A long-spined sea star capture and disposal device

Abstract

This application relates to a capture and disposal device for crown-of-thorns starfish, comprising a body structure, a nighttime identification device, a chemical injection device, a suction and crushing device, and a battery. The body structure includes a torso, a head, two forelimbs, and two hindlimbs connected by joints; an equipment compartment and a watertight cover are located on the back of the torso; the chemical injection device includes a storage tank, a metering chamber, a needle, a liquid guide tube, and a drive unit, with the storage tank, metering chamber, and drive unit located within the equipment compartment; the metering chamber has an inlet check valve and an outlet check valve at its end, the inlet check valve being connected to the storage tank via the liquid guide tube, and the outlet check valve being connected to the needle via the liquid guide tube; the suction and crushing device includes a processing chamber and a crushing impeller, with the crushing impeller disposed within the processing chamber. This application uses the chemical injection device to inject targeted chemical agents into the crown-of-thorns starfish; the suction and crushing device crushes the crown-of-thorns starfish and discharges it from its tail.

Description

Technical Field

[0001] This application relates to the field of marine ecological protection devices, and in particular to a device for capturing and disposing of crown-of-thorns starfish. Background Technology

[0002] The crown-of-thorns starfish (Crassula capitella) is a marine organism belonging to the class Asteridae within the phylum Echinodermata. It is one of the main predators of coral reefs, feeding primarily on live coral polyps and causing significant damage. Crown-of-thorns starfish are relatively large, typically around 30 cm in diameter, and are mainly distributed in shallow tropical and subtropical waters at depths of 1-30 meters. They are characterized by their dependence on coral reefs, nocturnal feeding habits, strong adaptability, and slow crawling speed. Large-scale coral damage caused by crown-of-thorns starfish usually occurs every 15 years, with a destruction period of about 5 years, and a recovery period of about 10 years.

[0003] Currently, there are four main methods for controlling crown-of-thorns starfish: manual capture and removal, fencing and trapping, using natural predators, and targeted chemical agents. However, manual capture and removal are risky, inefficient, and can only be done during the day; fencing and trapping are difficult and expensive, and only effective against adult individuals; using natural predators such as giant sand snails and moray eels is slow and may cause other ecological risks; and targeted chemical agents, such as injecting bile salt compounds, diluted formaldehyde, and vinegar, require specialized equipment.

[0004] Therefore, we propose a device for capturing and disposing of crown-of-thorns starfish. Summary of the Invention

[0005] In response to the shortcomings of the existing production technology, the applicant provides a crown-of-thorns starfish capture and disposal device, which injects targeted chemical agents into the crown-of-thorns starfish using a chemical injection device; and crushes the crown-of-thorns starfish using a suction and crushing device and discharges it from the tail.

[0006] The technical solution adopted in this application is as follows: A device for capturing and disposing of crown-of-thorns starfish, comprising: The body structure includes a torso, head, two forelimbs, and two hindlimbs connected by joints; an equipment compartment and a watertight hatch are located on the back of the torso. A nighttime identification device is installed on the head of the body structure for nighttime identification of crown-of-thorns starfish; A chemical injection device includes a storage tank, a metering chamber, a needle, a liquid guide tube, and a drive unit. The storage tank, metering chamber, and drive unit are located inside the equipment compartment. The metering chamber is equipped with an inlet check valve and an outlet check valve at its end. The inlet check valve is connected to the storage tank through the liquid guide tube, and the outlet check valve is connected to the needle through the liquid guide tube. A rubber stopper is installed inside the metering chamber, and the drive unit is used to drive the rubber stopper to move. The suction and crushing device includes a processing chamber and a crushing impeller. The crushing impeller is located in the processing chamber, which runs through the head and torso of the body structure. Both ends of the processing chamber are connected to the outside. The battery, located inside the equipment compartment, is used for power supply.

[0007] Its further features are: The joints include multi-degree-of-freedom rotational joints and two-degree-of-freedom metacarpophalangeal joints.

[0008] The forelimb includes an upper arm, forearm, palm, and fingers. The torso is connected to the upper arm, the upper arm to the forearm, and the forearm to the palm 133 by multi-degree-of-freedom rotational joints; the palm and fingers are connected by two-degree-of-freedom metacarpophalangeal joints.

[0009] The hind limbs include the thigh, lower leg, foot, and toes. The torso is connected to the thigh, the thigh to the lower leg, and the lower leg to the foot by multi-degree-of-freedom rotational joints; the foot and toes are connected by two-degree-of-freedom metacarpophalangeal joints.

[0010] It also includes an emergency buoyancy device, which consists of an airbag, a compressed air tank, an air hose, and a valve. The airbag is fixed to the back of the torso, the compressed air tank is located inside the equipment compartment, and a valve is provided at one end of the compressed air tank. The airbag is connected to the valve through the air hose.

[0011] The chemical injection device also includes a pressure sensor and an annular rubber contact plate. The needle and pressure sensor are placed inside one of the fingers. A telescopic nested inner tube and a telescopic nested outer tube are provided outside the needle. The pressure sensor is located inside the annular rubber contact plate. The annular rubber contact plate is fixed to the front end of the telescopic nested inner tube, and the telescopic nested outer tube is fixed inside one of the palms.

[0012] The inner end of the telescopic nested tube is fixed with a movable annular sliding block, which drives the annular rubber contact plate to move through the inner tube of the telescopic nested tube.

[0013] The needle passes through the middle of the annular rubber contact plate, and a sliding block is fixed at the tail end of the needle. A sliding groove is fixed on the inner wall of the telescopic nested tube, and the sliding block can move within the sliding groove.

[0014] The rear end of the crushing impeller is connected to the inner wall of the processing chamber through a vertical connecting structure. The connecting structure is hollow and used to lay control cables.

[0015] The chemical agent used in the chemical injection device is vinegar.

[0016] The beneficial effects of this application are as follows: This application features a compact and rational structure, convenient operation, and is equipped with two treatment devices: a chemical injection device and a suction and crushing device. The appropriate treatment method can be selected based on the actual situation, making the device highly flexible in use. The chemical injection device can precisely inject chemicals into the crown-of-thorns starfish at specific points, minimizing chemical pollution of seawater and impact on non-target organisms. The suction and crushing device can draw the crown-of-thorns starfish into the treatment chamber for on-site crushing and discharge, resulting in high treatment efficiency, strong eradication effect, and prevention of crown-of-thorns starfish segment regeneration.

[0017] In addition, this application also has the following advantages: 1. Utilizing a biomimetic structure, it is highly mobile and adaptable to complex seabed topography, enabling it to float on the surface, swim underwater, and crawl on all fours on the seabed. It adapts well to complex seabed terrains such as reefs and rock crevices, exhibiting stable movement and strong maneuverability. Equipped with a night-time identification device, it can accurately identify crown-of-thorns starfish at night. With a high degree of automation, it can automate the entire process of detection, capture, injection, and destruction, significantly reducing reliance on manpower and operational risks. It is suitable for large-scale, routine crown-of-thorns starfish disaster prevention and control, demonstrating significant practicality and economic efficiency.

[0018] 2. Equipped with an emergency buoyancy device, which can be activated in an emergency when the device fails to float on its own to assist in the recovery of the device. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the device of this application in a swimming state.

[0020] Figure 2 This is a schematic diagram of the device of this application crawling on the seabed.

[0021] Figure 3 for Figure 2 Top view.

[0022] Figure 4 for Figure 2 Side view.

[0023] Figure 5 for Figure 2 The front view.

[0024] Figure 6 This is a schematic diagram of the chemical reagent injection device of this application.

[0025] Figure 7 for Figure 6 A magnified view of a portion of the image.

[0026] Figure 8 for Figure 7 Schematic diagram of the AA section.

[0027] Figure 9This is a schematic diagram of the integrated suction and crushing device for starfish crushing in this application.

[0028] Figure 10 This is a schematic diagram of the emergency buoyancy device of this application.

[0029] Figure 11 This is a top view of the equipment compartment in this application.

[0030] The components include: 1. Body structure; 11. Trunk; 12. Head; 13. Forelimbs; 131. Upper arm; 132. Forearm; 133. Hand; 134. Fingers; 1341. Webbed hands; 14. Hindlimbs; 141. Thigh; 142. Lower leg; 143. Foot; 144. Toes; 1441. Webbed feet; 151. Multi-degree-of-freedom rotational joints; 152. Two-degree-of-freedom metacarpophalangeal joints; 16. Equipment compartment; 161. Equipment base; 17. Watertight hatch. 2. Nighttime recognition device; 3. Chemical injection device; 31. Drug storage tank; 32. Metering chamber; 321. Feed check valve; 322. Discharge check valve; 323. Rubber stopper; 33. Needle; 331. Sliding block; 332. Sliding groove; 34. Liquid guide tube; 35. Drive unit; 36. Pressure sensor; 37. Annular rubber contact plate; 371. Inner tube of telescopic nested tube; 372. Outer tube of telescopic nested tube; 373. Annular sliding block; 4. Suction and crushing device; 41. Processing chamber; 42. Crushing impeller; 421. Connecting structure; 5. Emergency buoyancy device; 51. Airbag; 52. Compressed air tank; 53. Air hose; 54. Valve; 6. Battery; 7. Control motherboard. Detailed Implementation

[0031] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0032] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0033] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0034] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0035] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0036] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0037] like Figures 1-11 As shown, a long-thorned starfish capture and disposal device includes a body structure 1, a nighttime identification device 2, a chemical injection device 3, a suction and crushing device 4, an emergency buoyancy device 5, a battery 6, and a control motherboard 7.

[0038] like Figure 1 As shown, the body structure 1 includes a trunk 11, a head 12, two forelimbs 13, two hindlimbs 14, and several joints. The trunk 11, head 12, forelimbs 13, and hindlimbs 14 are connected by joints.

[0039] The joints include a multi-degree-of-freedom rotational joint 151 and a two-degree-of-freedom metacarpophalangeal joint 152.

[0040] like Figure 1 As shown, the forelimb 13 includes an upper arm 131, a forearm 132, a palm 133, and fingers 134. The torso 11 is connected to the upper arm 131, the upper arm 131 to the forearm 132, and the forearm 132 to the palm 133 via multi-degree-of-freedom rotational joints 151; the palm 133 and fingers 134 are connected via two-degree-of-freedom metacarpophalangeal joints 152, enabling flexion / extension and abduction / adduction movements. Each forelimb 13 includes at least three fingers 134. Webbing 1341 is provided between the fingers 134 to increase paddling thrust. The tips of the fingers 134 are tapered to improve gripping efficiency.

[0041] like Figure 1 As shown, the hind limb 14 includes a thigh 141, a lower leg 142, a foot 143, and toes 144. The torso 11 is connected to the thigh 141, the thigh 141 to the lower leg 142, and the lower leg 142 to the foot 143 via multi-degree-of-freedom rotational joints 151; the foot 143 and toes 144 are connected via two-degree-of-freedom metacarpophalangeal joints 152, enabling flexion / extension and abduction / adduction movements. Each hind limb 14 contains at least three toes 144. Webbed feet 1441 are provided between the toes 144 to increase paddling thrust.

[0042] like Figure 1 , Figure 2 As shown, an equipment compartment 16 and a watertight cover 17 are located on the back of the torso 11.

[0043] like Figure 1 , Figure 2 As shown, the night recognition device 2 is installed on the head 12 of the body structure 1. The night recognition device 2 adopts low-light optical vision + directional supplementary lighting, fluorescence recognition or multispectral / hyperspectral imaging equipment and has night recognition function.

[0044] like Figures 3-7 As shown, the chemical injection device 3 includes a drug storage tank 31, a metering chamber 32, a needle 33, a liquid guide tube 34, a drive unit 35, a pressure sensor 36, and an annular rubber contact plate 37. The drug storage tank 31, the metering chamber 32, and the drive unit 35 are located inside the equipment compartment 16, and the needle 33 and the pressure sensor 36 are placed inside one of the fingers 134.

[0045] like Figure 6 As shown, the metering chamber 32 is equipped with a feed check valve 321 and a discharge check valve 322 at its end. The feed check valve 321 is connected to the medicine storage tank 31 through the liquid guide pipe 34, and the discharge check valve 322 is connected to the needle 33 through the liquid guide pipe 34.

[0046] The drive unit 35 adopts a structure in which a push rod drives the rubber stopper 323 to move, and changes the volume of the metering chamber 32 by pushing and pulling the piston.

[0047] When the drive unit 35 moves backward, a vacuum negative pressure is formed in the metering chamber 32, the feed check valve 321 opens, and the chemical agent enters the metering chamber 32 from the storage tank 31 through the liquid guide pipe 34; when the drive unit 35 moves forward, the hydraulic pressure in the metering chamber 32 increases, the discharge check valve 322 opens, and the chemical agent is sent from the metering chamber 32 through the liquid guide pipe 34 to the needle 33, and finally injected into the body of the crown-of-thorns starfish.

[0048] like Figure 7 As shown, the pressure sensor 36 is located inside the annular rubber contact plate 37. The needle 33 is provided with a telescopic nested inner tube 371 and a telescopic nested outer tube 372. The annular rubber contact plate 37 is fixed to the front end of the telescopic nested inner tube 371, and the telescopic nested outer tube 372 is fixed inside one of the palms 133.

[0049] like Figure 7 , Figure 8 As shown, the end of the telescopic nested tube 371 is fixed with a movable annular sliding block 373. The control board 7 controls the movement of the annular sliding block 373 through the signal emitted by the night recognition device 2, thereby controlling the annular rubber contact plate 37 to extend outside the palm 133 or retract into the palm 133, that is, to drive the annular rubber contact plate 37 to move.

[0050] The needle 33 passes through the middle of the annular rubber contact plate 37, and a sliding block 331 is fixed at the tail end of the needle 33. The sliding block 331 can move in the sliding groove 332 fixed to the inner wall of the telescopic nested tube 371. The control board 7 controls the sliding block 331 to slide through the pressure sensor 36 signal, thereby controlling the needle 33 to extend outside the annular rubber contact plate 37 or retract into the annular rubber contact plate 37.

[0051] The chemical agent in the chemical agent injection device 3 can be vinegar, which has little impact on the ecological environment.

[0052] like Figures 3-5 , Figure 9 As shown, the suction and crushing device 4 includes a processing chamber 41 and an integrated crushing impeller 42 disposed within the processing chamber 41. The processing chamber 41 extends through the head 12 and torso 11 of the body structure 1, and its two ends are connected to the outside.

[0053] The rear end of the crushing impeller 42 is connected to the inner wall of the processing chamber 41 via a vertical connecting structure 421. The connecting structure 421 is hollow and used for laying control cables. The crushing impeller 42 is driven by electricity to rotate at high speed, forming a negative pressure suction area at the front end of the processing chamber 41, which draws the seabed crown-of-thorns starfish into the processing chamber 41. At the same time, the blades of the crushing impeller 42 are provided with cutting edges, which cooperate with the inner wall of the processing chamber 41 to shear and crush the sucked-in crown-of-thorns starfish. The crushed crown-of-thorns starfish fragments are discharged from the rear end of the processing chamber 41.

[0054] like Figures 3-5 , Figure 10 As shown, the emergency buoyancy device 5 includes an airbag 51, a compressed air tank 52, an air hose 53, and a valve 54. The airbag 51 is fixed to the back of the torso 11 and can be inflated to increase its volume. The compressed air tank 52 is located inside the equipment compartment 16, and a valve 54 is provided at one end of the compressed air tank 52. One end of the air hose 53 is connected to the valve 54, and the other end of the air hose 53 is connected to the airbag 51.

[0055] like Figures 3-5 , Figure 11 As shown, battery 6 is located in the equipment compartment 16 on the back of the body 11, and supplies power to the crown-of-thorns starfish capture and disposal device.

[0056] like Figure 11 As shown, the equipment compartment 16 is equipped with an equipment base 161 for fixing the medicine storage tank 31, metering compartment 32, compressed air tank 52, battery 6 and control main board 7 inside the compartment.

[0057] like Figures 3-5 , Figure 11 As shown, the control motherboard 7 is located in the equipment compartment 16 on the back of the torso 11. It can control the long-thorned starfish capture and disposal device to perform movement and long-thorned starfish capture and disposal operations according to a preset program.

[0058] The crown-of-thorns starfish capture and disposal device is mounted on a ship. Once the ship reaches the target location, the device is deployed into the sea. The device controls the movement of the forelimbs 13 and hindlimbs 14 of its body structure 1, as well as the joints, to allow it to swim underwater until it reaches the seabed. It then alters the movement of different parts of its body structure 1, causing the device to crawl along the seabed.

[0059] The crown-of-thorns starfish capture and disposal device crawls along the seabed and locates the starfish using the nighttime identification device 2. When the target crown-of-thorns starfish is detected, a signal is transmitted to the control mainboard 7. The control mainboard 7 controls the crown-of-thorns starfish capture and disposal device to approach the target crown-of-thorns starfish and controls the large arm 131, forearm 132, palm 133, and fingers 134 to capture the target crown-of-thorns starfish.

[0060] The crown-of-thorns starfish is treated using a chemical injection device 3. The forelimbs 13, with their built-in needles 33, grasp the target starfish. The annular rubber contact plate 37 extends beyond the hand 133, pressing down on the starfish. The pressure sensor 36 transmits a signal to the control board 7, causing the needle 33 to extend from the annular rubber contact plate 37 and insert into the starfish's body. The chemical reagent acetic acid from the metering chamber 32 is injected into the starfish through the guide tube 34 and needle 33 via the drive unit 35. After injection, the starfish is released and dies spontaneously.

[0061] Once the chemical reagents in the storage tank 31 are used up, they can be disposed of using the suction and crushing device 4. The finger 134 captures the target crown-of-thorns starfish and delivers it to the front end of the processing chamber 41. The crushing impeller 42, driven by electricity, rotates at high speed, creating a negative pressure suction area at the front end of the processing chamber 41, drawing the target crown-of-thorns starfish into the chamber. The blades of the crushing impeller 42 are equipped with cutting edges that engage with the inner wall of the processing chamber 41 to shear and crush the sucked-in crown-of-thorns starfish. The crushed starfish fragments are discharged from the rear end of the processing chamber 41. These fragments can be ingested and digested by other organisms.

[0062] When the crown-of-thorns starfish capture and disposal device completes the processing of crown-of-thorns starfish in the target sea area or when the battery 6 runs out of power, the device needs to be retrieved. By controlling the movement of the forelimbs 13, hindlimbs 14, and joints of the body structure 1, the crown-of-thorns starfish capture and disposal device can swim to the surface on its own.

[0063] When the battery 6 is not powerful enough to support the device to float to the surface on its own or when it encounters severe sea conditions, the emergency buoyancy device 5 can be used to open the valve 54, and the gas in the compressed air tank 52 will be filled into the air bladder 51. The air bladder 51 will increase in volume and buoyancy, helping the crown-of-thorns starfish capture and disposal device to float up and complete the recovery.

[0064] This application employs a biomimetic structure, allowing for flexible movement and adaptation to complex seabed topography. It enables floating on the surface, swimming underwater, and quadrupedal crawling on the seabed, adapting to complex seabed terrain such as reefs and rock crevices. It exhibits stable movement and strong maneuverability. Equipped with a nighttime identification device 2, it can accurately identify crown-of-thorns starfish at night. It also features two treatment devices: a chemical injection device 3 and a suction and crushing device 4. These allow for the selection of appropriate treatment methods based on the actual situation, offering high flexibility in use. The chemical injection device 3 can precisely inject chemicals into the crown-of-thorns starfish at specific points, minimizing pollution of seawater and impact on non-target organisms. The suction and crushing device 4 can suck the crown-of-thorns starfish into the treatment chamber 41 for on-site crushing and discharge, resulting in high treatment efficiency, strong eradication effect, and prevention of crown-of-thorns starfish segment regeneration. An emergency buoyancy device 5 is included, which can be activated in case the device fails to float independently, assisting in its recovery. This application features a high degree of automation, enabling fully automated detection, capture, injection, and destruction operations. It significantly reduces reliance on human labor and operational risks, making it suitable for large-scale, routine prevention and control of crown-of-thorns starfish disasters. Its practicality and economic benefits are remarkable.

[0065] The above description is an explanation of this application and not a limitation thereof. The scope of this application is defined by the claims. Within the scope of protection of this application, any form of modification may be made.

Claims

1. A device for capturing and disposing of crown-of-thorns starfish, characterized in that, include: The body structure (1) includes a torso (11) connected by joints, a head (12), two forelimbs (13) and two hindlimbs (14); the back of the torso (11) is provided with an equipment compartment (16) and a watertight hatch (17). A nighttime identification device (2) is installed on the head (12) of the body structure (1) for nighttime identification of crown-of-thorns starfish; The chemical injection device (3) includes a drug storage tank (31), a metering chamber (32), a needle (33), a liquid guide tube (34), and a drive unit (35). The drug storage tank (31), the metering chamber (32), and the drive unit (35) are located in the equipment compartment (16). The metering chamber (32) is equipped with an inlet check valve (321) and an outlet check valve (322) at its end. The inlet check valve (321) is connected to the drug storage tank (31) through the liquid guide tube (34), and the outlet check valve (322) is connected to the needle (33) through the liquid guide tube (34). A rubber stopper (323) is provided in the metering chamber (32), and the drive unit (35) is used to drive the rubber stopper (323) to move. The suction and crushing device (4) includes a processing chamber (41) and a crushing impeller (42). The crushing impeller (42) is located inside the processing chamber (41). The processing chamber (41) passes through the head (12) and torso (11) of the body structure (1). Both ends of the processing chamber (41) are connected to the outside. The battery (6) is located inside the equipment compartment (16) and is used for power supply.

2. The crown-of-thorns starfish capture and disposal device as described in claim 1, characterized in that: The joints include a multi-degree-of-freedom rotational joint (151) and a two-degree-of-freedom metacarpophalangeal joint (152).

3. The crown-of-thorns starfish capture and disposal device as described in claim 2, characterized in that: The forelimb (13) includes an upper arm (131), a forearm (132), a palm (133), and fingers (134). The torso (11) is connected to the upper arm (131), the upper arm (131) is connected to the forearm (132), and the forearm (132) is connected to the palm (133) by multi-degree-of-freedom rotational joints (151). The palm (133) and fingers (134) are connected by two-degree-of-freedom metacarpophalangeal joints (152).

4. The crown-of-thorns starfish capture and disposal device as described in claim 2, characterized in that: The hind limb (14) includes a thigh (141), a lower leg (142), a foot (143), and toes (144). The torso (11) is connected to the thigh (141), the thigh (141) to the lower leg (142), and the lower leg (142) to the foot (143) by a multi-degree-of-freedom rotational joint (151). The foot (143) and toes (144) are connected by a two-degree-of-freedom metacarpophalangeal joint (152).

5. The crown-of-thorns starfish capture and disposal device as described in claim 1, characterized in that: It also includes an emergency buoyancy device (5), which includes an airbag (51), a compressed air tank (52), an air pipe (53), and a valve (54). The airbag (51) is fixed to the back of the torso (11), the compressed air tank (52) is located in the equipment compartment (16), and a valve (54) is provided at one end of the compressed air tank (52). The airbag (51) is connected to the valve (54) through the air pipe (53).

6. The crown-of-thorns starfish capture and disposal device as described in claim 3, characterized in that: The chemical injection device (3) also includes a pressure sensor (36) and an annular rubber contact plate (37). The needle (33) and the pressure sensor (36) are placed inside one of the fingers (134). The needle (33) is provided with a telescopic nested inner tube (371) and a telescopic nested outer tube (372). The pressure sensor (36) is located inside the annular rubber contact plate (37). The annular rubber contact plate (37) is fixed to the front end of the telescopic nested inner tube (371). The telescopic nested outer tube (372) is fixed inside one of the palms (133).

7. The crown-of-thorns starfish capture and disposal device as described in claim 6, characterized in that: The telescopic nested tube inner tube (371) has a movable annular sliding block (373) fixed at its tail end. The annular sliding block (373) drives the annular rubber contact plate (37) to move through the telescopic nested tube inner tube (371).

8. The crown-of-thorns starfish capture and disposal device as described in claim 7, characterized in that: The needle (33) passes through the middle of the annular rubber contact plate (37), and a sliding block (331) is fixed at the tail end of the needle (33). A sliding groove (332) is fixed on the inner wall of the telescopic nested tube (371), and the sliding block (331) can move in the sliding groove (332).

9. The crown-of-thorns starfish capture and disposal device as described in claim 1, characterized in that: The rear end of the crushing impeller (42) is connected to the inner wall of the processing chamber (41) through a vertical connecting structure (421). The connecting structure (421) is hollow and used to lay control cables.

10. The device for capturing and disposing of crown-of-thorns starfish as described in claim 1, characterized in that: The chemical agent in the chemical agent injection device (3) is vinegar.

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