Underwater pollution source sniffing device based on sturgeon nasal cavity bionics

Abstract

The application discloses an underwater pollution source sniffing device based on sturgeon nasal cavity bionics. In view of the problems of high energy consumption, loud noise, dependence on manual operation, and difficulty in quickly and accurately identifying and positioning the pollution source of the traditional water quality monitoring technology, the passive sniffing device developed by the application integrates a sturgeon nasal cavity sniffing system, an underwater propulsion system and a rudder system. The sturgeon nasal cavity structure can optimize the flow field and efficiently capture the pollution source information in water; the underwater propulsion system is responsible for realizing the movement of the device, and the rudder system cooperates with the electric control system to realize accurate control of turning; the three cooperate to form a passive sampling design, which effectively reduces the energy consumption and noise. The design not only improves the efficiency and sensitivity of pollution source monitoring, but also guarantees the stable operation of the device, and provides a feasible solution for efficient monitoring and accurate positioning of underwater pollution sources.

Description

Technical Field

[0001] This invention belongs to the field of underwater environmental monitoring technology, and more specifically, this invention relates to an underwater pollution source sniffing device based on sturgeon nasal cavity biomimicry. Background Technology

[0002] Water pollution detection devices, as key equipment for safeguarding water resource security, play an irreplaceable role in preventing water pollution, protecting the ecological environment, responding to sudden environmental incidents, and promoting sustainable development. The accuracy of detection, the timeliness of response, and the energy efficiency of operation are particularly important, especially during sudden water pollution incidents, when it is necessary to quickly and accurately identify pollution sources and the types and concentrations of pollutants. However, traditional water quality monitoring technologies have limitations such as long monitoring cycles, high costs, and reliance on manual operation, making it difficult to meet the needs of rapid response. Specifically, traditional technologies suffer from high energy consumption, high noise levels, reliance on manual operation, and the inability to quickly and accurately identify and locate pollution sources. This invention addresses this issue by using a biomimetic integrated design based on the sturgeon's nasal cavity to achieve passive monitoring of water pollution, thereby reducing energy consumption and noise, and improving monitoring stability. This has significant scientific value and wide application potential. Therefore, developing a water pollution monitoring device that is structurally integrated, environmentally friendly, accurate, efficient, and easy to operate is of great importance. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that the existing technology has many problems such as high energy consumption, high noise, poor stability and complex structure, as well as the problem of how to quickly locate pollution sources. The present invention provides an underwater pollution source sniffing device based on sturgeon nasal cavity biomimicry.

[0004] An underwater pollution source sniffing device based on sturgeon nasal cavity biomimicry includes a cabin, a sturgeon nasal cavity sniffing system, an underwater propulsion system, and a rudder system;

[0005] The aforementioned cabin serves as the base of the entire device. The sturgeon-inspired nasal cavity sniffing system is located at the front of the cabin and is welded and fixed to the cabin via the cabin connection port. The underwater propulsion system is located at the rear of the cabin and is connected via a slot. The rudder system is located on both sides of the cabin and is connected via a slot.

[0006] The aforementioned cabin provides the equipment installation location and protection for the entire machine. The cabin includes a cover, clamps, an upper half of the cabin shell, a lower half of the cabin shell, and clamp fixing holes.

[0007] The hatch cover is located at the end of the hull. The hatch cover is a quarter spherical shape and works with a sturgeon head fixing plate to form a seal on the hull. It is welded to the lower half of the hull.

[0008] The clamp is located at the front end of the cabin and is used to enhance the connection strength between the upper and lower cabin shells. It is tightened to the cabin shell with bolts.

[0009] The upper half of the cabin is located at the top of the cabin and is the upper part of the structure that constitutes the enclosed space of the cabin. It is connected to the lower half of the cabin by bolts and includes the rudder rod hole, the lower cabin connection hole, the upper fairing, and the upper part of the shaft extension hole.

[0010] The rudder stock hole is located in the middle of the upper cabin and is used to position and install the rudder stock of the rudder system.

[0011] The lower hull connection holes are located on both sides of the tail of the upper hull and are used to connect the upper hull and the lower hull with bolts.

[0012] The upper fairing is located at the end of the upper half-hull and is integrally formed with the upper half-hull. It is used to protect the propeller blades and increase thrust.

[0013] The upper part of the shaft extension hole is located at the rear of the upper half of the cabin and is integrally formed with the upper half of the cabin. It is used to fix and protect the drive shaft.

[0014] The lower half of the cabin shell is located at the lower part of the cabin body and is the upper half of the structure that constitutes the enclosed space of the cabin body. It is fixed to the upper half of the cabin shell by bolts and includes a control box mounting slot, a servo motor mounting slot, a battery mounting slot, a motor mounting slot, the lower half of the shaft extension hole, a lower guide fairing, and an upper cabin body fixing hole.

[0015] The control box mounting slot is located inside the lower half of the cabin and is integrally formed with the lower half of the cabin. It is used to install the electrical control system.

[0016] The servo motor mounting slot is located inside the lower half of the cabin, at the rear end of the control box mounting slot, and is integrally formed with the lower half of the cabin. It is used to install the servo motor of the steering system.

[0017] The battery mounting slot is located inside the lower half of the shell, at the rear end of the servo motor mounting slot, and is integrally formed with the lower half of the shell for installing waterproof batteries.

[0018] The lower half of the shaft extension hole is located at the tail of the lower half of the cabin and is integrally formed with the lower half of the cabin to support and protect the drive shaft.

[0019] The lower fairing is located at the tail of the lower half-hull and is integrally formed with the lower half-hull. It works in conjunction with the upper fairing to protect the propeller blades and increase thrust.

[0020] The upper hull fixing holes are located on both sides of the tail of the lower half hull and are used to fix the upper half hull with bolts.

[0021] The clamp fixing holes are located on both sides of the clamp and are used to fix the clamp with bolts;

[0022] The sturgeon-like nasal cavity sniffing system includes a sturgeon-like head component and two sturgeon-like nasal cavity chambers;

[0023] The sturgeon-like head component is connected to the front end of the upper half of the cabin by welding, and includes two sturgeon-like nasal cavity chamber fixing frames, a sturgeon-like head fixing plate, and a sturgeon-like head drainage plate.

[0024] The sturgeon-like nasal cavity chamber fixing frame is located at the end of the sturgeon-like head component and is welded to the sturgeon-like head drainage plate of the sturgeon-like head component, including an inlet fixing ring and a detection plate fixing plate;

[0025] The inlet fixing ring is located at the front end of the imitation sturgeon nasal cavity chamber fixing frame and is welded to the outlet of the imitation sturgeon nasal cavity chamber;

[0026] The detection plate fixing plate is located at the end of the imitation sturgeon nasal cavity chamber fixing frame and is welded to the imitation sturgeon nasal cavity chamber detection plate of the imitation sturgeon nasal cavity chamber;

[0027] The sturgeon head fixing plate is located at the front end of the upper half of the cabin and is welded to the upper half of the cabin. It includes a cabin connection port and a sturgeon head diversion plate mounting groove.

[0028] The aforementioned cabin connection port is located at the tail of the imitation sturgeon head fixing plate and is used to connect the imitation sturgeon head fixing plate to the upper cabin shell.

[0029] The simulated sturgeon head drainage plate mounting groove is located in the center of the simulated sturgeon head fixing plate and is used to install the simulated sturgeon head drainage plate.

[0030] The sturgeon head drainage plate is located in the sturgeon head component and is welded into the sturgeon head drainage plate mounting groove. Referring to the fluid dynamics characteristics of the biomimetic sturgeon head, the main body is at a 40-degree angle, which can effectively guide the direction of fluid flow, including the drainage channel.

[0031] The drainage channel is located inside the drainage plate in the head of the sturgeon and is integrally formed with the drainage plate. It is used to guide the fluid to flow into the nasal cavity of the sturgeon.

[0032] The simulated sturgeon nasal cavity chambers are distributed with reference to the head structure of a sturgeon, symmetrically distributed on both sides of the simulated sturgeon nasal cavity olfaction system, and welded and fixed to the simulated sturgeon nasal cavity chamber fixing frame, including the simulated sturgeon nasal cavity chamber shell and the simulated sturgeon nasal cavity chamber detection plate.

[0033] The outer shell of the simulated sturgeon nasal cavity chamber is modeled after the structure of a sturgeon nasal cavity, with a length of 140mm to 150mm and a wall thickness of 8 to 10mm. It is welded to the simulated sturgeon nasal cavity chamber fixing frame and includes a simulated sturgeon nasal cavity chamber detection plate mounting port, a water outlet, and a water inlet.

[0034] The mounting port of the simulated sturgeon nasal cavity chamber detection plate is located at the bottom of the shell of the simulated sturgeon nasal cavity chamber, with a diameter of 50-60mm, and is used to install the simulated sturgeon nasal cavity chamber detection plate;

[0035] The outlet is located on the side of the outer shell of the sturgeon nasal cavity chamber, with a diameter of 60-70mm. It is used to reduce the flow velocity, convert the fluid kinetic energy into pressure energy, effectively stabilize the flow field, and reduce equipment vibration.

[0036] The water inlet is located at the front end of the outer shell of the nasal cavity of the sturgeon, with a diameter of 30-40mm, and is used to increase the fluid velocity and improve the detection plate's efficiency in capturing target signals.

[0037] The simulated sturgeon nasal cavity chamber detection plate is modeled after the olfactory plate and olfactory fold structure in the sturgeon nasal cavity. It is located inside the simulated sturgeon nasal cavity chamber and is welded to the installation port of the simulated sturgeon nasal cavity chamber detection plate. The tail end is welded to the detection plate fixing plate. It includes a simulated sturgeon nasal plate boss, a detection channel, and 8 sensor installation ports.

[0038] The protrusion of the simulated sturgeon nasal cavity olfactory plate is located at the front end of the simulated sturgeon nasal cavity chamber detection plate. It is used to guide the water flow to form a vortex, prolong the residence time of the fluid in the simulated sturgeon nasal cavity chamber detection plate, and at the same time avoid signal dispersion caused by turbulence, so that the signal can be perceived more accurately.

[0039] The detection channel is located behind the olfactory plate protrusion of the sturgeon nasal cavity and is connected to the sensor mounting port. It is integrally formed with the olfactory plate protrusion of the sturgeon nasal cavity and is used to guide the water flow to contact the sensor and increase the contact area.

[0040] The sensor mounting port is located on the sturgeon-like nasal cavity detection plate and is used to install various sensing devices.

[0041] The underwater propulsion system includes propeller blades, blade bushings, drive shaft, motor output shaft, waterproof propulsion motor, and waterproof battery.

[0042] The propulsion blades are located at the end of the underwater propulsion system and are welded to the drive shaft. They generate thrust by rotating and pushing the fluid.

[0043] The blade bushing is used to connect the blades and the drive shaft to transmit torque;

[0044] The drive shaft and the motor output shaft are connected by a sleeve coupling to transmit rotational power;

[0045] The motor output shaft is located at the power output end of the motor and is used to output power;

[0046] The waterproof propulsion motor is located in the motor mounting slot and welded to the lower half of the cabin shell to provide rotational power;

[0047] The waterproof battery is located in the battery mounting slot and provides power for the movement and operation of the entire machine;

[0048] The aforementioned rudder system is used to control the heading and attitude of the entire aircraft, and includes a rudder propeller, a rudder system servo motor, and an electronic control system.

[0049] The rudder propellers are located on both sides of the cabin and are welded to the output shaft of the servo motor of the servo motor system. By deflecting around the shaft, they change the direction of the water flow and use the reaction force of the fluid to generate lateral thrust, which directly drives the whole machine to turn and adjust its attitude, including the rudder stick and rudder plate.

[0050] The rudder stick is welded to the output shaft of the rudder system servo motor to transmit rotational power;

[0051] The rudder plate is located at the end of the rudder system and is welded to the rudder stock to change the direction of water flow.

[0052] The servo motor of the rudder system is located in the servo motor mounting slot and is welded to the lower half shell. It is used to convert electrical energy into precise swing power to drive the rudder propeller to deflect at the command angle. It includes the servo motor output shaft and the servo motor mounting buckle.

[0053] The output shaft of the servo motor of the rudder system is located at the power output end of the servo motor of the rudder system and is used to output power;

[0054] The mounting clip for the servo motor of the steering system is located at the bottom of the servo motor and is welded to the mounting slot of the servo motor.

[0055] The electrical control system is located in the control box mounting slot and welded to the lower half of the cabin shell. It is used to receive external commands and output precise control signals, including the electrical control box, signal receiver, and microcontroller.

[0056] The electrical control box is located in the control box mounting slot and is welded to the lower half of the cabin shell. It is used to provide installation positions for components and protect the components.

[0057] The signal receiver is located inside the electrical control box and is used to receive signals;

[0058] The microcontroller, model MSP430F149(TI), is located inside the electrical control box and is used to process signals and output them accurately.

[0059] Compared with the prior art, the beneficial effects of the present invention are:

[0060] 1. A new type of water source protection technology that increases the efficiency and sensitivity of pollution source capture.

[0061] 2. It has intelligent navigation and path planning and tracking technologies.

[0062] 3. Passive design reduces energy consumption and noise, and improves monitoring stability.

[0063] 4. The sturgeon-inspired nasal cavity olfaction system optimizes the ability to capture pollutants (odor molecules) in water through biomimetic design.

[0064] 5. The integrated structure makes more efficient use of space and is more conducive to the underwater environment.

[0065] 6. This machine features a modular design, making maintenance and expansion more convenient. Attached Figure Description

[0066] Figure 1 This is the assembly isometric drawing of the present invention;

[0067] Figure 2 This is a bottom-view axonometric view of the assembly of the present invention;

[0068] Figure 3 This is an isometric view of the cabin of the present invention;

[0069] Figure 4 This is an isometric view of the upper half of the hull of the present invention;

[0070] Figure 5 This is an isometric view of the lower half of the hull of the present invention;

[0071] Figure 6 This is an isometric view of the sturgeon-inspired nasal cavity olfaction system of the present invention;

[0072] Figure 7 This is an isometric view of the sturgeon-like head component of the present invention;

[0073] Figure 8 This is an isometric view of the sturgeon-like nasal cavity fixation frame of the present invention;

[0074] Figure 9 This is an isometric view of the sturgeon-shaped head fixing plate of the present invention;

[0075] Figure 10 This is an isometric view of the sturgeon-shaped head drainage plate of the present invention;

[0076] Figure 11 This is an axonometric view of the sturgeon-like nasal cavity chamber of the present invention;

[0077] Figure 12 This is an isometric view of the outer shell of the sturgeon-like nasal cavity chamber of the present invention;

[0078] Figure 13 This is an isometric view of the sturgeon-inspired nasal cavity detection plate of the present invention;

[0079] Figure 14 This is an exploded view of the underwater propulsion system of the present invention;

[0080] Figure 15 This is an isometric view of the rudder system of the present invention;

[0081] Figure 16 This is an isometric view of the propeller of the present invention;

[0082] Figure 17 This is an isometric view of the servo motor of the steering system of the present invention;

[0083] Figure 18 This is an isometric view of the electronic control system of the present invention;

[0084] In the diagram: A. Hull; B. Sturgeon-like nasal cavity sniffing system; C. Underwater propulsion system; D. Rudder system; 1. Hatch cover; 2. Clamp; 3. Upper hull; 4. Lower hull; 5. Clamp fixing hole; 6. Rudder post hole; 7. Lower hull connection hole; 8. Upper fairing; 9. Upper part of shaft extension hole; 10. Control box mounting slot; 11. Servo motor mounting slot; 12. Battery mounting slot; 13. Motor mounting slot; 14. Lower part of shaft extension hole; 15. Lower fairing; 16. Upper hull fixing hole; 17. Sturgeon-like head component; 18. Sturgeon-like nasal cavity chamber; 19. Sturgeon-like nasal cavity chamber fixing bracket; 20. Sturgeon-like head fixing plate; 21. Sturgeon-like head diversion plate; 22. Inlet fixing ring; 23. Detection plate fixing plate; 24. Hull connection port 25. Sturgeon head drainage plate mounting slot; 26. Drainage channel; 27. Sturgeon nasal cavity chamber shell; 28. Sturgeon nasal cavity chamber detection plate; 29. ​​Sturgeon nasal cavity chamber detection plate mounting port; 30. Outlet; 31. Inlet; 32. Sturgeon nasal cavity olfactory plate boss; 33. Detection channel; 34. Sensor mounting port; 35. Propeller blade; 36. Blade bushing; 37. Drive shaft; 38. Motor output shaft; 39. Waterproof propulsion motor; 40. Waterproof battery; 41. Rudder propeller; 42. Rudder system servo motor; 43. Electronic control system; 44. Rudder stock; 45. Rudder plate; 46. Rudder system servo motor output shaft; 47. Rudder system servo motor mounting clip; 48. Electronic control box; 49. Signal receiver; 50. Microcontroller. Detailed Implementation

[0085] See Figures 1 to 2 A biomimetic underwater pollution source detection device based on sturgeon nasal cavity includes a cabin (A), a sturgeon nasal cavity detection system (B), an underwater propulsion system (C), and a rudder system (D).

[0086] The cabin (A) is the base of the entire device. The sturgeon-like nasal cavity sniffing system (B) is located at the front end of the cabin (A) and is welded and fixed to the cabin (A) through the cabin connection port (24). The underwater propulsion system (C) is located at the tail end of the cabin (A) and is connected through a slot. The rudder system (D) is located on both sides of the cabin (A) and is connected through a slot.

[0087] See Figures 3 to 5The cabin (A) provides the equipment installation position and protection for the whole machine. The cabin (A) includes a cover (1), a clamp (2), an upper half of the cabin shell (3), a lower half of the cabin shell (4), and clamp fixing holes (5).

[0088] The hatch cover (1) is located at the end of the cabin (A). The hatch cover (1) is 1 / 4 spherical and, together with the sturgeon head fixing plate (20), forms a seal for the cabin (A) and is welded to the lower half of the cabin shell (4).

[0089] The clamp (2) is located at the front end of the cabin (A) and is used to enhance the connection strength between the upper half of the cabin shell (3) and the lower half of the cabin shell (4). It is connected to the cabin (A) by bolts.

[0090] The upper half of the cabin (3) is located at the upper part of the cabin (A) and is the upper half of the structure that constitutes the enclosed space of the cabin (A). It is connected to the lower half of the cabin (4) by bolts and includes a rudder rod hole (6), a lower cabin connection hole (7), an upper fairing (8), and the upper half of the shaft extension hole (9).

[0091] The rudder stock hole (6) is located in the middle of the upper half of the cabin (3) and is used to position the rudder stock (44) for mounting the rudder system (D);

[0092] The lower hull connecting holes (7) are located on both sides of the tail of the upper half hull (3) and are used to connect the upper half hull (3) and the lower half hull (4) with bolts.

[0093] The upper fairing (8) is located at the end of the upper half-hull (3) and is integrally formed with the upper half-hull (3) to protect the propeller blades (35) and increase thrust;

[0094] The upper half (9) of the shaft extension hole is located at the rear of the upper half of the cabin (3) and is integrally formed with the upper half of the cabin (3) to fix and protect the drive transmission shaft (37).

[0095] The lower half of the cabin shell (4) is located at the lower part of the cabin body (A) and is the upper half of the structure that constitutes the enclosed space of the cabin body (A). It is fixed to the upper half of the cabin shell (3) by bolts and includes a control box mounting slot (10), a servo motor mounting slot (11), a battery mounting slot (12), a motor mounting slot (13), a lower half of the shaft extension hole (14), a lower fairing (15), and an upper cabin fixing hole (16).

[0096] The control box mounting slot (10) is located inside the lower half-shell (4) and is integrally formed with the lower half-shell (4) for installing the electrical control system (43);

[0097] The servo motor mounting slot (11) is located inside the lower half-shell (4) and at the rear end of the control box mounting slot (10). It is integrally formed with the lower half-shell (4) and is used to install the servo motor (42) of the steering system.

[0098] The battery mounting slot (12) is located inside the lower half-shell (4) and at the rear end of the servo motor mounting slot (11), and is integrally formed with the lower half-shell (4) for installing a waterproof battery (40).

[0099] The lower half (14) of the shaft extension hole is located at the tail of the lower half shell (4) and is integrally formed with the lower half shell (4) to support and protect the drive transmission shaft (37).

[0100] The lower fairing (15) is located at the tail of the lower half-hull (4), is integrally formed with the lower half-hull (4), and cooperates with the upper fairing (8) to protect the propeller blades (35) and increase thrust;

[0101] The upper hull fixing holes (16) are located on both sides of the tail of the lower half hull (4) and are used to fix the upper half hull (3) with bolts;

[0102] The clamp fixing holes (5) are located on both sides of the clamp (2) and are used to fix the clamp (2) with bolts;

[0103] See Figures 6 to 13 The sturgeon-like nasal cavity sniffing system (B) includes a sturgeon-like head component (17) and two sturgeon-like nasal cavity chambers (18);

[0104] The sturgeon head component (17) is connected to the front end of the upper half shell (3) by welding, including two sturgeon nasal cavity fixing brackets (19), a sturgeon head fixing plate (20), and a sturgeon head drainage plate (21);

[0105] The sturgeon nasal cavity fixing frame (19) is located at the end of the sturgeon head component (17) and is welded to the sturgeon head drainage plate (21) of the sturgeon head component (17). It includes an inlet fixing ring (22) and a detection plate fixing plate (23).

[0106] The inlet fixing ring (22) is located at the front end of the imitation sturgeon nasal cavity chamber fixing frame (19) and is welded to the outlet (30) of the imitation sturgeon nasal cavity chamber (18);

[0107] The detection plate fixing plate (23) is located at the end of the imitation sturgeon nasal cavity chamber fixing frame (19) and is welded to the imitation sturgeon nasal cavity chamber detection plate (28) of the imitation sturgeon nasal cavity chamber (18);

[0108] The sturgeon head fixing plate (20) is located at the front end of the upper half shell (3) and is welded to the upper half shell (3), including the cabin connection port (24) and the sturgeon head diversion plate mounting groove (25);

[0109] The cabin connection port (24) is located at the tail of the imitation sturgeon head fixing plate (20) and is used to connect the imitation sturgeon head fixing plate (20) and the upper cabin shell (3);

[0110] The simulated sturgeon head drainage plate mounting groove (25) is located in the center of the simulated sturgeon head fixing plate (20) and is used to install the simulated sturgeon head drainage plate (21);

[0111] The sturgeon head drainage plate (21) is located in the sturgeon head component (17) and is welded to the sturgeon head drainage plate mounting groove (25). Referring to the fluid dynamics characteristics of the biomimetic sturgeon head, the main body is at a 40-degree angle, which can effectively guide the direction of fluid flow, including the drainage channel (26).

[0112] The drainage channel (26) is located inside the head drainage plate (21) of the imitation sturgeon and is integrally formed with the head drainage plate (21) of the imitation sturgeon. It is used to guide the fluid to flow into the nasal cavity (18) of the imitation sturgeon.

[0113] The simulated sturgeon nasal cavity chamber (18) is distributed in a position that references the head structure of a sturgeon, and is symmetrically distributed on both sides of the simulated sturgeon nasal cavity sniffing system (B). It is welded and fixed to the simulated sturgeon nasal cavity chamber fixing frame (19), including the simulated sturgeon nasal cavity chamber shell (27) and the simulated sturgeon nasal cavity chamber detection plate (28).

[0114] The outer shell (27) of the simulated sturgeon nasal cavity is modeled after the structure of the sturgeon nasal cavity, with a length of 140mm to 150mm and a wall thickness of 8 to 10mm. It is welded to the simulated sturgeon nasal cavity fixing frame (19) and includes the simulated sturgeon nasal cavity detection plate mounting port (29), the water outlet (30), and the water inlet (31).

[0115] The simulated sturgeon nasal cavity chamber detection plate mounting port (29) is located at the bottom of the simulated sturgeon nasal cavity chamber shell (27), with a diameter of 50-60mm, and is used to install the simulated sturgeon nasal cavity chamber detection plate (28);

[0116] The outlet (30) is located on the side of the outer shell (27) of the nasal cavity of the sturgeon, with a diameter of 60-70 mm. It is used to reduce the flow velocity, convert the fluid kinetic energy into pressure energy, effectively stabilize the flow field, and reduce equipment vibration.

[0117] The inlet (31) is located at the front end of the outer shell (27) of the nasal cavity of the sturgeon, with a diameter of 30-40 mm, and is used to increase the fluid velocity and improve the detection plate's efficiency in capturing target signals.

[0118] The simulated sturgeon nasal cavity chamber detection plate (28) is modeled after the olfactory plate and olfactory fold structure in the sturgeon nasal cavity. It is located inside the simulated sturgeon nasal cavity chamber (18) and welded to the simulated sturgeon nasal cavity chamber detection plate mounting port (29). Its tail end is welded to the detection plate fixing plate (23). It includes a simulated sturgeon nasal cavity olfactory plate boss (32), a detection channel (33), and 8 sensor mounting ports (34).

[0119] The sturgeon-like nasal cavity olfactory plate protrusion (32) is located at the front end of the sturgeon-like nasal cavity chamber detection plate (28). It is used to guide the water flow to form a vortex, prolong the residence time of the fluid in the sturgeon-like nasal cavity chamber detection plate (28), and at the same time avoid signal dispersion caused by turbulence, so that the signal can be perceived more accurately.

[0120] The detection channel (33) is located behind the olfactory plate protrusion (32) of the sturgeon nasal cavity and is connected to the sensor mounting port (34). It is integrally formed with the olfactory plate protrusion (32) of the sturgeon nasal cavity and is used to guide the water flow to contact the sensor and increase the contact area.

[0121] The sensor mounting port (34) is located at the bottom of the sturgeon nasal cavity detection plate (28) and is used to install various sensing devices;

[0122] See Figure 14 The underwater propulsion system (C) includes a propulsion blade (35), a blade bushing (36), a drive shaft (37), a motor output shaft (38), a waterproof propulsion motor (39), and a waterproof battery (40).

[0123] The propulsion blade (35) is located at the end of the underwater propulsion system (C) and is welded to the drive shaft (37). It generates thrust by rotating and pushing the fluid.

[0124] The blade bushing (36) is used to connect the propulsion blade (35) and the drive shaft (37) to transmit torque;

[0125] The drive shaft (37) is connected to the motor output shaft (38) via a sleeve coupling to transmit rotational power;

[0126] The motor output shaft (38) is located at the power output end of the waterproof propulsion motor (39) and is used to output power;

[0127] The waterproof propulsion motor (39) is located in the motor mounting slot (13) and welded to the lower half-hull (4) to provide rotational power;

[0128] The waterproof battery (40) is located in the battery mounting slot (12) and provides power for the movement and operation of the whole machine;

[0129] See Figures 15 to 18The rudder system (D) is used to control the heading and attitude of the entire machine, including the rudder propeller (41), the rudder system servo motor (42), and the electronic control system (43).

[0130] The rudder propeller (41) is located on both sides of the cabin (A) and is welded to the output shaft (46) of the rudder system servo motor (42). By deflecting around the shaft, it changes the direction of the water flow and generates lateral thrust by using the reaction force of the fluid, which directly drives the whole machine to turn and adjust its attitude, including the rudder stick (44) and the rudder plate (45).

[0131] The rudder stick (44) is welded to the rudder system servo motor output shaft (46) of the rudder system servo motor (42) to transmit rotational power;

[0132] The rudder plate (45) is located at the end of the rudder system (B) and is welded to the rudder stock (44) to change the direction of the water flow;

[0133] The servo motor (42) of the rudder system is located in the servo motor mounting slot (11) and welded to the lower half shell (4). It is used to convert electrical energy into precise swing power to drive the rudder propeller (41) to deflect at the command angle. It includes the servo motor output shaft (46) and the servo motor mounting buckle (47).

[0134] The output shaft (46) of the servo motor of the rudder system is located at the power output end of the servo motor (42) of the rudder system and is used to output power;

[0135] The servo motor mounting clip (47) of the servo system is located at the bottom of the servo motor (42) of the servo system and is welded to the servo motor mounting slot (11);

[0136] The electrical control system (43) is located in the control box mounting slot (10) and welded to the lower half shell (4). It is used to receive external commands and output precise control signals, including the electrical control box (48), signal receiver (49), and microcontroller (50).

[0137] The electrical control box (48) is located in the control box mounting slot (10) and welded to the lower half shell (4) to provide installation positions for components and protect components;

[0138] The signal receiver (49) is located inside the electrical control box (48) and is used to receive signals;

[0139] The microcontroller (50), model MSP430F149(TI), is located in the electrical control box (48) and is used to process signals and output them accurately;

[0140] Working principle of the invention:

[0141] See Figures 1 to 2 The working principle of an underwater pollution source sniffing device based on sturgeon nasal cavity biomimicry is as follows. The underwater propulsion system (C) starts working by the waterproof propulsion motor (39) powered by the waterproof battery (40) after the signal is sent by the electronic control system (43). The motor output shaft (38) and the drive transmission shaft (37) cooperate to convert power into torque, which is transmitted to the propulsion blade (35) through the blade bushing (36). The propulsion blade (35) generates thrust by rotating and pushing the fluid, which drives the whole machine to start moving. At the same time, the rudder system servo motor (42) of the rudder system (B) starts working by the power of the waterproof battery (40), controls the rudder plate (45) to deflect around the axis, changes the direction of water flow, and uses the reaction force of the fluid to generate lateral thrust (or torque), which directly drives the whole machine to turn and adjust its attitude. As the entire machine moves, the simulated sturgeon nasal cavity sniffing system (B) passively divides the water flow. The water flow enters the simulated sturgeon nasal cavity chamber (18) from the inlet (31) through the drainage channel (26) on the simulated sturgeon head drainage plate (21). The simulated sturgeon nasal cavity chamber detection plate (28) guides the water flow to form a vortex, prolonging the residence time of the fluid in the detection area, while avoiding signal dispersion caused by turbulence, so that the signal can be perceived more accurately. Finally, the water flow completes the detection from the outlet (30).

[0142] See Figures 3 to 18The assembly and disassembly principles of the hull (A), sturgeon-like nasal cavity sniffing system (B), underwater propulsion system (C), and rudder system (D) of this machine are as follows. The hull (A) consists of a hatch cover (1), a clamp (2), an upper half-hull (3), and a lower half-hull (4). The hatch cover (1) is welded to the front end of the lower half-hull (4). The front end of the upper half-hull (3) and the lower half-hull (4) are tightly connected by the clamp (2), and the rear end is connected by bolts. The sturgeon-like nasal cavity sniffing system (B) consists of a sturgeon-like head component (17) and a sturgeon-like nasal cavity chamber (18). The sturgeon head component (17) is welded to the front end of the upper half of the cabin (3) and the hatch cover (1) through the cabin connection port (24); the sturgeon nasal cavity (18) is fixed in the sturgeon nasal cavity fixing frame (19) of the sturgeon head component (17) by welding, so that water can be better guided into the sturgeon nasal cavity (18). The underwater propulsion system (C) is installed inside the hull (A) and welded to the battery mounting slot (12), motor mounting slot (13), lower fairing (15) of the lower half-hull (4) and the upper fairing (8) of the upper half-hull (3). It consists of propulsion blades (35), blade bushings (36), drive shaft (37), motor output shaft (38), waterproof propulsion motor (39), and waterproof battery (40). The waterproof battery (40) supplies power to the waterproof propulsion motor (39), which drives the motor output shaft (38) to rotate. The drive shaft (37) and blade bushings (36) cause the propulsion blades (35) to rotate, and the blades push water to propel the device forward. The rudder system (D) is installed inside the cabin (A) and connected to the control box mounting slot (10) and servo motor mounting slot (11) of the lower half-hull (4) and the rudder rod hole (6) of the upper half-hull (3). It consists of a rudder propeller (41), a rudder system servo motor (42), and an electronic control system (43). The rudder propeller (41) is welded to the rudder system servo motor (42). After receiving the steering signal, the electronic control system (43) sends a command to the rudder system servo motor (42). The rudder system servo motor (42) rotates and drives the rudder plate (45) to swing. By changing the direction of the water flow, a lateral force is generated to achieve the steering of the device.

Claims

1. An underwater pollution source sniffing device based on sturgeon nasal cavity biomimicry, characterized in that, It includes the hull (A), a sturgeon-like nasal cavity sniffing system (B), an underwater propulsion system (C), and a rudder system (D); The cabin (A) is the base of the entire device. The sturgeon-like nasal cavity sniffing system (B) is located at the front end of the cabin (A) and is welded and fixed to the cabin (A) through the cabin connection port (24). The underwater propulsion system (C) is located at the tail of the cabin (A) and is connected through a slot. The rudder system (D) is located on both sides of the cabin (A) and is connected through a slot. The aforementioned cabin (A) provides the equipment installation location and protection for the whole machine. The cabin (A) includes a cover (1), a clamp (2), an upper half of the cabin shell (3), a lower half of the cabin shell (4), and clamp fixing holes (5). The hatch cover (1) is located at the end of the cabin (A). The hatch cover (1) is 1 / 4 spherical and, together with the sturgeon head fixing plate (20), forms a seal for the cabin (A) and is welded to the lower half of the cabin shell (4). The clamp (2) is located at the front end of the cabin (A) and is used to enhance the connection strength between the upper half of the cabin shell (3) and the lower half of the cabin shell (4). It is connected to the cabin (A) by bolts. The sturgeon-like nasal cavity sniffing system (B) includes a sturgeon-like head component (17) and two sturgeon-like nasal cavity chambers (18); The sturgeon head component (17) is connected to the front end of the upper half shell (3) by welding, including two sturgeon nasal cavity fixing brackets (19), a sturgeon head fixing plate (20), and a sturgeon head drainage plate (21); The simulated sturgeon nasal cavity chamber (18) is distributed in a position that references the head structure of a sturgeon, and is symmetrically distributed on both sides of the simulated sturgeon nasal cavity sniffing system (B). It is welded and fixed to the simulated sturgeon nasal cavity chamber fixing frame (19), including the simulated sturgeon nasal cavity chamber shell (27) and the simulated sturgeon nasal cavity chamber detection plate (28). The outer shell (27) of the simulated sturgeon nasal cavity is modeled after the structure of the sturgeon nasal cavity, with a length of 140mm to 150mm and a wall thickness of 8 to 10mm. It is welded to the simulated sturgeon nasal cavity fixing frame (19) and includes the simulated sturgeon nasal cavity detection plate mounting port (29), the water outlet (30), and the water inlet (31). The mounting port (29) of the simulated sturgeon nasal cavity chamber detection plate is located at the bottom of the simulated sturgeon nasal cavity chamber shell (27) and has a diameter of 50-60 mm; The water outlet (30) is located on the side of the outer shell (27) of the nasal cavity of the sturgeon, and has a diameter of 60-70 mm; The water inlet (31) is located at the front end of the outer shell (27) of the nasal cavity of the sturgeon, and has a diameter of 30-40 mm; The simulated sturgeon nasal cavity chamber detection plate (28) is modeled after the olfactory plate and olfactory fold structure in the sturgeon nasal cavity. It is located inside the simulated sturgeon nasal cavity chamber (18) and welded to the simulated sturgeon nasal cavity chamber detection plate mounting port (29). Its tail end is welded to the detection plate fixing plate (23). It includes a simulated sturgeon nasal cavity olfactory plate boss (32), a detection channel (33), and 8 sensor mounting ports (34). The protrusion (32) of the olfactory plate of the imitation sturgeon nasal cavity is located at the front end of the olfactory plate (28) of the imitation sturgeon nasal cavity. The detection channel (33) is located behind the olfactory plate protrusion (32) of the sturgeon nasal cavity and is connected to the sensor mounting port (34), and is integrally formed with the olfactory plate protrusion (32) of the sturgeon nasal cavity. The sensor mounting port (34) is located at the bottom of the sturgeon nasal cavity detection plate (28).

2. The cabin (A) according to claim 1, characterized in that, The upper half of the cabin (3) is located at the upper part of the cabin (A) and is the upper half of the structure that constitutes the enclosed space of the cabin (A). It is connected to the lower half of the cabin (4) by bolts and includes a rudder rod hole (6), a lower cabin connection hole (7), an upper fairing (8), and the upper half of the shaft extension hole (9). The rudder stock hole (6) is located in the middle of the upper half of the cabin (3) and is used to position the rudder stock (44) for mounting the rudder system (D); The lower hull connection hole (7) is located on both sides of the tail of the upper hull (3); The upper fairing (8) is located at the end of the upper half-shell (3) and is integrally formed with the upper half-shell (3); The upper half (9) of the shaft extension hole is located at the tail of the upper half of the cabin (3) and is integrally formed with the upper half of the cabin (3).

3. The cabin (A) according to claim 1, characterized in that, The lower half of the cabin shell (4) is located at the lower part of the cabin body (A) and is the upper half of the structure that constitutes the enclosed space of the cabin body (A). It is fixed to the upper half of the cabin shell (3) by bolts and includes a control box mounting slot (10), a servo motor mounting slot (11), a battery mounting slot (12), a motor mounting slot (13), a lower half of the shaft extension hole (14), a lower fairing (15), and an upper cabin fixing hole (16). The control box mounting slot (10) is located inside the lower half-shell (4) and is integrally formed with the lower half-shell (4); The servo motor mounting slot (11) is located inside the lower half-shell (4) and at the rear end of the control box mounting slot (10), and is integrally formed with the lower half-shell (4); The battery mounting slot (12) is located inside the lower half-shell (4) and at the rear end of the servo motor mounting slot (11), and is integrally formed with the lower half-shell (4); The lower half (14) of the shaft extension hole is located at the tail of the lower half of the cabin (4) and is integrally formed with the lower half of the cabin (4); The lower fairing (15) is located at the tail of the lower half-hull (4), is integrally formed with the lower half-hull (4), and cooperates with the upper fairing (8); The upper hull fixing holes (16) are located on both sides of the tail of the lower half-hull (4); The clamp fixing holes (5) are located on both sides of the clamp (2) and are used to fix the clamp (2) with bolts.

4. The underwater pollution source sniffing device based on sturgeon nasal cavity biomimicry according to claim 1, characterized in that, The underwater propulsion system (C) includes a propulsion blade (35), a blade bushing (36), a drive shaft (37), a motor output shaft (38), a waterproof propulsion motor (39), and a waterproof battery (40). The propulsion blade (35) is located at the end of the underwater propulsion system (C); The blade bushing (36) is welded to the connecting propeller blade (35) and the drive shaft (37); The drive shaft (37) and the motor output shaft (38) are connected by a sleeve coupling; The motor output shaft (38) is located at the power output end of the waterproof propulsion motor (39); The waterproof propulsion motor (39) is located in the motor mounting slot (13) and is welded to the lower half-hull (4); The waterproof battery (40) is located in the battery mounting slot (12).

5. The underwater pollution source sniffing device based on sturgeon nasal cavity biomimicry according to claim 1, characterized in that, The rudder system (D) includes a rudder propeller (41), a rudder system servo motor (42), and an electronic control system (43); The rudder propeller (41) is located on both sides of the cabin (A) and is welded to the output shaft (46) of the rudder system servo motor (42). By deflecting around the shaft, it changes the direction of the water flow and generates lateral thrust by using the reaction force of the fluid, which directly drives the whole machine to turn and adjust its attitude, including the rudder stick (44) and the rudder plate (45). The rudder stick (44) is welded to the rudder system servo motor output shaft (46) of the rudder system servo motor (42) to transmit rotational power; The rudder plate (45) is located at the end of the rudder system (D) and is welded to the rudder stock (44) to change the direction of the water flow; The servo motor (42) of the rudder system is located in the servo motor mounting slot (11) and welded to the lower half shell (4). It is used to convert electrical energy into precise swing power to drive the rudder propeller (41) to deflect at the command angle. It includes the servo motor output shaft (46) and the servo motor mounting buckle (47). The output shaft (46) of the servo motor of the rudder system is located at the power output end of the servo motor (42) of the rudder system and is used to output power; The servo motor mounting clip (47) of the servo system is located at the bottom of the servo motor (42) of the servo system and is welded to the servo motor mounting slot (11); The electrical control system (43) is located in the control box mounting slot (10) and welded to the lower half shell (4), including the electrical control box (48), signal receiver (49), and microcontroller (50); The electrical control box (48) is located in the control box mounting slot (10) and is welded to the lower half-hull (4); The signal receiver (49) is installed inside the electrical control box (48); The microcontroller (50) is installed in the electrical control box (48) and is model MSP430F149(TI).

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