Bionic rotifer predation wheel disc type composite underwater target object collecting device and method

Abstract

The present application relates to a kind of bionic rotifer predation wheel disc type composite underwater target collection device and method, collection device includes underwater robot and bionic collection head, underwater robot is provided with high-definition camera, forward-looking sonar, adjustable high-intensity light LED underwater illuminating lamp and seabed in-situ metal measuring sensor;Bionic collection head is provided with bionic drum wheel and conveying pipeline;Conveying pipeline is set to venturi tube type conveying structure, the surface of bionic drum wheel is provided with bionic protruding structure;Bionic drum wheel is coaxially connected with the rotating output shaft of waterproof driving motor respectively, waterproof driving motor drives the relative rotation and vibration of bionic drum wheel on the both sides of conveying pipeline;It can reduce the disturbance to seabed sediment layer and the influence on seabed ecological environment, so that collection mechanical component is not easy to be damaged in operation, improve service life, safety and accuracy;Reduce the disturbance of seabed ocean current, accurately control collection path;Reduce energy consumption and avoid jam, improve sampling efficiency and application range.

Description

Technical Field

[0001] This invention belongs to the field of underwater collection technology, specifically relating to a biomimetic rotifer-inspired disc-type composite underwater target collection device and method. Background Technology

[0002] The deep-sea environment is rich in mineral and biological resources. Among them, polymetallic nodules, cobalt-rich crusts, and polymetallic sulfides have enormous economic development value, while sea cucumbers, shellfish, and other biological resources are important marine products. Efficient and low-environmental-impact harvesting of these underwater targets is of great significance for resource development and utilization, as well as ecological sustainability.

[0003] Existing underwater target collection devices often suffer from the following drawbacks: 1. They cause significant disturbance to the seabed sediment layer, easily generating sediment plumes that severely impact the ecological environment; 2. The collection mechanical components are prone to material fatigue and mechanical damage; 3. The collection path is difficult to control precisely and is greatly affected by ocean currents; 4. The use of internal pumps is unavoidable, resulting in high energy consumption; 5. They have requirements for nodule size, are prone to jamming, and have complex structures. Summary of the Invention

[0004] To address at least one of the problems in the prior art, the present invention aims to provide a biomimetic rotifer-inspired disc-type composite underwater target collection device and method. This addresses the shortcomings of existing underwater target collection devices, such as significant impact on the seabed ecosystem, easy damage to mechanical components during operation, difficulty in precisely controlling the collection path due to ocean current disturbances, high energy consumption, susceptibility to blockage, and low sampling efficiency. The present invention reduces disturbance to seabed sediments and the seabed ecosystem, makes the collection mechanical components less susceptible to damage during operation, thus improving service life, safety, and accuracy; reduces susceptibility to ocean current disturbances, facilitating precise control of the collection path; and reduces energy consumption and avoids blockage, thereby improving sampling efficiency and applicability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A biomimetic rotifer-inspired disc-type composite underwater target collection device, characterized in that it comprises:

[0007] The underwater robot is equipped with forward and backward vector propellers, heave and sag vector propellers, a high-definition camera, forward-looking sonar, adjustable high-intensity LED underwater lighting, and seabed in-situ metal measurement sensors.

[0008] A bionic sampling head includes bionic rollers and a delivery pipe. The bionic sampling head is connected to the underwater robot via a connector. The delivery pipe is configured as a Venturi tube type delivery structure, and bionic rollers are respectively arranged on both sides of its delivery port. The surface of the bionic rollers is provided with bionic protrusions. The bionic rollers are coaxially connected to the rotation output shaft of a waterproof drive motor. The waterproof drive motor is used to drive the bionic rollers on both sides of the delivery pipe to rotate and vibrate relative to each other.

[0009] The underwater robot's main body is configured as a rectangular frame structure; the two pairs of forward and backward vector propellers are symmetrically arranged at the bow and stern of the rectangular frame structure; the heave and sag vector propellers are arranged in the midship section of the rectangular frame structure; and the bionic acquisition head is connected to the bottom of the rectangular frame structure.

[0010] The rectangular frame structure is equipped with a target object collection box. The end of the conveying pipe is connected to the target object collection box, and the beginning of the conveying pipe is equipped with the conveying port. The top of the target object collection box is connected to the box cover by screws.

[0011] The biomimetic protrusion structure is configured as a protrusion unit; the protrusion unit is configured as at least two and is evenly arranged on the surface of the biomimetic roller.

[0012] Preferably, the high-definition camera and the adjustable high-intensity LED underwater light are arranged at the front end of the rectangular frame structure. The adjustable high-intensity LED underwater light is arranged in two sets, and the two sets of adjustable high-intensity LED underwater lights are symmetrically arranged on both sides of the front end of the rectangular frame structure.

[0013] Preferably, the forward-looking sonar is installed at the front end of the rectangular frame structure, and a high-intensity LED seabed lighting lamp and an altitude sonar are installed at the bottom.

[0014] Preferably, a suction pump is installed at the end of the conveying pipe, and the inner wall of the conveying pipe is lined with ceramic material.

[0015] A biomimetic rotifer-inspired disc-type composite underwater target collection method is disclosed, based on the aforementioned collection device. The target objects to be collected are sea cucumbers and shellfish. The collection method includes the following steps:

[0016] Step S11: The underwater robot moves and enters the target sea area by means of the forward and backward vector propellers, and turns on the adjustable high-intensity LED underwater lighting for illumination; it identifies the seabed biological rich areas by means of the forward-looking sonar and the high-definition camera;

[0017] Step S12: The underwater robot hovers at a preset height above the seabed using the heave vector propeller;

[0018] Step S13: Make the bionic sampling head contact the deposition layer;

[0019] Step S14: Start the waterproof drive motor to drive the bionic rollers and bionic protrusions on both sides of the conveying pipe to rotate relative to each other. This causes the bionic protrusions on the surface of the bionic rollers to push the surrounding water flow to form a directional flow field, guiding the target sample to the conveying port. At the same time, based on the Bernoulli effect of the conveying port, the water flow at the conveying port accelerates due to the rotation of the bionic protrusions, and the water pressure at the conveying port drops, creating a suction effect that draws the mixture of the target sample and seawater into the conveying pipe. Through the Venturi tube-type conveying structure of the conveying pipe, a pressure difference is generated in the throat region of the conveying pipe, providing propulsion for the transport of the collected target sample.

[0020] A biomimetic rotifer-inspired disc-type composite underwater target collection method is disclosed, based on the aforementioned collection device. The target objects to be collected are polymetallic nodules, cobalt-rich crusts, and polymetallic sulfides. The collection method includes the following steps:

[0021] Step S21: The underwater robot moves and enters the target sea area by means of the forward and backward vector propeller, and identifies the metal nodule area by means of the seabed in-situ metal measurement sensor;

[0022] Step S22: The underwater robot hovers at a preset height above the seabed using the heave vector propeller;

[0023] Step S23: Make the bionic sampling head contact the deposition layer;

[0024] Step S24: Start the waterproof drive motor to drive the biomimetic rollers and biomimetic protrusions on both sides of the conveying pipe to rotate and vibrate relative to each other, thereby breaking the bond between the metal nodules and the seabed sediment and loosening the sediment around the metal nodules, thus peeling the target sample from the surrounding sediment layer. After the target sample is loosened, as the biomimetic rollers and biomimetic protrusions continue to rotate, the biomimetic protrusions on their surfaces push the surrounding water flow to form a directional flow field, guiding the separated target sample to the conveying port. At the same time, based on the Bernoulli effect of the conveying port, the water flow at the conveying port accelerates due to the rotation of the biomimetic protrusions, and the water pressure at the conveying port drops, creating a suction effect that draws the mixture of the target sample and seawater into the conveying pipe. Through the Venturi tube-type conveying structure of the conveying pipe, a pressure difference is generated in the throat region of the conveying pipe, providing propulsion for the transport of the collected target sample.

[0025] Preferably, the underwater robot is equipped with a high-intensity LED seabed lighting lamp and an altitude sonar. In step S12 or step S22, the high-intensity LED seabed lighting lamp and the altitude sonar enable the underwater robot to hover at a preset height above the seabed.

[0026] Preferably, in step S14 or step S24, a pressure difference is generated in the internal throat region of the conveying pipe to provide power to transport the target sample to the target sample collection box.

[0027] Preferably, in step S14 or step S24, the suction pump is turned on to provide power for the movement and transport of the target collected object in the delivery pipe.

[0028] The present invention has the following advantages due to the adoption of the above technical solutions:

[0029] 1. The present invention provides a biomimetic rotifer-prey-disc composite underwater target collection device. This collection device breaks through the single mode of traditional mechanical sampling, and proposes and realizes a dual mechanism of mechanical loosening and fluid transport of the target object based on the rotifer-prey-disc mechanism. This mechanism improves the technical solution for low-disturbance and high-efficiency sampling of underwater target objects by integrating biomimetic principles with fluid dynamics characteristics. The collection device adopts a biomimetic roller wheel with a surface covered with biomimetic protrusions, based on the mechanical structure and motion characteristics of the rotifer ciliate prey-disc disc; and utilizes paired... The reverse rotation of the biomimetic roller and the high-frequency micro-amplitude vibration of the biomimetic protrusion structure achieve gentle breaking and loosening of the interface between the nodules and the seabed, avoiding the large-scale damage to the sediment layer caused by traditional digging or scraping methods. Furthermore, the collection device simulates the natural feeding strategy of organisms forming a directional flow field through ciliary movement, actively utilizing the local low-pressure suction effect formed by Bernoulli's principle to efficiently collect the loosened mineral particles into the transport pipeline. This coherent connection and functional synergy from mechanical contact to flow field transport provides an innovative biomimetic solution for achieving green and precise collection of deep-sea targets.

[0030] 2. The biomimetic rotifer-prey disc-type composite underwater target collection device provided by this invention features an innovative design in the fluid transport stage of the target material-seawater mixture. Instead of relying on high-power pumps for mechanical suction as the primary collection method, it constructs an adaptive suction system based on fluid energy conversion. This system designs the collection port and transport pipe as Venturi tube structures, forming a target material suction pipe based on Bernoulli's principle, thus acting as a natural fluid accelerator. When the biomimetic roller drives the fluid through this variable cross-section transport pipe, according to the principle of continuity, the fluid velocity increases significantly in narrow sections, and based on Bernoulli's equation, a local low pressure is formed in the high-speed region, generating effective suction force. This suction force becomes the dominant power source for collecting mineral particles or seabed organisms, while the suction pump at the end of the transport pipe only needs to provide auxiliary transport power, significantly reducing the total energy consumption of the collection device. Furthermore, by changing the throat cross-section of the transport pipe to control the flow velocity and suction intensity, it achieves selective collection of target materials with different particle sizes and adhesion strengths, helping to improve resource utilization efficiency and collection quality.

[0031] 3. The biomimetic rotifer-prey disc-type composite underwater target collection device provided by this invention realizes seabed collection operations through the fusion and collaborative control of sonar and seabed in-situ metal measurement sensors. This device integrates forward-looking sonar, metal detection sensors, and other equipment through multi-sensor fusion technology, enabling the underwater robot to identify polymetallic nodule-rich areas, perceive terrain, and achieve precise positioning, thus transforming from blind collection without a target to visually guided precise collection. During operation, the underwater robot can continuously adjust its hovering height and attitude to maintain the optimal operating distance and contact angle. This improves the stability, reliability, and overall efficiency of the system's sampling operations in complex deep-sea environments, providing key technical support for achieving low-environmental-disturbance sampling targets.

[0032] 4. The biomimetic rotifer-inspired disc-type composite underwater target collection method provided by this invention achieves the entire collection process through a combination of mechanical and fluid methods. The biomimetic protrusions on the surface of the biomimetic drum first break and loosen the mineral particles of the target object, and then complete the collection and transportation by means of the generated biomimetic feeding flow and Bernoulli effect. This collection method reduces disturbance to the seabed sediment layer, reduces the generation of plumes, and reduces the environmental burden. At the same time, it improves the motion behavior of mechanical parts and alleviates the wear and fatigue problems of mechanical parts.

[0033] 5. The biomimetic rotifer-prey disc-type composite underwater target collection device and method provided by this invention can reduce the impact on deep-sea ecosystems; it can greatly mitigate the potential disturbance to fragile ecosystems caused by underwater target collection activities; it is fundamentally different from traditional collection methods that rely on rigid shovels for violent digging, and it uses high-frequency micro-vibration biomimetic protrusion structures to precisely break and loosen the interface between nodules and the seabed, greatly avoiding large-scale agitation of sediment layers; it uses biomimetic flow fields and Bernoulli effect suction to collect target materials, rather than relying on strong mechanical pump suction, thereby significantly inhibiting the diffusion and resuspension of fine-particle sediments from the source and controlling the generation of sediment plumes with shading and pollution effects; its low-disturbance operation mode not only helps protect the seabed ecosystem, but also reduces the impact on the survival of plankton and filter-feeding organisms in the surrounding waters, meeting the increasingly stringent environmental protection requirements for deep-sea mining activities.

[0034] 6. The biomimetic rotifer-inspired predatory disc-type composite underwater target collection method provided by this invention uses a waterproof motor-driven roller wheel for collection. The suction power mainly utilizes the fluid energy conversion effect generated by the Venturi tube structure, naturally forming a pressure difference by increasing the flow velocity, rather than relying entirely on the mechanical work of a high-power suction pump. This energy utilization method significantly reduces the total power consumption of the system and extends the continuous operation time of the underwater robot. Furthermore, by avoiding rigid and violent collisions with the seabed and using a more rational mechanical movement method, the wear of the biomimetic protrusion structure and the inner lining of the delivery pipe is effectively controlled, resulting in an extended overall fatigue life and a reduced failure rate. In long-term deep-sea scientific expeditions, it can provide more stable operation and lower maintenance requirements, exhibiting superior cycle economy.

[0035] 7. The biomimetic rotifer-prey disc-type composite underwater target collection method provided by the present invention can selectively collect and preliminarily sort target objects of different particle sizes by designing different biomimetic roller parameters and conveying pipe inner diameters; it can be applied to the collection of polymetallic nodules with high efficiency, precision and low disturbance, and can also be extended to the development of other types of seabed mineral resources, with broad application prospects. Attached Figure Description

[0036] Figure 1 This is a structural block diagram of a biomimetic rotifer-preying disc-type composite underwater target collection device provided in an embodiment of the present invention.

[0037] Figure 2 This is a schematic diagram of the structure of the biomimetic rotifer-preying disc-type composite underwater target collection device provided in this embodiment of the present invention.

[0038] Figure 3 This is a schematic diagram of the structure of the biomimetic rotifer-preying disc-type composite underwater target collection device provided in this embodiment of the present invention from another perspective.

[0039] Figure 4 This is a front view of the biomimetic rotifer-preying disc-type composite underwater target collection device provided in this embodiment of the invention.

[0040] Figure 5 This is a bottom view of the biomimetic rotifer-preying disc-type composite underwater target collection device provided in this embodiment of the invention.

[0041] Figure 6 This is a side view of the biomimetic rotifer-preying disc-type composite underwater target collection device provided in this embodiment of the invention.

[0042] Figure 7 This is a cross-sectional view of the biomimetic collection head of the biomimetic rotifer-preying disc-type composite underwater target collection device provided in this embodiment of the present invention.

[0043] Figure 8 This is a flowchart of the biomimetic rotifer-prey disc-type composite underwater target collection method provided in this embodiment of the invention.

[0044] Figure 9 This is a flowchart of a biomimetic rotifer-prey disc-type composite underwater target collection method provided in another embodiment of the present invention.

[0045] Marked in the attached diagram:

[0046] 1-1. Underwater robot; 1-2. Rectangular frame structure; 1-3. Advance / reverse vector propeller; 1-4. Status indicator light; 1-5. Heave / descent vector propeller; 2-1. High-definition camera; 2-2. Forward-looking sonar; 2-3. High-intensity LED seabed lighting; 2-4. Seabed in-situ metal measurement sensor; 2-5. Adjustable high-intensity LED underwater lighting; 2-6. Altitude sonar; 3-1. Delivery pipe; 3-2. Waterproof drive motor; 3-3. Delivery port; 3-4. Bionic protrusion structure; 3-5. Target collection box; 3-6. Screw; 3-7. Suction pump; 3-8. Inner wall of pipe; 3-9. Bionic roller; 3-10. Venturi tube delivery structure; 3-11. Connector; 4. Target collection object. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0048] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0049] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "assembly," "setup," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] This invention provides a biomimetic rotifer-inspired disc-type composite underwater target collection device and method. By combining biomimetic structure and fluid dynamics characteristics, it offers an environmentally friendly, low-energy-consumption, and highly reliable collection device and method for underwater target collection operations. It first crushes and loosens mineral particles using a biomimetic roller and biomimetic protrusion structures, then collects and transports the particles using the biomimetic flow field generated by the protrusion structures and the Bernoulli effect of the transport pipes. The entire collection process integrates mechanical crushing and fluid transport mechanisms, greatly reducing interference with seabed sediments, suppressing plume formation, alleviating environmental pressure, and mitigating component wear and fatigue through optimized mechanical motion patterns.

[0051] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0052] Example 1

[0053] Please refer to the reference. Figures 1 to 7The biomimetic rotifer-prey disc-type composite underwater target collection device provided in this embodiment includes an underwater robot 1-1 and a biomimetic collection head. The underwater robot 1-1 is equipped with a forward / backward vector propeller 1-3, a heave / sink vector propeller 1-5, a high-definition camera 2-1, a forward-looking sonar 2-2, an adjustable high-intensity LED underwater light 2-5, and a seabed in-situ metal measurement sensor 2-4. The biomimetic collection head includes biomimetic rollers 3-9 and a delivery pipe 3-1. The biomimetic collection head is connected to the underwater robot 1-1 through a connector 3-11. The delivery pipe 3-1 is configured as a Venturi tube-type delivery structure 3-10, and biomimetic rollers 3-9 are respectively provided on both sides of its delivery port 3-3. Biomimetic protrusions 3-4 are provided on the surface of the biomimetic rollers 3-9. The biomimetic rollers 3-9 are coaxially connected to the rotation output shaft of a waterproof drive motor 3-2. The waterproof drive motor 3-2 is used to drive the relative rotation and vibration of the biomimetic rollers 3-9 on both sides of the delivery pipe 3-1.

[0054] As a microscopic organism, the rotifer's mouthpart ciliated disc structure generates a highly ordered directional flow field—a feeding flow—through the coordinated oscillation of its cilia, thereby efficiently and with minimal disturbance transporting food particles into its mouth. This embodiment of the biomimetic rotifer-feeding disc-type composite underwater target collection device, based on the efficient feeding mechanism of microorganisms in nature, changes the traditional mechanical or purely hydraulic operation of underwater target collection equipment through a biomimetic structure. It utilizes the fluid force field generated by the biomimetic collection head to achieve non-contact, low-disturbance material transport, rather than relying on macroscopic mechanical forces for crude digging as in existing technologies.

[0055] Please refer to the reference. Figure 2 , Figure 4 , Figure 6 and Figure 7 In this embodiment, the biomimetic rollers 3-9 are not traditional stirring or digging tools. Their surfaces are covered with biomimetic protrusions 3-4, arranged in pairs. These biomimetic rollers 3-9 can simulate the two core functions of a rotifer's ciliary disc: First, through the high-frequency micro-amplitude vibration of the biomimetic protrusions 3-4, they gently break down the adhesion between the target collectible 4 (such as polymetallic nodules, cobalt-rich crusts, and polymetallic sulfides) and the seabed sediment. This process is similar to the pretreatment of food by cilia, thus avoiding the rigid impact of traditional machinery. Second, through the relative directional rotation between the biomimetic rollers 3-9, the biomimetic protrusions 3-4 on their surfaces create a stable and controllable directional flow field in the surrounding fluid. This flow field replicates the hydrodynamic characteristics of rotifer feeding flow, enabling the loosened target collectible 4, along with a small amount of seawater, to be smoothly transported to the delivery port 3-3 in a guiding rather than a simple extraction manner.

[0056] Please refer to Figure 7In this embodiment, the collection device uses a 3-10 Venturi tube-type conveying structure in the delivery pipe 3-1, which is based on Bernoulli's principle to improve the collection efficiency of the target sample 4. By increasing the velocity and decreasing the pressure of the fluid flowing through the collection port, a gentle and effective suction force is naturally formed without the need for a high-power pump to operate throughout the process, thus assisting the biomimetic flow field to complete the final collection.

[0057] The sampling device in this embodiment employs a composite structure that primarily uses biomimetic flow field guidance and secondarily uses Bernoulli suction. This allows the entire sampling process of the target sample 4 to simulate macroscopic, controlled biological feeding behavior, significantly reducing disturbance to the seabed sedimentary ecosystem, effectively suppressing plume generation, and simultaneously lowering system energy consumption. The sampling device in this embodiment is highly suitable for scenarios requiring precise operations and low environmental impact, such as in-situ sampling of ore particles and specific biological targets. It effectively addresses environmental disturbance, high energy consumption, and biological damage issues; it is suitable for efficient sampling of the seabed target sample 4, demonstrating good practicality and wide applicability.

[0058] Please refer to the reference. Figure 2 , Figure 5 and Figure 7 Among them, the bionic rollers 3-9 are arranged vertically and are set in two pairs. Figure 7 The direction indicated by the middle arrow is the rotation direction of the paired bionic rollers 3-9.

[0059] Please refer to the reference. Figure 2 , Figure 3 , Figures 4 to 6 Specifically, the main body of the underwater robot 1-1 is set as a rectangular frame structure 1-2; the two pairs of forward and backward vector propellers 1-3 are symmetrically arranged at the bow and stern of the rectangular frame structure 1-2; the heave vector propellers 1-5 are arranged in the midship section of the rectangular frame structure 1-2; and the bionic acquisition head is connected to the bottom of the rectangular frame structure 1-2.

[0060] Please refer to Figure 3 The rectangular frame structure 1-2 is equipped with a target object collection box 3-5. The end of the conveying pipe 3-1 is connected to the target object collection box 3-5, and the beginning of the conveying pipe 3-1 is equipped with a conveying port 3-3. The top of the target object collection box 3-5 is connected to the box cover by screws 3-6.

[0061] Please refer to the reference. Figure 2 , Figure 4 , Figure 6 and Figure 7 The biomimetic protrusion structure 3-4 is set as a protrusion unit; at least two protrusion units are set and are evenly arranged on the surface of the biomimetic roller 3-9.

[0062] Please refer to the reference.Figure 2 , Figure 3 , Figures 4 to 6 Specifically, a high-definition camera 2-1 and an adjustable high-intensity LED underwater light 2-5 are installed at the front end of the rectangular frame structure 1-2. The adjustable high-intensity LED underwater light 2-5 is set in two sets, and the two sets of adjustable high-intensity LED underwater lights 2-5 are symmetrically arranged on both sides of the front end of the rectangular frame structure 1-2.

[0063] Specifically, the front end of the rectangular frame structure 1-2 is equipped with a forward-looking sonar 2-2, and the bottom is equipped with a high-intensity LED seabed lighting lamp 2-3 and an altitude sonar 2-6.

[0064] Please refer to Figure 7 Specifically, a suction pump 3-7 is installed at the end of the conveying pipe 3-1, and a ceramic material lining is installed on the inner wall 3-8 of the conveying pipe 3-1.

[0065] Among them, the front and rear directions respectively refer to Figure 5 The down and up directions in the middle Figure 6 The left and right directions in the middle, the vertical direction refers to Figure 4 , Figure 6 and Figure 7 The upward and downward directions are shown in the diagram. The beginning and end of the conveying pipe 3-1 refer to... Figure 4 , Figure 6 and Figure 7 The lower and upper ends are shown in the diagram.

[0066] Please refer to the reference. Figures 1 to 7 The biomimetic rotifer-inspired disc-type composite underwater target acquisition device of this embodiment can also specifically include an underwater robot equipped with a power and motion system and a reconnaissance system. The power and motion system includes a forward / backward vector propeller 1-3 and a heave / sink vector propeller 1-5; a status indicator light 1-4 is installed on the top of the underwater robot to indicate its working status. A green light indicates normal operation, and a red warning light illuminates when an abnormality occurs, allowing operators to more intuitively observe its working status. The reconnaissance system includes a high-definition camera 2-1, a forward-looking sonar 2-2, a high-intensity LED seabed lighting 2-3, a seabed in-situ metal measurement sensor 2-4, and an adjustable high-intensity LED underwater lighting 2-5. The power and motion system is used for precise underwater positioning and sensitive displacement, while the reconnaissance system is used for underwater environmental identification and reconnaissance, and image and video transmission.

[0067] The underwater robot is equipped with a bionic collection head at its bottom for low-disturbance bionic collection of the target object 4. The bionic collection head includes a connector 3-11, bionic rollers 3-9, and a collection system. The connector 3-11 securely connects the delivery pipe 3-1 to the underwater robot. The bionic rollers 3-9 are covered with bionic protrusions 3-4 and connected to a waterproof drive motor 3-2. The waterproof drive motor 3-2 drives the bionic rollers 3-9 on both sides of the delivery pipe 3-1 to rotate relative to each other and vibrate at high frequency. Specifically, the waterproof drive motor 3-2 is a high-quality MVE9000 / 15 three-phase asynchronous vibration motor, and its operation is controlled by the underwater robot. The collection system includes a collection port formed by the delivery port 3-3 at the head of the delivery pipe 3-1, a Venturi tube-type delivery structure 3-10, and a suction pump 3-7.

[0068] The biomimetic rotifer-inspired disc-type composite underwater target collection device of this embodiment can also be specifically integrated with the biomimetic collection head at the bottom of the underwater robot 1-1, forming a complete deep-sea operation system. The underwater robot 1-1 can utilize existing technology products such as ROVs (Remotely Operated Vehicles). The underwater robot 1-1 adopts a rectangular frame structure 1-2, which is made of high-pressure resistant titanium alloy and composite materials, possessing excellent hydrodynamic performance and pressure resistance, enabling the underwater robot 1-1 to operate stably in deep-water environments. Through the two pairs of directional propulsion forward and backward vector propellers 1-3 at the bow and stern of the underwater robot 1-1, and the one pair of heave vector propellers 1-4 in the midship section for vertical control, the underwater robot 1-1 can achieve six degrees of freedom motion control, including precise hovering, forward and backward movement, vertical lifting, lateral movement, and pitch attitude adjustment. The bow of the underwater robot 1-1 is equipped with a high-definition pixel camera 2-1 and two sets of adjustable high-intensity LED underwater lights 2-5, which can capture and transmit images of the seabed in front of the acquisition head in real time. Even in completely dark underwater environments, it can maintain a clear field of vision to clearly capture the real-time situation of the acquisition area, providing visual information support for the remote control or autonomous driving of the underwater robot 1-1 and for the transmission of underwater images and videos.

[0069] The underwater robot 1-1 integrates a reconnaissance system consisting of multiple sensors and camera / lighting equipment. The sensors include a forward-looking sonar 2-2, an altitude sonar 2-6, and a seabed in-situ metal measurement sensor 2-4. The seabed in-situ metal measurement sensor 2-4 is a metal nodule detection sensor used to identify polymetallic nodule areas; the forward-looking sonar 2-2 is used to identify seabed topography. Through multi-sensor fusion technology, the reconnaissance system can intelligently perceive its surrounding environment, using the forward-looking sonar 2-2 and the seabed in-situ metal measurement sensor 2-4 to locate seabed biological enrichment areas and polymetallic nodule areas, achieving precise positioning. After the sampling process is initiated, the reconnaissance system first precisely scans the work area to identify the distribution density of organisms or polymetallic nodules, and then hovers at a preset height above the seabed using the heave-vectoring propeller 1-4. The hydraulic telescopic mechanism can extend downwards, and its extension stroke can adapt to different seabed topographical variations, providing strong terrain adaptability. During the collection of target object 4, the underwater robot 1-1 continuously adjusts its attitude and position based on feedback signals from the altitude sonar 2-6, ensuring that the bionic collection head maintains a working distance from the target object 4. The bionic collection head is connected to the rectangular frame structure 1-2 at the bottom of the underwater robot 1-1 via connector 3-11.

[0070] Two pairs of vertically arranged biomimetic rollers 3-9 form the collection component, made of high-strength, corrosion-resistant titanium alloy. The surface is uniformly distributed with multiple biomimetic protrusions 3-4 resembling rotifer cilia. Each biomimetic roller 3-9 is driven by an independent waterproof drive motor 3-2, whose speed and output torque are adjustable. Each pair of biomimetic rollers 3-9 rotates in opposite directions, creating a structure with opposing rotational directions. This speed difference generates a shearing effect, enhancing the loosening effect on the target object 4.

[0071] When the collection device reaches the seabed operating area and collects metal nodules, the biomimetic protrusions 3-4 on the surface of the biomimetic roller 3-9 directly interact with the seabed sediments and polymetallic nodules through high-frequency, micro-amplitude reciprocating vibration. The vibration frequency and amplitude are controllable. This high-frequency, micro-amplitude vibration effectively breaks the adhesion between the metal nodules and the seabed sediment, gently loosening the surrounding sediments while avoiding fatigue damage to the mechanical structure. Compared with traditional rigid rakes, the collection device in this embodiment reduces disturbance to the seabed sediment.

[0072] If collecting organisms such as sea cucumbers and shellfish, there is no need for the high-frequency micro-amplitude reciprocating vibration of the bionic protrusions 3-4 on the surface of the bionic roller 3-9, so as to avoid damaging the target biological specimen 4.

[0073] The collection port is located in the center of the collection device. During the collection of the target sample 4, as each pair of bionic rollers 3-9 rotates in opposite directions, the bionic protrusions 3-4 on their surfaces drive the surrounding water flow, forming a stable directional flow field that simulates the feeding flow characteristics generated by the cilia movement of the rotifer's feeding disc; this allows the target sample 4 to be transported to the collection port in the center of the collection device. The flow field velocity can be controlled by adjusting the rotational speed of the bionic rollers 3-9.

[0074] The collection port is located at the center of two pairs of bionic rollers 3-9, employing a fluid acceleration structure designed based on Bernoulli's principle. When water flows through the collection port driven by the bionic rollers 3-9, the flow velocity increases and the pressure decreases, thereby creating a low-pressure zone near the collection port and generating a suction effect, drawing the mixture of mineral particles and seawater of the target sample 4 into the delivery pipe 3-1.

[0075] The conveying pipe 3-1 is set as a Venturi tube type conveying structure 3-10. Its inner diameter is larger at the inlet of the collection port, decreases at the throat of the contraction section, and then expands at the outlet through the expansion section, and is connected to the target object collection box 3-5.

[0076] After the target sample 4 and the seawater mixture initially enter the delivery pipe 3-1, the suction pump 3-7 at the end of the delivery pipe 3-1 provides further upward transport power. The delivery pipe 3-1 is designed as a Venturi tube, and its tapering-expanding shape increases the water flow velocity of the mixture, creating a large pressure difference in the throat region, sufficient to draw in the target sample 4. The sucked-in target sample 4 and seawater mixture then enters the target sample collection box 3-5 located in the middle of the underwater robot 1-1 via the delivery pipe 3-1. The inner wall of the delivery pipe 3-1 is lined with wear-resistant ceramic material to resist long-term wear of the target sample 4.

[0077] The biomimetic rotifer-inspired disc-type composite underwater target collection device of this embodiment can also be specifically studied through theoretical analysis of the working mechanism of the collection device, focusing on the process of mechanical loosening and crushing and hydraulic fluid transport, combined with the basic principles of fluid mechanics.

[0078] In terms of fluid transport and suction, this acquisition device is analyzed based on Bernoulli's principle. This principle describes the energy conservation relationship in a steady flow process of fluid, and its expression is as shown in equation (1):

[0079] (1)

[0080] in, P This refers to fluid pressure. p For fluid density, v Let g be the fluid velocity and g be the acceleration due to gravity. hThe relative height. In the collection port area, the flow velocity changes due to variations in the flow channel structure. v Increase, causing local fluid pressure P The descent creates a suction effect, thereby achieving the mixing and intake of the target sample 4 with seawater.

[0081] The structure of the conveying pipeline 3-1 is based on the Venturi tube structure, and its flow characteristics can be expressed by equation (2):

[0082] (2)

[0083] in, Q For traffic, A 1 and A 2 represents the area of ​​the collection port and the narrow throat section of the conveying pipe 3-1, respectively. v 1 and v 2 represents the flow velocity at the collection port and the narrow throat section of the conveying pipe 3-1, respectively.

[0084] Equation (2) shows that under constant flow rate, a decrease in cross-sectional area will lead to an increase in flow velocity, thereby enhancing the suction effect. To further analyze the integrity and continuity of the flow field, the continuity equation from fluid mechanics is introduced as shown in equation (3):

[0085] (3)

[0086] For incompressible fluids, the density ρ can be considered a constant, and the equation simplifies to equation (4):

[0087] (4)

[0088] Where v is the velocity vector field.

[0089] Equation (4) shows that the divergence of the velocity field is zero, which indicates that there is no mass source or sink in the flow field and the flow remains continuous and stable, thereby ensuring that the biomimetic collection flow formed by the mixture of the target sample 4 and seawater can be continuously and uniformly transported.

[0090] In terms of the mechanical crushing and loosening of the target material 4 by the bionic rollers 3-9, the flow field shearing effect generated by the opposite rotation of each pair of bionic rollers 3-9 can be described by the shear rate, as shown in equation (5):

[0091] (5)

[0092] Where γ is the shear rate, Δv is the velocity difference between fluid layers, and Δd is the fluid layer spacing. This model is used to qualitatively evaluate the shearing and fragmentation effect of the biomimetic rollers 3-9 on the target object 4. Through the establishment and analysis of the above theoretical model, this study provides the theoretical support for the structure of the biomimetic rotifer-preying disc-type composite underwater target object collection device of this embodiment from the perspective of fluid mechanics.

[0093] Example 2

[0094] Please refer to the reference. Figures 1 to 8 The biomimetic rotifer-prey disc-type composite underwater target collection method provided in this embodiment is based on the collection device described in Embodiment 1. The target object 4 is a biological organism, and the collection method includes the following steps:

[0095] Step S11: The underwater robot 1-1 moves and enters the target sea area by using the forward and backward vector propellers 1-3, and turns on the adjustable high-intensity LED underwater lights 2-5 for illumination; it identifies the seabed biological rich areas by using the forward-looking sonar 2-2 and the high-definition camera 2-1.

[0096] Step S12: The underwater robot 1-1 hovers at a preset height above the seabed using the heave vector propeller 1-5.

[0097] Step S13: Make the bionic sampling head contact the deposition layer;

[0098] Step S14: Start the waterproof drive motor 3-2, which drives the bionic rollers 3-9 and bionic protrusions 3-4 on both sides of the conveying pipe 3-1 to rotate relative to each other. This causes the bionic protrusions 3-4 on the surface of the bionic rollers 3-9 to push the surrounding water flow to form a directional flow field, guiding the target sample 4 to the conveying port 3-3. At the same time, based on the Bernoulli effect of the conveying port 3-3, the water flow at the conveying port 3-3 accelerates due to the rotation of the bionic protrusions 3-4, and the water pressure at the conveying port 3-3 drops, creating a suction effect that draws the mixture of the target sample 4 and seawater into the conveying pipe 3-1. Through the Venturi tube-type conveying structure 3-10 of the conveying pipe 3-1, a pressure difference is generated in the throat area of ​​the conveying pipe 3-1, providing the propulsion for the transport of the collected target sample 4.

[0099] Alternatively, please refer to the following: Figures 1 to 7 and Figure 9 The target sample 4 is metal, and the collection method includes the following steps:

[0100] Step S21: The underwater robot 1-1 moves and enters the target sea area by using the forward and backward vector propellers 1-3, and identifies the metal nodule area by using the seabed in-situ metal measurement sensor 2-4;

[0101] Step S22: The underwater robot 1-1 hovers at a preset height above the seabed using the heave vector propeller 1-5;

[0102] Step S23: Make the bionic sampling head contact the sediment layer;

[0103] Step S24: Start the waterproof drive motor 3-2, which drives the biomimetic rollers 3-9 and biomimetic protrusions 3-4 on both sides of the conveying pipe 3-1 to rotate and vibrate relative to each other, thereby breaking the adhesion between the metal nodules and the seabed sediment and loosening the sediment around the metal nodules, thus peeling the target sample 4 from the surrounding sediment layer; after the target sample 4 is loosened, as the biomimetic rollers 3-9 and biomimetic protrusions 3-4 continue to rotate, the biomimetic protrusions 3-4 on its surface push the surrounding water flow to form a directional flow field, thereby... The separated target sample 4 is guided to the delivery port 3-3; at the same time, based on the Bernoulli effect of the delivery port 3-3, the water flow at the delivery port 3-3 is accelerated due to the rotation of the biomimetic protrusion structure 3-4, and the water pressure at the delivery port 3-3 drops, forming a suction effect, which draws the mixture of target sample 4 and seawater into the delivery pipe 3-1; through the Venturi tube type delivery structure 3-10 of the delivery pipe 3-1, a pressure difference is generated in the throat area of ​​the delivery pipe 3-1, providing the driving force for the delivery of the collected target sample 4.

[0104] Specifically, the underwater robot 1-1 is equipped with a high-intensity LED seabed lighting lamp 2-3 and an altitude sonar 2-6. In step S12 or step S22, the high-intensity LED seabed lighting lamp 2-3 and the altitude sonar 2-6 enable the underwater robot 1-1 to hover at a preset height above the seabed.

[0105] Specifically, the underwater robot 1-1 is equipped with a target object collection box 3-5, the end of the conveying pipe 3-1 is connected to the target object collection box 3-5, and the head end is equipped with a conveying port 3-3; in step S14 or step S24, a pressure difference is generated through the internal throat area of ​​the conveying pipe 3-1 to provide power to convey the target object 4 into the target object collection box 3-5.

[0106] Specifically, a suction pump 3-7 is installed at the end of the conveying pipe 3-1. In step S14 or step S24, the suction pump 3-7 is turned on to provide power for the movement and conveying of the target collected object 4 in the conveying pipe 3-1.

[0107] When the target sample 4 is metallic, in step S14 or S24, the movement pattern of the biomimetic roller 3-9 and the biomimetic protrusion structure 3-4 is similar to that of an impact drill. This effectively breaks the bond between the metallic nodule and the seabed, gently loosens the surrounding sediment, and peels the target sample 4 from the surrounding sediment layer. This process avoids the violent pulling and churning of traditional rigid rakes, greatly reducing the overall disturbance to the seabed topography and minimizing plume generation. After the target sample 4 is loosened, the roller 3-9 continues to rotate, and the biomimetic protrusion structure 3-4 on its surface pushes the surrounding water flow, forming a directional flow field similar to the feeding flow of rotifers, guiding the separated target sample 4 to the central delivery port 3-3, which serves as the collection port. Simultaneously, the high-speed movement of the biomimetic protrusion structure 3-4 at the collection port, designed based on the Bernoulli effect, causes the water flow to accelerate, resulting in a significant decrease in pressure and a suction effect, drawing the mixture of the target sample 4 and seawater into the delivery pipe 3-1. The delivery pipe 3-1 is designed as a Venturi tube, which generates sufficient pressure differential in its throat region. This, combined with the suction pump 3-7 at the end, provides upward propulsion for the mixture of the target sample 4 and seawater. The target sample collection box 3-5 is located in the middle of the underwater robot 1-1. The extracted target sample 4 enters the target sample collection box 3-5 via the delivery pipe 3-1, which has a wear-resistant ceramic lining on its inner wall 3-8. This efficient collection of the target sample 4, combined with the application of fluid dynamics, significantly reduces dust and plume generation, minimizing disruption to the ecological environment.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic rotifer predation wheel disc type composite underwater target object collecting device, characterized in that, It comprises: An underwater robot (1-1) is provided with a retractable vector propeller (1-3), a heave vector propeller (1-5), a high-definition camera (2-1), a forward-looking sonar (2-2), an adjustable high-intensity LED underwater illuminating lamp (2-5) and a seabed in-situ metal measuring sensor (2-4); The bionic collection head is connected with the underwater robot (1-1) through a connecting head (3-11) and comprises a bionic drum wheel (3-9) and a conveying pipeline (3-1); the conveying pipeline (3-1) is provided with a Venturi tube type conveying structure (3-10), and the two sides of a conveying port (3-3) of the conveying pipeline (3-1) are respectively provided with the bionic drum wheels (3-9); the surface of the bionic drum wheel (3-9) is provided with a bionic protruding structure (3-4); the bionic drum wheel (3-9) is coaxially connected with the rotating output shaft of a waterproof driving motor (3-2), and the waterproof driving motor (3-2) is used to drive the bionic drum wheels (3-9) on the two sides of the conveying pipeline (3-1) to rotate and vibrate relative to each other; The main body of the underwater robot (1-1) is provided with a rectangular frame type structure (1-2); the retractable vector propellers (1-3) are provided in two pairs, and the two pairs of retractable vector propellers (1-3) are symmetrically arranged at the bow and stern of the rectangular frame type structure (1-2); the heave vector propeller (1-5) is arranged at the waist of the rectangular frame type structure (1-2); and the bionic collection head is connected to the bottom of the rectangular frame type structure (1-2); The rectangular frame type structure (1-2) is provided with a target object collection box (3-5), the tail end of the conveying pipeline (3-1) is connected with the target object collection box (3-5), and the head end of the conveying pipeline (3-1) is provided with the conveying port (3-3); the top of the target object collection box (3-5) is connected with a box cover through a screw (3-6); The bionic protruding structure (3-4) is provided as a protruding unit; the protruding unit is provided as at least two and is uniformly arranged on the surface of the bionic drum wheel (3-9).

2. The bionic rotifer predation wheel disc type composite underwater target object collecting device according to claim 1, characterized in that, The front end of the rectangular frame type structure (1-2) is provided with the high-definition camera (2-1) and the adjustable high-intensity LED underwater illuminating lamp (2-5); the adjustable high-intensity LED underwater illuminating lamp (2-5) is provided in two groups, and the two groups of adjustable high-intensity LED underwater illuminating lamps (2-5) are symmetrically arranged on the two sides of the front end of the rectangular frame type structure (1-2).

3. The bionic rotifer predation wheel disc type composite underwater target object collecting device according to claim 2, characterized in that, The front end of the rectangular frame type structure (1-2) is provided with the forward-looking sonar (2-2), and the bottom is provided with a high-intensity LED seabed illuminating lamp (2-3) and a high-level sonar (2-6).

4. The bionic rotifer predation wheel disc type composite underwater target object collecting device according to claim 3, characterized in that, The tail end of the conveying pipeline (3-1) is provided with a suction pump (3-7), and the inner wall (3-8) of the pipeline of the conveying pipeline (3-1) is provided with a ceramic lining.

5. A method for collecting underwater target objects by using a bionic rotifer predation wheel disc composite, characterized in that, Based on the collection device as claimed in any one of claims 1-4, the target collection object (4) is a sea cucumber or a shellfish, and the collection method comprises the following steps: Step S11, the underwater robot (1-1) travels by the advance and retreat vector propeller (1-3) and drives into the target sea area, turns on the adjustable strong light LED underwater illuminating lamp (2-5) to illuminate; identifies the seabed organism enrichment area through the forward-looking sonar (2-2) and the high-definition camera (2-1); Step S12, the underwater robot (1-1) keeps hovering at a preset height position away from the seabed through the heave vector propeller (1-5); Step S13, the bionic collection head contacts the sediment layer; Step S14, start the waterproof driving motor (3-2), drive the bionic drum wheel (3-9) and the bionic protruding structure (3-4) on both sides of the conveying pipeline (3-1) to rotate relatively, so that the bionic protruding structure (3-4) on the surface of the bionic drum wheel (3-9) pushes the surrounding water flow to form a directional flow field, and guides the target collection object (4) to the conveying port (3-3); at the same time, based on the Bernoulli effect of the conveying port (3-3), the water flow at the conveying port (3-3) is accelerated by the rotation of the bionic protruding structure (3-4), and the water pressure at the conveying port (3-3) is lowered to form a suction effect, which absorbs the mixture of the target collection object (4) and seawater into the conveying pipeline (3-1); through the venturi tube conveying structure (3-10) of the conveying pipeline (3-1), the pressure difference is generated in the internal throat area of the conveying pipeline (3-1), which provides the marching power for the conveying of the collected target collection object (4).

6. A method for collecting underwater target objects by using a bionic rotifer predation wheel disc composite, characterized in that, Based on the collection device as claimed in any one of claims 1-4, the target collection object (4) is a polymetallic nodule, a cobalt-rich crust, and a polymetallic sulfide, and the collection method comprises the following steps: Step S21, the underwater robot (1-1) travels by the advance and retreat vector propeller (1-3) and drives into the target sea area, and identifies the metal nodule area through the seabed in-situ metal measurement sensor (2-4); Step S22, the underwater robot (1-1) keeps hovering at a preset height position away from the seabed through the heave vector propeller (1-5); Step S23, the bionic collection head contacts the sediment layer; Step S24, start the waterproof driving motor (3-2), drive the bionic drum wheel (3-9) and the bionic protruding structure (3-4) on both sides of the conveying pipeline (3-1) to rotate and vibrate, so as to break the adhesion between the metal nucleus and the seabed substrate, loosen the sediment around the metal nucleus, and strip the target collection (4) from the surrounding sediment layer; When the target collection (4) is loosened, the bionic drum wheel (3-9) and the bionic protruding structure (3-4) continue to rotate, the bionic protruding structure (3-4) on the surface pushes the surrounding water flow to form a directional flow field, and guides the separated target collection (4) to the conveying port (3-3); At the same time, based on the Bernoulli effect of the conveying port (3-3), the water flow at the conveying port (3-3) is accelerated by the rotation of the bionic protruding structure (3-4), the water pressure at the conveying port (3-3) is reduced to form a suction effect, and the mixture of the target collection (4) and seawater is sucked into the conveying pipeline (3-1); Through the venturi tube type conveying structure (3-10) of the conveying pipeline (3-1), the pressure difference is generated in the internal throat area of the conveying pipeline (3-1), and the travel power is provided for the conveying of the target collection (4).

7. The bionic rotifer predation wheel disc type composite underwater target object collecting method according to claim 5 or 6, characterized in that, The underwater robot (1-1) is provided with a strong light LED seabed illuminating lamp (2-3) and a high sonar (2-6), and in step S12 or step S22, the underwater robot (1-1) is kept hovering at a predetermined height position from the seabed through the strong light LED seabed illuminating lamp (2-3) and the high sonar (2-6).

8. The bionic rotifer predation wheel disc type composite underwater target object collecting method according to claim 5 or 6, characterized in that, In step S14 or step S24, the pressure difference is generated in the internal throat area of the conveying pipeline (3-1), and the power is provided to convey the target collection (4) into the target collection box (3-5).

9. The bionic rotifer predation wheel disc type composite underwater target object collecting method according to claim 5 or 6, characterized in that, In step S14 or step S24, the suction pump (3-7) is opened to provide power for the travel and conveying of the target collection (4) in the conveying pipeline (3-1).

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