Biomimetic autonomous sensing algicide system based on contact-type algicide material

Abstract

The present application relates to water treatment and environmental ecological restoration technical field, disclose a kind of bionics self-perception algicide system based on contact type algicide material, including floating platform, bionics algicide module, information acquisition module, decision module and execution module.Bionics algicide module is covalently grafted with guanidino functional group macromolecule containing positive charge on the surface of contact type algicide material, inactivate by relying on positive and negative charge physical adsorption to destroy microalgae cytoplasmic membrane.Information acquisition module obtains external water environment parameter and internal flow circulation pressure drop parameter;Decision module calculates fixed-depth target water volume and dimensionless blockage index based on input parameter;Execution module adjusts the vertical depth of the system according to electrical command, and when the blockage index is greater than the alarm threshold, drives self-maintenance device to perform physical stripping cleaning on algicide material.The present application realizes continuous contact inactivation of water layer microalgae, dynamic blockage sensing and self-adaptive maintenance of physical closed-loop operation without adding chemical reagent.

Description

Technical Field

[0001] This invention relates to the field of water treatment and environmental ecological restoration technology, specifically to a biomimetic autonomous sensing algae-killing system based on contact algaecide materials. Background Technology

[0002] With the increasing trend of global warming and eutrophication, the frequency of microalgal blooms, including cyanobacteria and green algae, in freshwater lakes, reservoirs, and coastal areas is rising. Large-scale microalgal aggregations not only deplete dissolved oxygen and disrupt the ecological balance, but some species also secrete microcystin toxins, seriously threatening drinking water safety.

[0003] Currently, the main methods for controlling algal pollution are divided into chemical algae control, biological treatment, and physical-mechanical filtration. Traditional chemical algae control methods mainly involve adding copper sulfate, strong oxidants, or algaecides. Although this method is effective in the short term, the long-term residue of chemical agents not only alters the original physicochemical parameters of the water body, causing serious secondary pollution, but may also lead to drug resistance in microalgae. Furthermore, the toxins released during cell breakdown in the inactivation process are difficult to effectively degrade.

[0004] In terms of physical methods, existing contact algaecides destroy microalgal cell walls through surface-active functional groups, showing potential for environmental friendliness. However, these materials face multiple technical bottlenecks in practical aquatic applications. First, microalgae exhibit significant spatial heterogeneity in water distribution, typically migrating and accumulating at different depths depending on environmental factors such as light intensity and water temperature. Most existing algae removal equipment is fixed at the water surface or a specific depth, lacking the ability to autonomously adjust the operating depth based on environmental parameters and achieve constant-depth hovering, resulting in low algae removal efficiency.

[0005] Contact-type algaecides are highly susceptible to physical blockage by microalgal debris, extracellular polymers, and suspended sediment in complex natural water bodies. When the micropores on the material surface become clogged, its algaecidal efficiency drops drastically. Currently, the industry largely relies on a single pressure sensor to determine the degree of material clogging. However, in open water with varying flow velocities, the dynamic pressure fluctuations of the water flow itself can severely interfere with the accuracy of pressure drop monitoring, easily leading to false alarms. Furthermore, existing equipment generally lacks efficient self-maintenance mechanisms, relying mainly on manual cleaning or simple water flushing. This makes it difficult to completely remove stubborn deposits deep within the pores without disassembly, severely limiting the equipment's ability to operate continuously and automatically.

[0006] Since algae removal systems are typically deployed in open waters, their energy supply relies entirely on batteries or solar power. Without energy monitoring and boundary management strategies, systems often fail to return to base in time due to depleted power, leading to equipment loss or damage to energy storage units due to over-discharge. Therefore, how to construct an intelligent algae removal system capable of autonomously sensing environmental parameters, dynamically adjusting operating depth, accurately assessing blockage status, and performing physical self-maintenance has become a critical challenge that urgently needs to be addressed in this technological field. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a biomimetic autonomous sensing algae-killing system based on contact algaecide materials. This system solves the problems of secondary pollution caused by the addition of chemical reagents, the inability of the system to autonomously adjust the operating water depth according to the spatial distribution characteristics of microalgae, and the physical blockage of contact algaecide materials during continuous algae removal, as well as the lack of an automated self-maintenance mechanism.

[0008] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a biomimetic autonomous sensing algaecide system based on contact algaecide materials, comprising: The floating platform, as the load-bearing structure of the system in the water, is equipped with a biomimetic algae-killing module, an information acquisition module, a decision-making module, and an execution module. A biomimetic algaecide module includes a biomimetic fixing frame and a contact algaecide material mounted on the biomimetic fixing frame. The contact algaecide material has a macromolecule with positively charged guanidine functional groups on its surface. Utilizing the physicochemical principle of mutual attraction between positive and negative charges, this macromolecule, upon physical contact with algae in the water, disrupts the negatively charged algal cell membrane, causing intracellular solutions to leak out, thus achieving algae removal. The information acquisition module is used to acquire external water environment parameters and the internal working status parameters of the biomimetic algaecide module in real time. The decision module is used to generate control commands based on the external water environment parameters and the internal working status parameters; An execution module is used to receive the control commands and adjust the physical operating state of the biomimetic algaecide module based on the control commands.

[0009] Preferably, the contact algaecide material comprises a polyurethane porous sponge substrate or a polyethylene terephthalate (PET) polymer fiber substrate. The surface of the substrate is modified with a silane coupling agent, and then undergoes a graft copolymerization reaction with the positively charged guanidine functional group macromolecules. Through this reaction principle, the positively charged guanidine functional group macromolecules are covalently bonded to the substrate surface, ensuring the stability of the connection between the algaecide functional groups and the substrate under the dynamic scouring action of water flow.

[0010] In one specific embodiment, the biomimetic algaecide module has a curtain-type filter panel structure, which is composed of multiple strip-shaped components loaded with the contact-type algaecide material arranged at intervals. Inclined guide grooves are formed on the water-facing surface of each strip-shaped component, and collection grooves are provided at both ends of the curtain-type filter panel structure. When water flows through the gaps between the strip-shaped components, guided by the fluid adhesion effect, algae of a specific mass slide along the inclined direction of the guide grooves and accumulate in the collection grooves, thereby completing the separation of algae from the water penetrating the gaps.

[0011] In one specific embodiment, the biomimetic algaecide module has a flexible filter filament structure, which comprises multiple flexible fibers. The surface of each flexible fiber is grafted with the contact-type algaecide material. One end of each flexible fiber is fixed to the biomimetic fixed frame, while the other end is freely suspended in the water. The freely suspended end deforms when impacted by water flow, changing the local flow field morphology and generating micro-vortices. This flow field change increases the physical contact time and contact area between algae in the water and the surface of the contact-type algaecide material.

[0012] Preferably, the execution module includes a power module, which includes a horizontal propulsion component and a vertical depth adjustment component; the vertical depth adjustment component includes a balance tank disposed inside the floating platform and a water intake and discharge system connected to the balance tank; the decision module is configured with a static equilibrium-based calculation logic, specifically used for: obtaining the target operating water depth based on the external water environment parameters, and performing algebraic calculations based on preset system total mass parameters, current water density parameters, and the displaced water volume parameters corresponding to different drafts of the floating platform, to obtain the target water storage volume required to reach the target operating water depth and achieve hovering, and then outputting a control signal to drive the water intake and discharge system to pump water into the balance tank to change the overall system density.

[0013] In one specific embodiment, the execution module further includes a self-maintenance device for algaecide materials that is communicatively connected to the decision module. The self-maintenance device for algaecide materials includes a hollow rotating spindle, a drive motor, and a cleaning water pump. The hollow rotating spindle is mechanically connected to the biomimetic algaecide module. A high-pressure fluid delivery chamber is opened inside the hollow rotating spindle, and multiple micropores communicating with the high-pressure fluid delivery chamber are opened on its surface. The self-maintenance device for the algaecide material is used to perform the following physical and coordinated cleaning steps: based on the maintenance command issued by the decision module, the hollow rotating main shaft is driven by the drive motor to rotate alternately in forward and reverse directions, applying centrifugal shear force to the contact algaecide material; simultaneously, the cleaning water pump is used to draw water and inject it into the high-pressure fluid delivery chamber, and spray it outward through the micropores, peeling off the adhering substances on the material surface through the combined action of mechanical centrifugation and fluid flushing.

[0014] Preferably, the information acquisition module includes a dynamic semi-enclosed flow guide hood, an inlet-side pressure sensor, an outlet-side pressure sensor, and a flow velocity sensor; the dynamic semi-enclosed flow guide hood is disposed on the outer periphery of the water-facing surface of the biomimetic algaecide module; the inlet-side pressure sensor is installed at the front opening of the dynamic semi-enclosed flow guide hood; the outlet-side pressure sensor is installed at the flow straightening component on the back side of the contact algaecide material; and the flow velocity sensor is used to obtain the relative flow velocity of the water flowing through the biomimetic algaecide module.

[0015] Furthermore, to address the pressure difference fluctuations caused by changes in flow velocity in open water, the decision module is also configured with evaluation logic including dynamic pressure compensation, used for: The inherent local resistance coefficient parameter of the biomimetic algae-killing module is obtained, and combined with the current water density parameter and the relative flow velocity parameter of the water obtained by the flow velocity sensor, the theoretical flow pressure drop parameter under the current flow velocity condition is calculated. The actual monitored pressure drop parameter is obtained based on the pressure difference between the inlet pressure sensor and the outlet pressure sensor. The dimensionless blockage index is calculated based on the ratio of the actual monitored pressure drop parameter to the theoretical flow pressure drop parameter. Determine whether the blockage index is greater than a preset alarm threshold. If the determination result is yes, generate an alarm command to trigger the self-cleaning maintenance action.

[0016] In one specific embodiment, a mechanical tangential force dispersing component is provided at the front end of the biomimetic algaecide module facing the water. The mechanical tangential force dispersing component is used to perform mechanical movement before the water flows through the contact algaecide material, to apply physical shear force to the algae in the water in a high-density aggregated state, thereby destroying its overall structure.

[0017] Preferably, the system further includes an energy module connected to the decision module. The energy module includes an energy storage battery pack and a solar power generation component disposed outside the floating platform. The energy module is equipped with an energy management unit, which has a numerical comparison function. It is used to comprehensively record the remaining power of the current energy storage battery pack and the real-time power generation compensation of the solar power generation component. When the calculated total remaining energy parameter is lower than a preset return threshold, it sends an energy warning signal containing return trigger information to the decision module.

[0018] This invention provides a biomimetic autonomous sensing algaecide system based on contact algaecide materials. It has the following beneficial effects: 1. This invention employs a contact-type algaecide material with positively charged guanidine functional groups grafted onto its surface, combined with a curtain-type filter panel equipped with flow channels or a flexible filter filament structure that generates micro-vortices. This configuration utilizes the principle of physical adsorption of positive and negative charges to destroy the cell membrane of algae, replacing the traditional chemical algaecide application step and eliminating the alteration of the original water composition caused by chemical residues. Simultaneously, the biomimetic structure alters the local flow field morphology, increasing the physical contact time and contact area between algal cells and the surface of the charged material in the flowing water.

[0019] 2. In this invention, the decision module calculates a dimensionless clogging index based on relative flow velocity and pressure difference data, eliminating the interference of external water flow velocity fluctuations on the judgment of surface clogging status. When the index reaches a preset threshold, the system drives the hollow rotating spindle to rotate alternately to output centrifugal shear force, and simultaneously uses micropores to spray high-pressure fluid outward. Through the coordinated action of mechanical centrifugation and fluid flushing, the physical attachments on the material surface are peeled off, restoring the material's pore area, thereby extending the system's continuous automatic operation time in water.

[0020] 3. In this invention, the decision module calculates and controls the intake and drainage subsystem to adjust the water storage volume in the balance tank based on static parameters such as the total mass of the system, the real-time water density, and the volume of water discharged at each draft. This changes the overall density of the system, enabling it to submerge and hover stably at the set target water depth. This achieves the hardware execution capability to perform physical interception and killing operations on algae with different water depth distribution characteristics at specific water layers. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the algae-killing system of the present invention; Figure 2 This is a flowchart of the micro-graft copolymerization reaction of the contact algaecide material of the present invention; Figure 3 This is a schematic diagram of the integrated collaborative operation workflow of the algae-killing system of the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] See attached document Figure 1 This invention provides a biomimetic autonomous sensing algae-killing system based on contact algaecide materials, which may include: a floating platform, a biomimetic algaecide module, an information acquisition module, a decision-making module, and an execution module.

[0024] The floating platform, serving as the physical support structure of the system in the water, is constructed from a buoyant outer shell. The floating platform internally contains at least one sealed, waterproof compartment. External detection terminals for a biomimetic algae-killing module and an information acquisition module are mounted on the external structural components of the floating platform. The power generation components for the decision-making and execution modules are located within the sealed, waterproof compartment of the floating platform.

[0025] The biomimetic algaecide module comprises a biomimetic fixing frame and a contact-type algaecide material. The biomimetic fixing frame is connected to the external water-facing side of the floating platform via mechanical fasteners. The contact-type algaecide material is mounted and fixedly arranged on the biomimetic fixing frame. The biomimetic fixing frame provides rigid or semi-rigid support for the contact-type algaecide material, maintaining its designed deployment shape under fluid scouring conditions.

[0026] The surface of contact algaecide materials contains macromolecules with positively charged guanidino functional groups. Under microscopic chemical mechanisms, these macromolecules with positively charged guanidino functional groups exhibit positive charge. When water flow guides negatively charged microalgae to the surface of the contact algaecide material, the positively charged material surface and the negatively charged algae undergo physical adsorption based on the principle of electrostatic adsorption.

[0027] This physical contact directly affects the surface of the algae, causing irreversible physical damage to the algal cell membrane. After the cell membrane ruptures, the dissolved substances inside the algal cells seep out, thus completing the inactivation and removal of algal cells from the water. The entire process relies on the physicochemical reactions on the solid surface.

[0028] Information acquisition modules are distributed and installed throughout the system. The signal output terminals of these modules are electrically connected to the decision-making module via a data bus. These modules are used to measure and acquire external water environment parameters in real time, as well as the internal operating status parameters of the biomimetic algaecide module during operation, and then convert these physical quantities into electrical signals for transmission.

[0029] The decision-making module is located on the internal control board of the floating platform and includes a microprocessor and a storage unit. The module acquires the aforementioned external water environment parameters and internal operating status parameters through a data receiving port. Based on the computational logic preset in the storage unit, the module compares and calculates the input parameters to generate corresponding electrical control commands.

[0030] The signal receiving end of the execution module is communicatively connected to the signal output end of the decision module. The mechanical output mechanism of the execution module establishes a mechanical connection with the biomimetic algae-killing module. The execution module receives and parses the above control commands, and outputs mechanical power or fluid pressure to adjust the physical operating state of the biomimetic algae-killing module.

[0031] See attached document Figure 2 The main physical support structure of the contact algaecide material is composed of a substrate. The substrate is selected from polyurethane porous sponge substrate or polyethylene terephthalate polymer fiber substrate.

[0032] When a polyurethane porous sponge substrate is used as the base material, its interior consists of a three-dimensional mesh-like open structure with a porosity greater than or equal to 85% and a pore density set within the range of 10-50 pores per inch. When a polyethylene terephthalate (PET) polymer fiber substrate is used as the base material, the diameter of a single fiber is defined as between 10 micrometers and 50 micrometers. The aforementioned three-dimensional mesh structure or micrometer-scale fiber array is used to increase the effective contact surface area between the contact algaecide and the water per unit volume.

[0033] The surface of the substrate is chemically modified with a silane coupling agent. The specific physicochemical modification steps include: hydrolyzing the silane coupling agent in a pre-prepared aqueous solution to generate an active intermediate with silanol groups; immersing the substrate in the solution of this active intermediate, where the silanol groups undergo a condensation reaction with the hydroxyl groups on the substrate surface. This condensation reaction generates a network of siloxane monolayers or multilayers on the substrate surface.

[0034] Through the encapsulation of the aforementioned siloxane physical structure, the active functional groups at the tail end of the silane coupling agent are exposed to the outside of the substrate. These active functional groups serve as covalent bonding sites for subsequent grafting reactions, altering the chemically inert state of the substrate surface and enabling it to meet the conditions for surface grafting reactions.

[0035] After surface modification of the silane coupling agent, the substrate was placed in a reaction solution containing macromolecules with positively charged guanidine functional groups. Under set heating and stirring conditions, the active functional groups exposed on the outside of the silane coupling agent underwent a graft copolymerization reaction with the reactive groups on the macromolecules with positively charged guanidine functional groups.

[0036] After the graft copolymerization reaction is completed, the positively charged guanidino functional group macromolecules are permanently fixed and bonded to the solid surface of the substrate through chemical covalent bonds. The structural feature of the covalent bonds can resist the mechanical shear force generated by the scouring of external aquatic fluids, inhibiting the physical detachment or dissolution of the positively charged guanidino functional group macromolecules into open water.

[0037] Positively charged guanidinium functional group macromolecules solidified on the substrate surface undergo protonation under the common acidity and alkalinity conditions of natural water bodies, exhibiting a high-density positive charge distribution in their molecular chain structure. In contrast, the phospholipid bilayer on the surface of microalgal cells in natural water bodies is typically enriched with negative charges.

[0038] When ambient water carries microalgae monomers through the pores or fiber gaps inside the contact algaecide material, the monomers are physically guided by the water flow into the electrostatic field of the positively charged guanidine functional group macromolecules. Under the physical electrostatic force of attraction between positive and negative charges, the microalgae monomers are physically adsorbed onto the surface of the contact algaecide material.

[0039] Under physical contact conditions, macromolecules with positively charged guanidinium functional groups generate localized high-density charge forces, disrupting the charge balance of the phospholipid bilayer on the surface of microalgal cells. The phospholipid bilayer physically breaks down and deforms, causing solutes such as cytoplasm and organelles inside the microalgal cells to leak out into the water. During this process, the positively charged guanidinium functional group macromolecules act as catalysts and charge-providing structures, without undergoing chemical consumption or mass decay, thus maintaining the physicochemical conditions for continuous algae removal.

[0040] The biomimetic algae-killing module provided by this invention has a mechanical tangential force dispersion component installed at the front end facing the water.

[0041] The mechanical tangential force dispersion component is located upstream of the physical path of the water-contact algaecide. It consists of multiple sets of spatially intersecting rigid cutting grids, with fluid channels of a predetermined aperture formed between adjacent grids. In natural water bodies, some algae secrete extracellular polymers to form high-density aggregates.

[0042] When water carrying the aforementioned algal flocs flows through the mechanical tangential force dispersion component, the kinetic energy of the water flow drives the algal flocs to impact the rigid cutting grid. The edges of the rigid cutting grid apply physical shear force to the algal flocs, which are larger than the pore size of the fluid channel. This physical shear force cuts through the physical aggregation structure inside the algal flocs, dispersing them into single cells or tiny cell clusters, thereby relieving the physical obstruction and initial blockage of the downstream contact algaecide pores by the large-volume algal flocs.

[0043] In the first specific physical embodiment, the biomimetic algaecide module is equipped with a curtain-type filter panel structure. The curtain-type filter panel structure is composed of multiple strip-shaped components arranged in parallel at intervals in the horizontal or vertical direction. The center-to-center distance between adjacent strip-shaped components is set to 2mm-10mm, forming a flow channel for water to pass through. The contact-type algaecide material is applied to the outer surface of the strip-shaped components in the form of a film or coating.

[0044] Each strip-shaped component has periodically distributed inclined guide channels on its water-facing surface. The direction of the inclined guide channels extends at an angle of 30°-60° to the overall ambient water flow direction. Collection tanks are fixedly installed at the bottom or side edges of the curtain filter panel structure.

[0045] When algae-containing water impacts the upstream surface of the strip-shaped component at a specific flow velocity, due to the viscosity of the fluid movement and the influence of the boundary layer, part of the water flow exhibits a fluid adhesion effect. The fluid adhering to the wall changes its original linear motion direction along the physical contour of the inclined guide channel, forming a tangential split at the contact surface.

[0046] Microalgae particles of a certain mass enter the tangential diversion channel and, under the combined action of fluid drag and their own inertia, slide to one side along the geometric path set by the inclined guide channel. During this sliding process, the microalgae particles gradually converge and eventually fall into the collection tank. This structure utilizes fluid dynamics principles to spatially separate some microalgae particles while the water penetrates the gaps between the strip-shaped components, maintaining the flow area of ​​the main flow region on the water-facing side.

[0047] In the second specific physical embodiment, the biomimetic algae-killing module is equipped with a flexible filter filament structure.

[0048] The flexible filter filament structure comprises multiple flexible fibers. The length of a single flexible fiber is set between 0.5 meters and 2 meters. The contact-type algaecide material is cured onto the outer cylindrical surface of the flexible fibers through the aforementioned graft copolymerization process.

[0049] The beginning of each flexible fiber is fixed to the crossbeam of the biomimetic fixed frame by mechanical snap-fit ​​or heat fusion process. The end of the flexible fiber is not mechanically restrained and is in a free-floating state in the water.

[0050] When external water flows through the flexible filter fiber bundle structure at a set velocity, the dynamic pressure of the water acts on the surface of the flexible fibers, overcoming their own weight and the material's bending stiffness, forcing the flexible fibers to undergo spatial deformation and reciprocating oscillation. During the process of fluid flowing around the cylindrical surface of the flexible fibers, boundary layer separation occurs, and alternating vortices are periodically shed on the back side of the flexible fibers, forming the Karman vortex street phenomenon, generating high-frequency micro-vortices in the local flow field.

[0051] The presence of micro-eddies disrupts the original laminar flow pattern of the water body, increasing the turbulent kinetic energy of the local water. Under the influence of centrifugal and entrainment forces from these micro-eddies, the complexity and distance of the trajectories of microalgae particles flowing through this area increase. This physical phenomenon prolongs the physical residence time of microalgae particles on the flexible fiber surface and increases the probability of collisions between the microalgae cell membrane and the positively charged surface of the contact algaecide material, providing more sufficient physical contact conditions for contact algae removal.

[0052] The execution module is equipped with a power module for providing displacement mechanical energy. The power module includes a horizontal propulsion assembly and a vertical depth adjustment assembly. The horizontal propulsion assembly is connected to a propeller via a drive motor and is installed on the external tail end or sides of the floating platform to output horizontal thrust.

[0053] The vertical depth adjustment component is located inside the floating platform. Its physical structure includes a balance tank and a water intake and drainage system that is fluidly connected to the balance tank. The balance tank is made of rigid pressure-resistant material and is fixedly installed at the bottom center of the sealed waterproof compartment of the floating platform. It is used to lower the overall physical center of gravity of the system and maintain the attitude balance of the floating platform in the water.

[0054] The intake and drainage system includes a bidirectional water pump, fluid piping, and an electromagnetic servo valve. One end of the fluid piping penetrates the outer shell of the floating platform and is immersed in the external water body, while the other end connects to the internal cavity of the balance tank. The bidirectional water pump and the electromagnetic servo valve are installed in series on the fluid piping. The electrical control terminals of the bidirectional water pump and the electromagnetic servo valve are respectively connected to the signal output terminals of the decision module.

[0055] Different species of microalgae exhibit varying water layer distribution characteristics in water bodies, with the distribution depth determined by external aquatic environmental parameters such as light intensity and water temperature. The information acquisition module acquires these external aquatic environmental parameters in real time and converts them into electrical signals, which are then transmitted to the decision-making module. The decision-making module is internally configured with a water layer distribution mapping matrix. By comparing the input parameters, it outputs the vertical physical coordinates of the corresponding algal enrichment layer, which are then set as the target operating water depth.

[0056] After obtaining the target operating water depth, the decision module retrieves the system's total mass parameters and the displaced water volume parameters of the floating platform at different drafts, which are preset in the internal storage unit. Simultaneously, it receives the current water density parameters measured by the information acquisition module. Based on the laws of hydrostatic equilibrium, the decision module performs algebraic calculations to determine the target water volume required to make the overall system density equal to the density of the water in the current water layer, thus achieving constant-depth hovering. The specific algebraic formula used by the decision module is as follows: ; in, This indicates the target water volume required for the balance tank to reach a hovering state. This refers to the physical volume of the floating platform displaced by the entire external water body when it submerges to the target operating depth. This indicates the total fixed mass parameter of the system excluding the water inside the balance tank. This indicates the current water density parameter measured by the information acquisition module.

[0057] After the decision module completes the calculation, it compares the obtained value with the current water volume in the balance tank. When the difference is positive, the decision module outputs an electrical signal to drive the bidirectional water pump to rotate in the forward direction and simultaneously opens the electromagnetic servo valve to pump external water into the balance tank. At this time, the overall gravity of the system increases. When the total gravity is greater than the buoyancy force of the fluid on the floating platform, the system undergoes a physical displacement downward in the vertical direction.

[0058] When the difference is negative, the decision module outputs an electrical signal to drive the bidirectional water pump to rotate in the opposite direction, discharging the water in the balance tank into the external water environment. The overall weight of the system decreases, and when the total weight is less than the buoyancy of the fluid, the system generates an upward physical displacement in the vertical direction.

[0059] The information acquisition module includes a hydrostatic pressure sensor installed at the bottom of the floating platform, which outputs the current physical depth coordinates in real time. When the absolute value of the difference between the current physical depth coordinates and the target operating water depth is less than a preset depth tolerance setting, the decision module sends a stop command to the intake and drainage subsystem. The bidirectional water pump stops operating, the electromagnetic servo valve closes, and the water exchange in the fluid pipeline is cut off.

[0060] At this point, the fluid mass in the balancing tank remains constant, and the overall weight of the system and the buoyancy of the fluid are physically equal, allowing the system to hover vertically at the target operating depth. After reaching the hovering state, the horizontal propulsion component starts according to a predetermined program, driving the biomimetic algaecide module carrying contact algaecide material to move horizontally, performing continuous physical contact and inactivation of microalgae at that depth.

[0061] The information acquisition module provided by this invention includes a dynamic semi-enclosed flow guide, an inlet pressure sensor, an outlet pressure sensor, and a flow velocity sensor.

[0062] The dynamic semi-enclosed flow guide is made of rigid waterproof material, and its physical form is a streamlined cylindrical cavity structure with an internal hollow interior. The end boundary of the dynamic semi-enclosed flow guide is connected to the outer boundary of the water-facing surface of the biomimetic algaecide module by mechanical fasteners. The inner sidewall of the dynamic semi-enclosed flow guide forms a relatively closed flow channel that directionally guides external water flow to penetrate the contact algaecide material. This physical structure is used to isolate the physical disturbance of the lateral and tangential water flow from the external open water area on the pressure drop measurement before and after the algaecide module.

[0063] The inlet-side pressure sensor is installed on the inner wall of the front opening of the dynamic semi-enclosed flow guide. This installation position is in the undisturbed area before the external water body contacts the biomimetic algaecide module, and is used to obtain the upstream absolute static pressure parameter before the fluid enters the algaecide gap. The outlet-side pressure sensor is installed on the surface of the flow straightening component configured on the backwater side of the contact algaecide material. The flow straightening component consists of a rigid panel with parallel flow guide holes. The probe of the outlet-side pressure sensor is aligned with the fluid ejection direction to obtain the downstream absolute static pressure parameter after the fluid overcomes the physical resistance of the material's pores.

[0064] The flow velocity sensor employs a Doppler acoustic velocities probe, mounted on the inner sidewall of a dynamic semi-enclosed flow guide, with its acoustic emission surface facing the upstream flow direction. The flow velocity sensor outputs the relative flow velocity parameters of the water in the central area flowing through the biomimetic algaecide module to the decision module.

[0065] As contact algaecides continuously perform physical adsorption in water, microalgae monomers and their debris gradually accumulate on the material surface, occupying the physical space of the flow pores and reducing the fluid flow area. To eliminate the interference of pressure fluctuations caused by changes in the flow velocity of open water, the decision module's internal storage unit is equipped with a dynamic clogging assessment algorithm that includes dynamic pressure compensation variables.

[0066] The decision module first extracts the inherent local resistance coefficient parameters of the biomimetic algae-killing module in the state without attached impurities from the internal storage unit. Then, the decision module obtains the water density parameters and relative flow velocity parameters measured by the information acquisition module. The decision module substitutes these parameters into the fluid dynamics local resistance loss equation for algebraic calculations to obtain the theoretical flow pressure drop parameters under the current physical flow velocity conditions. The calculation formula called by the decision module is as follows: ; in, This represents the theoretical flow pressure drop parameter; The parameter representing the inherent local resistance coefficient of the biomimetic algaecide module; This represents the relative flow velocity parameter of the water body.

[0067] After obtaining the theoretical flow pressure drop parameters, the decision module simultaneously reads the physical pressure values ​​output by the inlet-side pressure sensor and the outlet-side pressure sensor, and performs a subtraction operation on the two values ​​to obtain the pressure difference between the inlet and outlet sides, which is then set as the actual monitoring pressure drop parameter.

[0068] The decision module further invokes division logic to divide the actual monitored pressure drop parameter by the theoretical flow pressure drop parameter, obtaining the ratio between the two. This ratio cancels out the velocity-dynamic pressure term in the formula, forming a dimensionless clogging index. When there is no physical obstruction of the pores on the material surface, the actual monitored pressure drop parameter and the theoretical flow pressure drop parameter tend to be equal in value, and the clogging index remains near the baseline constant.

[0069] As the accumulated thickness of deposits on the material surface increases, the actual physical resistance of the fluid penetrating the pores increases non-linearly, leading to an increase in the actual monitored pressure drop parameter. The decision module compares the real-time calculated clogging index with a preset alarm threshold at a fixed time frequency. When the comparison result determines that the clogging index is numerically greater than the preset alarm threshold, the decision module confirms that the flow area of ​​the contact algaecide material has decayed to the set physical lower limit. Under this logical condition, the decision module internally generates an alarm command electrical signal to trigger the self-cleaning maintenance action and transmits it to the execution module.

[0070] The execution module also includes a self-maintenance device for the algaecide material. The electrical control interface of the self-maintenance device is connected to the signal output terminal of the decision module via a data bus.

[0071] The hardware components of the self-maintaining device for algaecide materials include a hollow rotating spindle, a drive motor, and a cleaning water pump. The two ends of the hollow rotating spindle are mounted on mechanical supports of the floating platform via sealed bearing assemblies. The output shaft of the drive motor is mechanically connected to one end of the hollow rotating spindle via a rigid coupling, used to transmit rotational torque to the hollow rotating spindle.

[0072] In a specific embodiment employing a self-maintenance configuration, the biomimetic fixing frame of the biomimetic algaecide module is fixedly connected to the outer cylindrical surface of the hollow rotating main shaft in a cylindrical or radial array form. Contact-type algaecide material is coated and mounted on the outer periphery of the biomimetic fixing frame. A high-pressure fluid delivery chamber for containing fluid is axially formed inside the hollow rotating main shaft. The outlet of the cleaning water pump is connected to the end inlet of the high-pressure fluid delivery chamber via a high-pressure pipeline and a dynamic rotating fluid connector.

[0073] Multiple micropores are machined on the cylindrical outer surface of the hollow rotating spindle. These micropores are arranged in a matrix along the axial and circumferential directions of the spindle. The internal channels of the micropores are connected to the internal space of the high-pressure fluid delivery chamber. The external openings of the micropores face the inner, backwater surface of the contact-type algaecide material.

[0074] When the decision module determines that the blockage index exceeds the preset alarm threshold and generates an alarm command, this command is sent as an electrical trigger signal to the algaecide self-maintenance device. Upon receiving the command, the algaecide self-maintenance device first closes the power supply relay of the cleaning water pump. The cleaning water pump starts, draws water from the external water area and physically pressurizes it, continuously injecting high-pressure water into the high-pressure fluid delivery chamber.

[0075] The hydrostatic pressure established inside the high-pressure fluid delivery chamber causes water to be ejected at high speed into the outer space through an array of micropores. The high-pressure fluid ejected from the micropores penetrates the micropores or fiber gaps of the contact algaecide material from the inside out, exerting an outward physical thrust on algal debris and solid impurities accumulated on the water-facing surface and in the shallow pores of the material, thus creating a reverse scouring effect.

[0076] During the synchronous operation of the cleaning water pump, the drive motor starts upon receiving a control signal. Following the alternating pulse control signals output by the decision module, the drive motor drives the hollow rotating spindle to perform alternating forward and reverse rotation. Specifically, the mechanical execution process is as follows: the hollow rotating spindle accelerates clockwise, and upon reaching a set angular velocity, the drive motor applies a reverse electromagnetic braking torque to perform an emergency stop. It then switches to counter-clockwise acceleration and stops again, and this cycle repeats continuously.

[0077] This alternating forward and reverse rotation generates high-frequency angular acceleration on the biomimetic frame supporting the contact algaecide material. Under this intensely alternating rotational motion, the impurity clumps attached to the surface of the contact algaecide material are subjected to both radial centrifugal force and tangential inertial shear force.

[0078] The reverse scouring thrust of the fluid from the inside out and the centrifugal shear force generated by the forward and reverse mechanical rotation are physically superimposed in space. This resultant force acts directly on the physical interface between the impurities and the algaecide surface. When the applied resultant force exceeds the physical adhesion force of the impurities on this surface, the impurity clumps are mechanically detached from the contact algaecide and fall into the external water body. After the above actions have reached the set time count value, the decision module outputs a stop electrical signal, disconnecting the power supply to the drive motor and the cleaning water pump. The algaecide self-maintenance device stops operating, and the bionic algaecide module returns to its original position to continue performing physical contact algae removal operations in a static or set state.

[0079] The system provided by this invention also includes an energy module. The data output port of the energy module is connected to the data receiving port of the decision module via an electrical communication bus.

[0080] The hardware components of the energy module include an energy storage battery pack and a solar power generation module. The energy storage battery pack consists of multiple battery cells connected in series and parallel, and is fixedly installed inside the waterproof compartment of the floating platform. The solar power generation module consists of multiple photovoltaic panels, which are laid flat or fixed at a set tilt angle to the sun-receiving surface at the top of the floating platform.

[0081] An energy management unit is installed on the circuit board inside the energy module. The energy management unit includes a voltage sampling circuit, a current sampling sensor, and a logic microcontroller. The charging and discharging circuits of the energy storage battery pack and the power output terminals of the solar power generation modules are physically connected to the input terminals of the energy management unit. The energy management unit is used to collect electrical parameters and perform numerical calculations on the system's power inflow and outflow status.

[0082] During system operation, the energy management unit (EMU) acquires the real-time terminal voltage and continuous discharge current of the energy storage battery pack at preset fixed time intervals through voltage sampling circuits and current sampling sensors. The EMU then calls the ampere-hour integration algorithm to integrate the continuous discharge current over time, subtracts the integral result from the initial rated capacity parameters of the energy storage battery pack, and calculates the remaining capacity parameters of the energy storage battery pack at the current moment.

[0083] Simultaneously, the solar power generation module receives solar radiation from the external environment and converts it into direct current (DC) power output. Another set of sampling circuits in the energy management unit acquires the real-time operating voltage and instantaneous charging current output by the solar power generation module. The energy management unit multiplies these two physical quantities to obtain the instantaneous power generation, and then multiplies this instantaneous power generation by a set prediction time window value to calculate the real-time power generation compensation amount for the future time period.

[0084] The energy management unit executes an addition operation, summing the calculated residual energy parameters with the real-time generation compensation to obtain the total residual energy parameters of the system. The specific calculation formula used by the energy management unit is as follows: ; in, This indicates the total remaining energy parameter obtained by the energy management unit in the current calculation cycle; This indicates the remaining charge parameter of the energy storage battery pack; This indicates the instantaneous power output parameter of the solar power generation module. This represents the prediction time window constant preset in memory.

[0085] The non-volatile memory of the energy management unit contains a pre-written return threshold parameter. This return threshold parameter represents the minimum power consumption required for the floating platform to overcome current water resistance and return to the base station coordinates from the current physical space coordinates. The logic microcontroller of the energy management unit performs an algebraic comparison between the calculated total remaining energy parameter and the return threshold parameter.

[0086] When the comparison result shows that the total remaining energy parameter is numerically lower than the preset return threshold parameter, the output pin of the energy management unit toggles its level, generating an energy warning signal containing binary code. This energy warning signal is then sent to the decision module.

[0087] After receiving and parsing the energy warning signal, the decision module triggers the system boundary scheduling strategy. The decision module outputs a control electrical signal to the relay group, physically disconnecting the power supply circuit between the algaecide self-maintenance device and the water intake and drainage subsystem, stopping the mechanical operation of the above modules to reduce system power consumption; at the same time, the decision module outputs a displacement command to the power module, controlling the horizontal propulsion component to start, driving the system to perform a return motion along the set spatial vector path.

[0088] See attached document Figure 3 The integrated collaborative operation workflow of the system provided by this invention in a real aquatic environment includes multiple physical execution stages triggered sequentially according to time sequence.

[0089] During the system deployment and initialization phase, the system is deployed to the physical surface of the target water area. After the floating platform enters the water, the power supply circuit is closed. The sensors of the information acquisition module are powered on and perform initial calibration, starting to continuously acquire external water environment parameters. Simultaneously, the energy management unit of the energy module activates the sampling circuit, recording the initial residual charge parameters of the energy storage battery pack and the real-time electrical output parameters of the solar power generation components at a set fixed time frequency.

[0090] During the vertical descent and depth / layer determination phases, the information acquisition module converts the acquired external water temperature and light intensity parameters into voltage signals and transmits them to the decision module. The microprocessor within the decision module analyzes the input signals and retrieves the water layer distribution mapping matrix from its internal memory to calculate the physical coordinates of the target operating water depth for the current microalgae community enrichment layer.

[0091] Subsequently, the decision-making module sends electrical control commands containing the target water storage volume parameters to the execution module. The bidirectional water pumps and electromagnetic servo valves of the intake and drainage subsystem start, drawing external water into the balance tank to increase the overall gravity of the system. When the current physical depth coordinates fed back by the hydrostatic pressure sensor of the information acquisition module are equal to the target operating water depth, the bidirectional water pumps are de-energized and stop, and the system reaches hydrostatic equilibrium at the water layer in the set vertical coordinate system and enters a physical hovering state.

[0092] During the horizontal propulsion and mechanical pre-processing phase, after reaching a hovering state, the decision module outputs a displacement command electrical signal to the power module. The drive motor of the horizontal propulsion component rotates under power, outputting horizontal mechanical thrust through the propeller, driving the floating platform to perform linear or gridded physical displacement along a set two-dimensional planar vector path within the target water depth.

[0093] During the relative water flow scouring process caused by system displacement, the algae-containing water first comes into contact with the mechanical tangential force dispersion component at the front end of the biomimetic algaecide module. The physical kinetic energy of the water flow forces large algal clusters to collide with the rigid cutting grid. As the algal clusters cross the fluid channels of the grid, they are affected by physical shear forces, which sever the physical connections of the extracellular polymers inside, and the large algal clusters are mechanically dispersed into single cells or tiny cell clusters.

[0094] During the physical contact algae removal and dynamic monitoring stage, mechanically dispersed microalgae enter the pores or fiber gaps of the contact algaecide material along with the fluid. Guided by the fluid adhesion effect caused by the guide channel or the micro-vortex generated by the deformation of the flexible fibers, the physical movement trajectory of the microalgae monomers increases. The negatively charged microalgae cell membrane enters the electrostatic field on the surface of the contact algaecide material and undergoes electrostatic adsorption with macromolecules containing positively charged guanidine functional groups.

[0095] The localized high-density electric field generated by electrostatic adsorption physically ruptures the phospholipid bilayer on the microalgal cell membrane. The cell membrane loses its physical barrier function, causing internal dissolved substances to overflow into the water. The microalgal cells become inactivated and dehydrated, allowing algae removal to continue under physical contact conditions without the addition of chemical reagents. Simultaneously, the decision-making module receives pressure drop and flow velocity parameters from the inlet and outlet water sides and performs real-time algebraic calculations of the dimensionless clogging index.

[0096] During the adaptive cleaning and physical state recovery phase, as solid impurities accumulate on the surface of the contact algaecide, the clogging index increases non-linearly. When the decision module's numerical comparison logic determines that the clogging index exceeds a preset alarm threshold, the decision module generates an alarm command and sends it to the algaecide's self-maintenance device. The drive motor receives pulse signals and drives the hollow rotating spindle to generate high-frequency alternating angular acceleration, outputting mechanical centrifugal shear force.

[0097] Within the synchronized time window of mechanical rotation, the cleaning water pump starts, injecting high-pressure water into the high-pressure fluid delivery chamber. The water flows outward through surface micropores, generating a backflow thrust. Under the direct action of this combined mechanical force, impurities adhering to the surface of the contact algaecide material detach and are discharged with the water flow. After the set cleaning time constant is reached, the self-maintenance device cuts off the power, the biomimetic algaecide module returns to its original position, and the next algae removal cycle begins.

[0098] During the energy boundary scheduling and physical return phase, within the execution cycle of all the aforementioned actions, the energy management unit continuously performs algebraic calculations of energy integration and photovoltaic power generation compensation. When the calculated total remaining energy parameter monotonically decreases until it equals the preset return threshold parameter, the energy management unit sends an energy warning electrical signal to the decision module. Upon receiving this signal, the decision module physically disconnects the power supply circuit between the algaecide self-maintenance device and the water intake / discharge system, and outputs a continuous return thrust command to the horizontal propulsion component, driving the system back to its initial physical coordinates. This completes the closed-loop operation and equipment scheduling physical process of the entire system in the water body.

Claims

1. A biomimetic autonomous sensing algaecide system based on contact algaecide materials, characterized in that, Includes a mobile bearer platform, and on said mobile bearer platform: The information acquisition module is used to acquire multi-source data, which includes at least external water environment characteristic parameters, externally set boundary condition commands, and internal self-feedback status information of the algaecide during operation. The decision module is used to perform autonomous calculations and evaluations based on the multi-source data, and generate global system control commands including target navigation routes, physical operation modes, and equipment maintenance actions. A power control module is used to respond to the global system control commands and provide driving force to adjust the spatial attitude, diving depth and trajectory of the mobile carrier platform in the water. The biomimetic algae-killing module is mechanically connected to the mobile support platform and driven and regulated by the power control module. The biomimetic algae-killing module has a biomimetic flow structure for increasing the water contact area, and the surface of the biomimetic flow structure is coated with a contact-type macromolecular algae-killing material carrying positively charged groups. The biomimetic algae-killing module is used to allow water to flow through the biomimetic flow structure under active turbulence or passive interception conditions, so as to use the contact-type macromolecular algae-killing material to physically destroy the cell membrane of algae in the water. The self-maintenance module, in response to the equipment maintenance command output by the decision module, performs physical cleaning and fluid flushing operations on the biomimetic flow structure and its surface algaecide material when the internal self-feedback status information reaches a preset blockage or attenuation threshold.

2. The biomimetic autonomous sensing algaecide system based on contact algaecide materials according to claim 1, characterized in that, The information collection module includes: The external environment detection unit actively acquires the external water environment characteristic parameters, including water quality parameters, underwater topography, water flow field and meteorological conditions, through acoustic, optical or physicochemical sensors. A remote communication interface for receiving the boundary condition commands issued by an external control terminal or a higher-level network; An internal state monitoring unit is used to collect data on the working time of the biomimetic algae-killing module and the fluid dynamics changes before and after the fluid passes through the biomimetic flow structure, in order to form the internal self-feedback state information.

3. The biomimetic autonomous sensing algaecide system based on contact algaecide materials according to claim 2, characterized in that, The internal status monitoring unit also includes: Pressure sensing components are respectively installed at the water-facing end and the water-returning end of the biomimetic flow structure. The pressure sensing components are used to collect dynamic pressure difference data of fluid before and after flowing through the biomimetic flow structure in real time, and transmit the dynamic pressure difference data as internal self-feedback state information for assessing the degree of clogging of algaecide material to the decision module.

4. The biomimetic autonomous sensing algaecide system based on contact algaecide materials according to claim 3, characterized in that, The decision-making module is specifically used for: The system receives the dynamic differential pressure data in real time and compares and analyzes it with the current water flow velocity and a set threshold. When the dynamic differential pressure data is determined to be greater than or equal to the preset blockage threshold, the device automatically generates the equipment maintenance command and sends it to the self-maintenance module. After the self-maintenance module completes its work, it performs a self-evaluation of the maintenance effect based on the dynamic differential pressure data fed back by the internal status monitoring unit. If the evaluation fails to meet the standard, a manual maintenance alarm signal is generated.

5. The biomimetic autonomous sensing algaecide system based on contact algaecide materials according to claim 1, characterized in that, The power control module includes a drive propulsion component and an operating posture adjustment component; The working posture adjustment component includes a multi-axis transmission mechanical support and a buoyancy adjustment water tank system installed inside the mobile bearing platform; The working posture adjustment component is used to respond to the system control command and, by controlling the opening and closing angle and extension length of the multi-axis transmission mechanical support and adjusting the water storage counterweight of the buoyancy adjustment water tank system, accurately deliver the biomimetic algae killing module to the specified target water depth and working angle.

6. The biomimetic autonomous sensing algaecide system based on contact algaecide materials according to claim 1, characterized in that, The biomimetic flow structure includes at least one of the following biomimetic forms: The baleen curtain filter assembly is composed of multiple flexible or elastic strip structures with the aforementioned contact-type macromolecular algicidal material arranged closely together. Fluid passes through the gaps in the structure in a direction perpendicular to the baleen curtain filter assembly, and the intercepted algae are guided and concentrated at both ends of the assembly. The gill raker-type flexible fiber bundle assembly comprises multiple flexible fibers grafted with the aforementioned contact-type macromolecular algicidal material. One end of each flexible fiber is fixed, while the other end is free in the water. This allows the fiber to bind and retain flowing algae through water flow disturbance, thereby extending the physical contact killing time.

7. The biomimetic autonomous sensing algaecide system based on contact algaecide materials according to claim 6, characterized in that, The biomimetic algaecide module also includes: A mechanical tangential force dispersion component is disposed at the front end of the biomimetic flow structure or in the algae-rich area to simulate chewing and crushing actions, applying physical shearing or impact force to the algae in a high-density aggregated state, thereby destroying the algae structure and increasing the contact probability between the internal algae and the contact-type macromolecular algicidal material.

8. The biomimetic autonomous sensing algaecide system based on contact algaecide materials according to claim 7, characterized in that, The self-maintenance module includes a high-pressure fluid generation unit and a frame rotation drive unit; The self-maintenance module is used to apply high-pressure gas or liquid flushing to the biomimetic flow structure and contact-type macromolecular algaecide material through the high-pressure fluid generation unit when receiving the equipment maintenance command, and / or drive the biomimetic flow structure to rotate at high speed through the frame rotation drive unit, so as to use the generated local high-velocity shear force to peel off the attached algae residue and dirt.

9. The biomimetic autonomous sensing algaecide system based on contact algaecide materials according to claim 1, characterized in that, It also includes an energy management module mounted on the mobile carrier platform; The energy management module includes a fuel generator and / or an energy storage battery pack, as well as a solar photovoltaic power generation module. The energy management module is electrically connected to each energy-consuming unit in the system to provide operating energy. The energy management module is used to provide real-time feedback to the decision-making module on energy status information, including remaining energy balance and photovoltaic energy compensation. The decision module is also used to generate a command to forcibly stop the operation and drive the device to automatically travel to a designated area for resupply when the comprehensive assessment of the remaining energy balance is lower than the preset safety warning value.

10. The biomimetic autonomous sensing algaecide system based on contact algaecide materials according to claim 1, characterized in that, The biomimetic algae-killing module also includes peripheral structural components, which have an open structure or at least a partially closed cavity structure. When the peripheral structure is the open structure, the biomimetic algae-killing module is driven by the mechanical cantilever of the power control module, so that the biomimetic flow structure actively scans and contacts the surrounding water body to perform active algae killing in open water. When the peripheral structure is at least partially enclosed cavity structure, the peripheral structure integrates a water pump and a fluid control unit for actively drawing external water into the cavity, so that the algae-containing water comes into forced physical contact with the biomimetic flow structure and is then discharged.

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