot conforming to the lake / reservoir environment as described in claim 1, characterized in that, The central control unit incorporates an LSTM-Transformer pollution prediction model and an improved ant colony algorithm path planner, and integrates water quality data, location data, and image data in real time through a multi-source data fusion algorithm.

4. The floating ecological restoration biomimetic robot conforming to the lake / reservoir environment as described in claim 1, characterized in that, The solar photovoltaic panels cover the upper surface of the buoyancy chamber, the lithium battery pack is fixed to both sides of the inner wall of the buoyancy chamber by a bracket, and the outer shell of the biomimetic floating device is made of TPU flexible material and equipped with a biomimetic adhesion coating.

5. A floating ecological restoration method suitable for lake and reservoir environments, characterized in that, Using the bionic robot as described in any one of claims 1 to 4 includes the following steps: The bionic robot cruises using six sets of vector thrusters in a multi-degree-of-freedom propulsion system and collects water quality data using a multi-parameter water quality monitoring module at the front end. The multi-parameter water quality monitoring module collects water turbidity, ORP, pH value and image data in real time. When the pollutant concentration exceeds the preset threshold, the central control unit's repair program is triggered. The central control unit plans the repair path based on the LSTM-Transformer model and controls the intelligent liquid agent delivery unit to deliver nano-zero valent iron suspension vertically downwards; Two to four hours after the drug is administered, the central control unit activates the nano-zero-valent iron recovery unit. Through the combination of a permanent magnet array and an adjustable electromagnetic adsorption component, along with a micro hydraulic stirrer to disturb the sediment, the nano-zero-valent iron particles are recovered. During the repair process, data is transmitted back to the cloud platform in real time to dynamically adjust the concentration and recovery time.

6. The floating ecological restoration method conforming to the lake / reservoir environment as described in claim 5, characterized in that, The nano-zero valent iron suspension is placed at a depth of 1-3m and a concentration of 5-10g / m³. The placement depth is calibrated in real time using a pressure sensor, with a placement error of ≤±0.3m.

7. The floating ecological restoration method conforming to the lake / reservoir environment as described in claim 5, characterized in that, During the recovery process, the Beidou RTK positioning module calibrates the position in real time to control the recovery operation to cover a range of ±0.5m from the drug application area.

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