Neobiota collection system

Abstract

The present invention relates to an autonomous unmanned collection device for collecting target objects in the form of invasive neobiota from a bottom of a body of water. The invention further relates to a system for collecting and recovering said invasive neobiota and to a method for collecting and recovering said invasive neobiota using a collection device.

Description

[0001] TITLE

[0002] COLLECTION SYSTEM FOR NEOBIOTA

[0003] TECHNICAL FIELD

[0004] The present invention relates to a collection system comprising a collection device for collecting target objects in the form of invasive neobiota, in particular invasive neobiotic mussels, in particular of the species Dreissena rostriformis (or Dreissena bugensis or Dreissena rostriformis bugensis, or Quagga mussel) or Dreissena polymorpha (zebra mussel), from a bottom, from "walls," or preferably from all natural and / or artificial boundary surfaces of a body of water. Furthermore, the present invention relates to a system for collecting and retrieving said invasive neobiota, comprising said collection device, as well as a method for collecting and retrieving said invasive neobiota using said collection device.A further aspect of the present invention is the most complete possible utilization of the collected target objects in various further processing and utilization processes.

[0005] STATE OF THE ART

[0006] The zebra mussel (Dreissena polymorpha), also known as the zebra mussel, is a freshwater mussel known from the Miocene epoch. Since the 18th century, it has been widely distributed worldwide. This spread occurs naturally, as the larval stage floats in the current and is carried downstream. Larvae, as well as adult mussels that attach themselves to ship hulls, are transported to new habitats via ballast, bilge, or engine cooling water from ships and recreational boats used in various waters, and are transported to new habitats where the species was not previously native. In some waters, populations of up to 100,000 mussels per square meter are now found. The zebra mussel is a highly competitive species, disrupting the natural biodiversity of the affected ecosystems. Native fish are deprived of their food source.One consequence of the spread is that ducks and waterfowl benefit from the new food source, and more waterfowl overwinter. Fouling in pipes and heat exchangers caused by invasive species also leads to damage in cooling water systems. The quagga mussel (Dreissena bugensis), originally from the Black Sea region, is also contributing to the decline in biodiversity in ecosystems across large parts of Europe and North America. Its ability to reproduce year-round, colonize soft substrates in the deep zone, and its more efficient feeding are key reasons why the quagga mussel is even more competitive with the zebra mussel and is increasingly replacing it.Researchers recommend protecting unaffected waters through access barriers and mandatory cleaning of boats previously used on other waters, as well as through awareness campaigns and regular and uniform monitoring.

[0007] Previous tactics to contain the invasion of alien organisms have included manual or mechanical removal by divers, either by hand or with the aid of tools, e.g. by mechanical suction, for example using PVC suction pumps connected to a SCUBA tank, or using Venturi nozzles powered by a portable gasoline engine on a boat or dock (see Culver et al., 2013). For this to happen, divers must be regularly trained to identify target objects and also be available for short-term deployments. In addition, collection areas must be clearly defined and staked out, and it must be ensured that target objects detached from the bottom of the water body are actually removed from the water body to prevent re-attachment. Divers and tools must be decontaminated after cleanup operations to prevent the spread of larvae and / or juvenile or adult organisms.to prevent the release of adult animals into other waters. Furthermore, the target animals must be killed and properly disposed of after collection, which is subject to regulatory requirements.

[0008] Hydroblasting is another option for the gentle removal of alien organisms from infrastructure. However, this method is only effective if the mussels removed by this method sink to greater depths where low-oxygen conditions persist for at least a month, as this is the length of time the mussels can survive with little or no oxygen. Another disadvantage of this method is that, with repeated use, the large number of decomposing mussels can degrade water quality.

[0009] In the case of quagga and zebra mussels, these mechanical methods have the advantage of targeting both the juvenile and adult stages of the animal and typically result in only limited environmental impact. However, this only makes sense if the infestation is concentrated in a specifically defined area and if the invasion of further larvae or juvenile adults can be ruled out. Furthermore, successful cleanup of the affected water body can only be achieved if the removal of the affected neobiota is so extensive that the population cannot sustain itself. The animals can also settle in hard-to-reach locations, which poses the risk that individuals remain undetected or that removal is technically impossible.

[0010] Another physical containment tactic, which may also be used in combination with manual removal, is oxygen deprivation using benthic mats or covers. The mats are anchored to the waterbed using weights such as sandbags or rebar. Juveniles and adults are killed by the oxygen deprivation, but mussel larvae are hardly inactivated. To accelerate inactivation, chemicals or biocides such as chlorine gas or potassium chloride can be used beneath the mats, but this is subject to additional permitting requirements. Furthermore, this method is only useful for small to medium-sized neophyte infestations and the population is limited to a manageable and defined area.With this control method, the mussel shells are left behind in the water, which on the one hand reduces disposal costs, but on the other hand provides new docking sites for new infestations and poses a danger to swimmers and fishing gear due to sharp edges. This method also entails relatively large expenditures of materials and labor, including divers, and also requires the surface protection or closure of water areas whose bottoms are covered to traffic.

[0011] Furthermore, there is the option of chemical control tactics, which advantageously target all life stages of quagga and zebra mussels. As mentioned above, chlorine gas and potassium chloride are particularly used for this purpose (see Culver et al., 2013). These are used particularly when the infestation is geographically widespread and where manual and mechanical control methods are unsuccessful. To increase the chances of success for this method, the water body to be treated should have low flow so that the compounds used remain in the water body in the defined effective quantity for a sufficient time, although the concentration must be monitored. However, chemicals are also toxic to other living organisms and thus harmful to the environment. Furthermore, the risk to the affected water technologists employed to clean up the water bodies should not be underestimated.

[0012] An alternative, selective and more environmentally friendly biocide, Zequanox®, is still in the testing phase, although its geographically extensive application against invasive mussels is likely to be a cost issue (see http: / / marronebioinnovations.com / products / zequanox / ).

[0013] There are some fish species whose food source consists partly of various life stages of invasive mussels. However, these can only be imported into affected foreign waters to a limited extent. To date, no fish species have been identified that could be translocated to different non-native waters as promising biocontrol agents against quagga and zebra mussels.

[0014] Another control idea is based on the finding that mussels have a relatively narrow pH tolerance range of 7.5–9.3. Based on this finding, there are test studies aimed at manipulating the pH above or below the optimal range. A prospectively cost-effective method for controlling the population of invasive alien species in aquatic environments could be the application of pulsed pressure using air cannons, as the fine manipulation of seismic waves could potentially be used against all life stages of quagga and zebra mussels (see US Geological Survey (USGS) http: / / www.nrmsc.usqs.qov / staff / jqrosss / research).

[0015] However, all of the described control methods, which are very resource-intensive and costly, achieve only isolated and geographically limited success. Furthermore, none of the above-mentioned methods allows for the large-scale cleanup and collection of invasive alien species, such as quagga and zebra mussels, let alone the industrial use of their components.

[0016] The use of shell limestone as an alternative to quarried limestone as a source of calcium carbonate is well known. Using such CO2-neutral lime in cement production can significantly reduce the carbon footprint of cement production compared to cement whose lime content was made from quarried limestone. Furthermore, the carbonation capacity of lime mortar is increased by the addition of lime sand from recycled shell limestone.

[0017] Ideally, the use of shell limestone as a balance of the overall process would result in little to no net CO2 emissions, or the CO2 emissions would be fully compensated.

[0018] In Spain, several thousand tons of mussel shells, which are waste products from mussel farming for the benefit of the food industry, are used to produce calcium carbonate for the production of mortar (see Martinez-Garcia et al., 2019).

[0019] In addition, shell limestone can also be used to treat wastewater to precipitate pollutants and adjust alkalinity (see Jones et al., 2011 , McCorquodale-Bauer et al., 2022).

[0020] However, no method has yet been presented that enables the provision of industrially relevant quantities of such shell limestone, i.e. in the range of several hundred thousand tons per year per country, e.g. for the cement industry or other industrial applications.

[0021] PRESENTATION OF THE INVENTION

[0022] It is an object of the invention to provide a method that overcomes the disadvantages of the prior art methods for controlling or containing the population of a body of water by invasive neobiota, in particular invasive mussels such as quagga or zebra mussels. It is also an object of the invention to present a collection device and a collection system suitable for carrying out such a method. Furthermore, in addition to collection, the system should also enable the complete utilization of collected target objects, which is hoped for in the interests of sustainability and energy conservation, and thereby contribute to a reduction in the CO2 footprint.

[0023] The present invention firstly presents an unmanned collection device for the automated, selective, and minimally invasive collection of target objects in the form of invasive neobiota underwater. "Minimally invasive" refers to a collection method whose implementation causes minimal disruption to the existing native ecosystem. The collection device is designed to collect target objects from the bottom of a water body or from the bottom of a body of water. In the context of this invention, "bottom" or "bottom of a body of water" refers to all natural and / or artificial boundary surfaces, including the "walls" of the water body in question.The target objects are in particular invasive neobiota, especially invasive neobiotic mussels, preferably a species selected from a group consisting of Dreissena polymorpha (also called zebra mussel), Dreissena rostriformis, Dreissena bugensis, and Dreissena rostriformis bugensis (also called quagga mussel).

[0024] The collecting device according to the invention has a main body to which a plurality of collecting arms are detachably attached. The collecting device preferably has a total of 6-20 collecting arms, with an even number being particularly preferred due to good balance distribution. The main body preferably has a first side and a second side opposite the first side. In this case, the plurality of collecting arms is preferably evenly distributed over the two sides of the main body in order to create balance, particularly preferably at regular intervals. If the main body has a round shape, it can be advantageous if the collecting arms are evenly distributed around the periphery of the main body. Preferably, 3-10 collecting arms, particularly preferably 5-7 collecting arms, are arranged on the first side and on the second side.

[0025] The collection arms are designed to autonomously search the soil or bottom of a body of water for suspected target objects, examine or test the suspected target objects, and, if it is determined that the suspected target object is indeed a target object, collect the target object. If the examination of the suspected target object reveals that it is not a real target object, the examined suspected target object is not collected or is left on the bottom of the body of water.

[0026] As mentioned, the collecting arms are detachably attached to the main body and are therefore replaceable and can be serviced or repaired if necessary.

[0027] The collection device has a transport / propulsion device, which can be designed in the form of propellers, 3D jet propulsion, skids, rubber or crawler tracks, wheels, or similar. A transport system is advantageously selected that stirs up little or no sand from the bottom during operation, as otherwise the detection system would be severely impaired and any image recordings would be useless. The collection device advantageously has skids or a pair of skids on which it can glide smoothly over the waterbed.

[0028] The suspected target object is examined using a detection system located in each collection arm. The detection system searches for and locates suspected target objects within a specified search area and examines or checks them against predetermined detection criteria for actual target objects. To do this, the detection system communicates with detection software. This software is either located within each collection device itself, or located in the main body and shared by all collection arms, or located externally in a control system and communicates via a wireless connection with the collection device and / or the individual collection arms.

[0029] To collect target objects that have been verified by the detection system, i.e., identified as actual target objects, each collection arm has a collection unit. This collection unit has a suction device, by means of which each collection arm can suck in target objects.

[0030] The detection system of each collection arm has at least one light source, which can be used to illuminate the waterbed or the area surrounding the collection device, even in the darkness underwater and / or at night. Suspected target objects are examined and identified using at least one first sensor, which is preferably an optical sensor. This is preferably done by comparing image data with image data from detection software, which is preferably collected using machine learning, possibly using adaptive artificial intelligence, and stored in the detection software.

[0031] The collection device also has at least one verification system on the main body. This preferably has a main body sensor, particularly preferably an optical sensor, and preferably an image recording device, or a photographic and / or film recording device. This allows the collection device to verify whether it is located in an area with suspected target objects or in the predetermined collection area. After the collection action, it can also take photos or film recordings of the area already cleared of target objects, which are then forwarded to a control center for evaluation. This allows the effectiveness of the collection device's collection action to be demonstrated, and images of the same collection area from different points in time to be compared in order to track the colonization by the invasive neobiota over time.

[0032] Target objects collected by the collection unit are individually transferred to a collection container located in or on the main body of the collection device, where they are collected or stored until the collection device or container is emptied. The collection container preferably has a capacity of 10-100 kilograms, preferably 20-60 kilograms, and particularly preferably 30-50 kilograms.

[0033] The collection device has its own energy source, such as a battery or a hydrogen fuel cell. This energy source allows the collection device to navigate autonomously. The energy source, as well as other components that require protection from water, such as electronics, drive, etc., are housed in waterproof enclosures.

[0034] The collecting device also has at least one compressor for generating a vacuum for the suction devices of the individual collecting arms. This is preferably located centrally in the main body. Alternatively, each collecting arm can have its own compressor.

[0035] The collection device is preferably an unmanned, autonomous underwater vehicle (AUV), an underwater robot, an automated underwater drone, or an underwater robot. The collection device therefore preferably has a degree of inherent intelligence, enabling it to make decisions in unforeseeable situations during a preprogrammed search or collection mission without personnel intervention. Due to the high absorption of electromagnetic waves in water, a wireless data connection between the control system and the collection device via acoustic modems or underwater sound transducers is preferred over long distances. These use sound waves to transmit information. Wireless data exchange allows for the coverage of larger processing areas.

[0036] The main body of the collection device according to the invention therefore comprises at least one underwater transceiver, a waterborne sound transducer, or an underwater modem for underwater message transmission or for receiving or transmitting waterborne sound. The collection device, or its main body, also comprises at least one underwater navigation system for transmitting and receiving navigation data for the purpose of locating and autonomously navigating the collection device underwater via sonars. Sonar (English: "sound navigation and ranging") allows the location of objects underwater using emitted sound pulses. The analysis of acoustic signatures helps to distinguish between different underwater objects.

[0037] Furthermore, the collection device according to the invention has at least one preferably pneumatic ballast system, which allows the collection device to sink and resurface in a controlled manner in equilibrium within the water body. This ensures correct buoyancy of the collection device in the water body and good stability, regardless of the load or the fill level of the collection container. This is intended to ensure good maneuverability with the lowest possible energy consumption. With the ballast system, significantly less sediment is stirred up above the bottom than with a vertically acting propeller. The image recording device, preferably installed in the collection device as part of the verification system, thus provides a clearer image without rising suspended matter.

[0038] The collection device is preferably a multi-axis motion automaton whose movements are freely programmable in terms of movement sequence and paths or angles without mechanical intervention and / or sensor-guided. The collection device, in particular its collection arms, is preferably designed to be adaptive, allowing them to change or adapt their procedures. The collection device is either controlled via sound waves and / or its behaviors are pre-programmed via a software program.

[0039] The main body houses at least one drive device, for example, an electric motor, and a control device with means for maneuvering the collecting device. The control device preferably has at least means for vertical control and means for horizontal control, as well as preferably also means for controlling rotation about at least one axis of rotation, preferably rotation about two mutually perpendicular axes of rotation. Vertical movement is preferably achieved via the ballast system, or by adding and discharging water into the ballast tank, whereby the surface pressure, or the normal load distribution between the waterbed and the collecting device, is preferably designed to be adjustable. This is particularly important during the suction process by the individual collecting arms. The horizontal movement and rotational movement underwater are preferably achieved by means of at least one or more propellers.

[0040] The collection device according to the invention is designed such that it is capable of moving at least partially autonomously within the body of water, searching the bottom of the body of water for target objects at least partially autonomously within a predetermined range determined by a control system, identifying or verifying detected suspected target objects as actual target objects to be collected using recognition software, and autonomously collecting verified target objects. "At least partially autonomous" means that the collection device operates at least partially autonomously or even autonomously, i.e., no, or possibly only certain, human steps need to be authorized or controlled by a control system. Preferably, however, the collection device performs the recognition and collection processes completely autonomously.Advanced algorithms and navigation systems enable the collection devices to navigate autonomously, avoid obstacles, and follow predefined paths. The swarm or fleet of coordinated collection devices can work together to cover large search areas. Once its assigned (sub-)search area has been "swept" or cleared, i.e., all target objects in the respective search area have been collected, the collection device can surface and request or receive a new collection order from the platform, or it can be controlled in such a way that it can return to an assigned platform upon completion of the clearing of the assigned (sub-)collection area, possibly even before its collection container reaches its maximum load capacity.

[0041] The collection device is preferably equipped with a range of sensors, such as sonars, cameras, magnetometers, IR sensors and chemical sensors, which enable them to collect a variety of data.

[0042] According to one embodiment of the invention, the collection device is equipped with a downward-facing sediment sonar and an upward-facing orientation sonar.

[0043] Preferably, each collecting arm has at least two sensors, wherein the first sensor of each collecting arm is preferably an optical sensor for detecting the shape of the target object, and the second sensor of each collecting arm is an infrared (IR) sensor or a chemical sensor for detecting the material of the target object. Preferably, both the first sensor and the second sensor transmit data to recognition software for the purpose of checking and deciding whether the respective collecting arm should collect a putative target object. The recognition software can be arranged either individually in each collecting arm or in the main body of the collecting device, or externally from the collecting device in a control system. Preferably, both the first sensor and the second sensor transmit data to a machine learning system for the purpose of collecting sample data ("machine learning"), which is then used to train the recognition software.

[0044] If the recognition system or the recognition software decides that the suspected target object is actually a target object, the collection unit of the collection arm is given the command to collect the target object. For this purpose, the collection arm preferably has a collecting container for holding the target object. This means that the verified target object is sucked into the collecting container of the collection arm by means of a vacuum generated by a compressor arranged in the main body. The target object preferably enters the collecting container through a first valve at the free end of the first section of the collection arm. Water can leave the collecting container again through this first valve and into the body of water by feeding compressed air into the collecting container.The collection unit preferably has an optional outlet valve through which water can be pressed out of the collection container in addition to the first valve by supplying compressed air. The first valve preferably has a larger diameter than the optional outlet valve, wherein the diameter of the first valve is preferably larger than a predetermined average maximum diameter of the target object and the diameter of the second valve is preferably selected to be smaller than a predetermined average minimum diameter of the target object. Alternatively, the optional outlet valve has a sieve whose mesh size is smaller than the average minimum diameter of the target object in question. Alternatively, the first valve has a pivotable sieve which is only pivoted in when a target object is located in the collection container.The collecting arm preferably also has a first air duct or compressed air duct through which compressed air is forced into the collecting container for the purpose of displacing the water. A second air duct through which air is sucked in is preferably arranged parallel to the first air duct. This second air duct is part of the suction device of the collecting arm. The compressor creates a vacuum, which results in the target object being sucked into the collecting container. After the target object has been sucked in, water is expelled into the body of water through the second valve, which is preferably arranged in a wall of the collecting container, either by the aforementioned compressed air supply through the first air duct into the collecting container. The target object is thus sucked into the collecting container through a guide channel extending between the collecting container and the collecting container arranged in the main body of the collecting device.Alternatively, the target object located in the collection container is conveyed, sucked, or pressed together with the water through the guide channel into the collection container. Thus, instead of being forced out into the water body via the second valve, the water is forced into the guide channel. If the collection container is designed as a net or cage, as in a further preferred embodiment, the water can leave the collection container through the mesh of the net or cage and back into the water body. The target objects remain in the collection container until it is emptied. The air is preferably recycled in the suction device of the collection arm.

[0045] Preferably, each collecting arm is configured to autonomously search its own (sub-)collection area for target objects within one of the predetermined main collection areas assigned to the respective collecting device by a control system. While the main body is stationary, or in a specific position of the collecting device, the collection areas of the individual collecting arms of a collecting device preferably do not overlap, i.e., the collecting arms do not interfere with each other.

[0046] The present invention thus also relates to a method for collecting target objects, in particular invasive neobiota, in particular from soil or a body of water, and from any "walls" of the body of water, or preferably from all natural and / or artificial boundary surfaces of a body of water, comprising the following steps: a.) Searching the soil or a body of water using a collecting device, preferably as described above, or using a plurality of collecting arms of the collecting device; b.) Detecting a suspected target object using a detection system of each collecting arm, in particular using at least one sensor, preferably using at least two sensors, the first sensor preferably being an optical sensor and the second sensor preferably being an IR sensor; c.) Checking the suspected target object, in particular by comparing it with data from detection software; d.) Sucking in the suspected target object identified as the target object through a first valve into a collecting container of the collecting arm; e.) Displacing water from the collecting container, preferably by pumping compressed air into the collecting container; f.) Moving or conveying the target object from the collecting container into the collecting container of the collecting device, which can be done either by displacement, suction, or pumping. Preferably, only one target object is sucked in at a time per collecting arm, and only one target object is conveyed at a time from the collecting container to the collecting container.

[0047] The invention further relates to a system for collecting and recovering target objects, in particular invasive neobiotic mussels, from a soil or water bed and from "walls" of a water body, comprising:

[0048] - at least one collecting device as described above, preferably a plurality of collecting devices;

[0049] - at least one platform which is in a wireless connection, e.g. radio connection, with the at least one collecting device, preferably with the plurality of collecting devices.

[0050] The platform can be designed as a floating body, either anchored detachably or permanently in the water, or attached to the shore. This is preferably a pontoon. Alternatively, the platform can be a facility located on land, preferably near the shore.

[0051] The platform is used for the maintenance, or preferably the reception, as well as the emptying and maintenance of a multitude of collection devices. The collection devices assigned to a platform or deployed by a platform are designed to return to their assigned (parent) platform after completing the search and collection process, or when their respective collection containers reach their maximum fill level, or in the event of a malfunction or for maintenance, battery replacement, air exchange, etc., to unload the collection container there and / or to be serviced, or to await the next deployment, or to be transported to another body of water.

[0052] The platform thus defines a main area for a multitude of collecting devices, i.e., a swarm or fleet of collecting devices, or assigns a main area to the individual collecting devices in which the search and collection process is to be carried out. Within this main area, the individual collecting devices can then autonomously search the waterbed in individual sub-areas for target objects and clear the waterbed of target objects.

[0053] The individual platforms are preferably also used for the temporary storage of target objects after the collection containers of the individual collection devices on the platform have been emptied, prior to further transport. The platform can also contain equipment or tools for maintaining or repairing the collection devices, with these operations being carried out either automatically (e.g., with the help of robots) or with the assistance of personnel.

[0054] Preferably, the platform has a drive device for operating the platform. Furthermore, the platform according to the invention should have a communication device for wireless connection to the individual collection devices and, if a further, higher-level central management system is present, also for connection to the central management system.

[0055] According to a further preferred embodiment of the system according to the invention, the platform is also designed to control the collection devices assigned to the respective platform from the platform. Preferably, the platform according to the invention has a transceiver for communicating with the plurality of collection devices. Communication takes place via sonar or sound waves.

[0056] The platform advantageously also has a control system for emptying, maintaining, servicing, managing, and navigating the plurality of collection devices. The control system can be located in a control cabin on the platform and can be controlled either automatically or by personnel. However, instead of from a control system on the platform, the control can also be carried out externally, i.e., from a main control or management system superimposed on the platform, i.e., via remote control.

[0057] Navigation software coordinates the system's operation. Algorithms control path planning and enable the collection devices to work synergistically together. The algorithms ensure that the collection devices avoid collisions, efficiently map the area, and precisely reach specific targets or key areas. In another embodiment, the collection mission objectives are defined in a central management system and forwarded to a plurality of platforms. The platform, in turn, transmits commands and objectives to the individual collection devices. Each collection device performs a series of operations, including mapping the underwater environment, collecting data, searching for specific targets, etc. The collection processes of the collection devices are preferably coordinated, which increases the efficiency of the system.According to a further preferred embodiment, the collection devices can exchange data not only with the (parent) platform, but also with each other to improve the accuracy of the underwater mapping and ensure a continuous flow of information during the collection process. The platform preferably receives periodic updates from the collection devices and can continuously adapt the mission plans in real time based on the information received. According to a particularly preferred embodiment of the system, the platform is designed to exchange data with other, in particular nearby, platforms in order to expand the area of ​​coverage and improve mission coordination. During underwater operations, communication between the collection devices and their assigned (parent) platform, and vice versa, preferably takes place via sonar to ensure orientation.Additionally, it is also possible for the individual collection devices to communicate with each other via sonar. The individual collection mission orders are preferably communicated via a wireless connection only periodically, after the respective collection device has surfaced, i.e., preferably every few hours. This way, the collection devices operate autonomously most of the time. Preferably, different platforms also communicate with each other for communication purposes.

[0058] In order to service, maintain, empty, temporarily store the collection devices when not in use, etc., as mentioned above, the platform has a plurality of protective containers or parking spaces for several or all of the collection devices assigned to it.

[0059] Advantageously, the platform is equipped with a loading ramp, via which the individual collecting devices can be moved onto the platform and released back into the water body. This can be done independently by the collecting devices themselves. Alternatively, the collecting devices can be pulled onto the platform by means of a loading device, e.g., a pulling device, e.g., a reel driven by an electric motor, and then re-watered. Collecting devices that have skids can then be used for

[0060] For example, it can be drained via a loading ramp that is equipped with rails or grooves.

[0061] In the case of a floating platform, which is transported by a watercraft to a specific position on a specific body of water, the platform also serves to transport the numerous collection devices assigned to the platform. In the case of floating platforms (pontoons), it is also conceivable for the collection devices to enter the platform through an underwater inlet for the purpose of initiating a maintenance procedure.

[0062] A further preferred embodiment of a platform of the system according to the invention has a first lifting device for transferring collected target objects from the collection containers of the collection devices into a loading container or for lifting the collection containers from the collection device onto the platform. The loading container can be located either on the platform itself or attached to it and serves for the temporary storage of the target objects until their further transport. For example, the loading container has a capacity of approximately 50 tons, which, assuming a maximum fill volume of a collection container of a collection device of approximately 50 kg, would correspond to approximately 1,000 collection container loads. Ideally, a full collection container on the platform is replaced by an empty collection container. The full collection container is then emptied into the loading container on the platform.

[0063] Advantageously, the platform includes a battery charging device that allows for the charging and / or replacement of batteries in the collection devices. Ideally, a depleted battery in the collection container is replaced with a full or charged battery before, during, or after the discharge process. Alternatively, the collection device can wait on the platform until the battery is charged.

[0064] According to a further preferred embodiment, the air tank of the collecting device is also replaceable, especially if air gradually escapes from the collecting device during the collecting process. This allows an empty air tank to be immediately replaced with a full one before, during, or after the unloading process on the platform.

[0065] A maintenance procedure therefore preferably includes at least emptying the collection tank, charging the battery, and refilling the air tank. Alternatively, the maintenance procedure may involve replacing the collection tank, battery, and air tank. It can be particularly efficient if the collection tank, battery, and air tank are mounted in a single unit on the collection device, which can be replaced as a single unit on the platform during the maintenance procedure.

[0066] Preferably, one collecting device is serviced at a time, but it is also possible to service several collecting devices simultaneously.

[0067] The system according to the invention may further comprise a central management system by means of which the operation of a platform or the operation of a plurality of platforms on the body of water is managed or coordinated.

[0068] The central management system is preferably located separately from the onshore platform and preferably comprises a communications system and a control and monitoring device. It is also conceivable for only one platform of a system to have a management device, and for the remaining platforms monitored by this management device to not have their own management device, as they are monitored by the management device of one platform.

[0069] In a further preferred embodiment, the system according to the invention further comprises a land station for the purpose of collecting, storing, and / or further transporting target objects collected by a plurality of collection devices and transferred to at least one platform. Preferably, several loading container loads of target objects are consolidated in the land station before being transported further or forwarded for further processing or recycling.

[0070] In a further preferred embodiment of the system according to the invention, the loading container, as mentioned above, is a buoyant loading container for transporting a load of target objects collected by a plurality of collection devices from the at least one platform to the land station. This can be done either by means of the loading container's own drive, for example by remote control, or by transport by a watercraft. For the purpose of temporarily attaching the loading container to the platform during the loading process, the platform can have a (first) coupling device designed for attachment to a (second) coupling device of the loading container. The same second coupling device of the loading container, or a further coupling device, can then serve for coupling to the landing stage, to the watercraft, etc.

[0071] Preferably, the mentioned land station has a landing stage for the loading container, or for docking a watercraft, which transports the loading container or a load of target objects transferred from the loading container of the platform into a transport container of the watercraft from the at least one platform to the land station.

[0072] For the purpose of transferring the load of target objects from the loading container or from a transport container of a watercraft, to a truck or to a rail vehicle, the land station preferably also has a (second) lifting device.

[0073] At least part of the cargo can then be transported to at least one further processing plant or recycling plant, or to a warehouse.

[0074] As an alternative to a lifting device, the land station can have a towing device that pulls the floating cargo container itself or a transport container of a watercraft onto land, lifts it, or drains it into the water. The same or another towing or lifting device can then transfer the cargo container or transport container filled with target objects directly onto a truck or rail vehicle without first unloading the target objects.

[0075] The system can additionally also comprise the aforementioned watercraft for the purpose of transporting a load of target objects, which are stored on the platform or coupled to the platform in a loading container. During transport from the platform to the land station, in this case either the floating loading container of the platform, which can be coupled to the platform, is transported or towed to the land station, or the load of target objects stored in the loading container is transferred, for example by means of a lifting device on the platform or on the watercraft, into a transport container of the watercraft and thus transported to the land station. It is also conceivable for the loading container to travel to the land station in a robot-controlled or unmanned manner or autonomously using its own drive.

[0076] The aforementioned land station may further comprise one or more lounges for personnel staying at the land station. Furthermore, the land station advantageously comprises a storage room for the purpose of (intermediate) storage of a plurality of loads of target objects prior to further processing in a processing facility or prior to further transport.

[0077] According to a further preferred embodiment, solar panels are mounted on the collection devices, and / or on the platform and / or on the land station, which use sunlight to charge batteries, control the collection devices and / or the platforms, etc. Alternative coupled energy sources such as wind or hydroelectric power plants, etc., are also conceivable.

[0078] The invention thus also relates to a method for the non-invasive and selective cleaning of a body of water of target objects, preferably in the form of invasive neobiota, in particular invasive neobiotic mussels, and for their utilization. The method involves collecting target objects underwater by means of an autonomous collection device, preferably as described above, and preferably according to a method as described above.

[0079] Following collection of the target objects, they are transferred from a collection container of the collection device to a loading container of a platform, with the platform, or its control system and / or communication device, being wirelessly connected to the collection device or to a communication unit of the collection device. The load of target objects is then transported from the platform's loading container to a land station, from where the target objects are then transported to a further processing facility or recycling facility, as also mentioned above. If necessary, the target objects can be temporarily stored in a warehouse at the land station before being fed from the land station's warehouse to a further processing process or transported to a further processing facility.

[0080] According to a particularly preferred embodiment of the method according to the invention, a further processing process first includes a comminution step.

[0081] Preferably, if the target objects are neobiotic mussels, the limestone-containing hard shell portion is separated from the organic soft part during further processing or utilization and the two parts are further processed and / or utilized separately.

[0082] The soft organic fraction of the target objects can, for example, be fermented in a biogas plant to decompose the soft organic fraction of the neobiotic mussels into biogas or biomethane. The biogas or biomethane resulting from the fermentation process is then preferably fed into an energy transformer or an energy generation process, and advantageously used to generate electricity. It is particularly efficient to ferment the already crushed target objects in their entirety, i.e., before separating the hard fraction from the soft fraction, and to separate the hard fraction only afterward.

[0083] Alternatively, the organic soft part can be fed into a further processing process in the food industry, for example for protein extraction.

[0084] The calcareous hard part of the neobiotic mussels can be used as a raw material in cement production, regardless of whether the soft part has previously been subjected to a fermentation process or other treatment. As mentioned above, shell limestone derived from zebra or quagga mussels can serve as an alternative to quarried limestone for the production of calcium oxide for use in cement production. It would be an objective of the present invention to cover a significant portion of the lime demand for global cement production with shell limestone obtained using the process described above.

[0085] Another possible use for shell lime is in wastewater treatment, specifically for conditioning sludge or as a precipitant for pollutants dissolved in water. The lime is thus used both to neutralize acidic wastewater and to precipitate substances such as phosphorus and metals from wastewater in sewage treatment plants or swimming ponds.

[0086] For certain applications, it may be advantageous or necessary to subject the target objects or certain components thereof to a prior cleaning step, for example, when the organic soft part is added to food production, as mentioned above.

[0087] The present invention brings at least three benefits simultaneously:

[0088] 1.) Water bodies are cleaned of invasive neobiota, thus contributing to the protection and preservation of native ecosystems.

[0089] 2.) The organic soft part of the mussels can be used for electricity generation, ie for sustainable energy supply, and / or in the food industry, e.g. for protein production.

[0090] 3.) The limestone-containing hard part can contribute to CO2-neutral cement production and thus reduce the extraction of limestone as a raw material.

[0091] Further embodiments are specified in the dependent claims.

[0092] BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Preferred embodiments of the invention are described below with reference to the drawings, which are for illustrative purposes only and are not to be construed as limiting. In the drawings:

[0094] Fig. 1 is a perspective view of an unmanned collecting device according to a first embodiment of the present invention, shown without collecting arms;

[0095] Fig. 2 is a perspective view of the collecting device of Fig. 1 in a representation with only one collecting arm attached;

[0096] Fig. 3 is a perspective view of the collecting device of Fig. 2, wherein the collecting arm is shown without a waterproof cover and, as a variant, has four joints instead of three;

[0097] Fig. 4 is a perspective view of the collecting device of Fig. 1 in a representation with five collecting arms on one side;

[0098] Fig. 5 in Fig. 5a is a perspective, schematic illustration of a first, lower portion of the collecting arm of Fig. 2; in Fig. 5b is a schematic view of structures of an interior of the first, lower portion of the collecting arm of Fig. 5a;

[0099] Fig. 6: Fig. 6a is a schematic view of the detection system of the collecting arm according to Fig. 5a; Fig. 6b is a bottom view of the detection system of Fig. 5a;

[0100] Fig. 7 in Fig. 7a, a schematic sequence of steps of the suction method of a target object by the first, lower collecting arm section according to Fig. 5a; in Fig. 7b, a schematic representation of the collecting container with its inlet and outlet channels according to another preferred embodiment;

[0101] Fig. 8 is a schematic representation of three-dimensional movement sequences of a collecting device according to Fig. 1, shown without collecting arms; Fig. 9 is a schematic representation of a movement of a collecting device according to Fig. 1, shown without collecting arms;

[0102] Fig. 10 is a schematic representation of a system for collecting and retrieving target objects according to an embodiment of the invention;

[0103] Fig. 11 is a perspective schematic representation of a platform of a collection system according to an embodiment of the invention;

[0104] Fig. 12 is a perspective schematic representation of a loading container of a platform according to Fig. 11;

[0105] Fig. 13 is a perspective schematic representation of a platform according to Fig. 11 with a loading container according to Fig. 12;

[0106] Fig. 14 is a schematic representation of a first embodiment of a central management system of a system according to Fig. 10;

[0107] Fig. 15 is a schematic representation of a first embodiment of a jetty of a land station of a system according to Fig. 10;

[0108] Fig. 16 is a schematic representation of further processing procedures for target objects collected with the system according to Fig. 10.

[0109] DESCRIPTION OF PREFERRED EMBODIMENTS

[0110] Figure 1 shows a perspective view of an unmanned collection device 1 according to a first embodiment of the present invention without collection arms 3. Thus, Fig. 1 only shows the main body 2 of said collection device 1. In the first embodiment shown, this has a collection container 14 in which target objects Z sucked up by the collection arms 3 are collected. In the present embodiment, the main body 2 has a first side 2a and a second side 2b, to each of which, for example, five collection arms 3 can be attached. For this purpose, five coupling devices 13 are arranged on each side 2a, 2b, to each of which a collection arm 3 is attached to the collection container 14 of the main body 2. Thus, in the present embodiment, ten collection arms 3 can be attached to the main body 2 of the collection device 1 shown.The coupling devices 13 are schematically shown as circular through-openings in the first side wall 2a of the collecting container 14. The collecting arms 3 can be easily exchanged via this coupling device 13. For the purpose of fastening the collecting arms 3 to the main body 2, conventional waterproof coupling devices 13 can be used, e.g., a snap-in closure, a twist-lock closure, etc. Cables 13a, which supply the respective collecting arm 3 with power, are shown on the periphery around the mounting opening 13a. The power is provided by an energy source 12, which is, for example, a replaceable rechargeable battery or a rechargeable battery (e.g., a NiMh battery). Adjacent to the collecting container 14, at a first end of the main body 2, a drive device 6, e.g., in the form of an electric motor, is shown. The illustrated main body 2 of the collecting device 1 also has two ballast systems 9a, 9b.On the underside of the main body 2, a transport device 5 is shown, which in the embodiment shown in Fig. 1 has two skids. These skids allow the collecting device 1 to slide along the bottom or ground G of the body of water W without excessively disturbing the existing ecosystem and without stirring up too much sand.

[0111] At the second end of the main body 2 opposite the drive device 6, a pulling device 23 is arranged, by means of which the collecting device 1 can be pulled out of the water for maintenance, repair or unloading.

[0112] Also arranged at the second end of the main body 2, adjacent to the energy source 6, in the present embodiment are a verification system 11 and an external light source 10. The collection device 1 uses these to scan the waterbed G for target objects. The verification system includes a first sensor and an imaging device or camera (not shown). Two antennas are shown on the top side of the main body 2 in the present embodiment, representing the underwater transceiver 8 as part of a communication unit 54 of the collection device 1.

[0113] In Figure 2, the main body 2 of the collecting device 1 of Figure 1 is shown with only one collecting arm 3 attached for the purpose of explanation. The collecting arm 3 here has four sections or segments 3', 3", 3"', 3"", which are connected to one another by mechanical joints 3a-3d. Adjacent to the first section 3' of the collecting arm 3 (counted from the free end), a collecting unit 7 is arranged at the lower or free end of the collecting arm 3, coaxial with the longitudinal axis L3' of the first section 3', with a detection system 4 attached to the outside of the collecting unit 7. Figure 3 shows the "skeleton" of the collecting arms 3, namely the cabling 13 and the mechanical joints 3a, 3b, 3c, 3d, whereby one more joint 3d is shown in Figure 3 compared to Figures 1-2. This "skeleton" is enclosed and protected by a waterproof casing 15. In Fig. 4, the main body 2 is equipped with five collecting arms 3 on the first side 2a for illustrative purposes.In Fig. 5a-5b, the first section 3' of the collecting arm 3 is shown in more detail, with Fig. 5a showing a perspective view and Fig. 5b showing a cross-section through the first section 3' of the collecting arm 3. The detection system 4 and the first valve 17 at the inlet area are shown offset from the sectional plane in perspective. At the lower, free end of the collecting arm 3, a valve 17 is shown, through which a target object Z is sucked into a collecting container 16 axially adjoining the valve along the longitudinal axis L3' of the first section 3'. Aligned parallel to the longitudinal axis L3' are a suction device 18 and a guide channel 19, which connects the collecting container 16 to the collecting container 14 in the main body 2 of the collecting device 1.Through this guide channel 19, the sucked-in target object Z is transported through the coupling device 13 into the collection container 14 of the main body 2 of the collection device 1. Furthermore, the first section 3' has an air chamber 52 and a (first) air channel 20.

[0114] The detection system 4 is shown in more detail in Fig. 6a-6b. In the illustrated embodiment, it has a first sensor 4a and a second sensor 4b, as well as a first light source 4c, or in the present case, a plurality of light sources 4c. In the illustrated embodiment of Fig. 6a, 6b, the light sources 4c are arranged in a ring along a periphery of the detection system 4, which in the present embodiment is cylindrical, wherein the first sensor 4a is arranged axially along the longitudinal axis L4 of the detection system 4 and the second sensor 4b is arranged concentrically around the longitudinal axis L4 or around the first sensor 4a. The plurality of light sources 4c are arranged concentrically around the longitudinal axis L4 or around the first sensor 4a and around the second sensor 4b arranged in a ring around the first.In the present embodiment, the first sensor 4a is an optical sensor which, thanks to machine learning, instantly compares thousands of photos with the detected putative target object. The second sensor 4b is an infrared spectrometric sensor (IR sensor) which analyzes the material of the target object Z, or in the case of quagga or zebra mussels, whether the material on the waterbed G is limestone mussel shells. If both sensors 4a, 4b confirm that the identified object is indeed a target object Z with a predetermined probability, the collection unit 7 is tasked with vacuuming up the identified target object Z.For this purpose, the first sensor 4a and the second sensor 4b are connected to detection software located either in the respective collection arm 3 itself, in the main body 2, or in an external control center. The more target objects Z are collected, the more the detection software becomes trained using machine learning and artificial intelligence. In particular, the detection system 4 is also intended to prevent native species from being removed from the waterbed G instead of target objects Z.

[0115] In Fig. 7a, a collection process is shown from right to left. If a target object Z is detected by the detection system 4 and also identified as an actual target object Z by the detection software, the suction device 18 receives the command from the detection system or a control center connected to it to suck up the target object Z. The suction device 18 then, using a vacuum generated by the compressor, sucks the target object Z together with water from the body of water W through the first valve 17, which is designed as an inlet / outlet valve, into the collecting container 16. The diameter of the first valve 17 is selected such that it is slightly larger than an average maximum diameter of previously examined or experience-based target objects Z. If the collecting container 16 is full, orIf a target object Z is located therein, compressed air is pumped by a compressor (not shown) through a first air channel 20 from an air tank 52 into the collecting tank 16, which is illustrated by the downward-pointing vertical arrows in Fig. 7a. As a result, the target object Z, together with the water contained in the collecting tank 16, is displaced or transported from the collecting tank 16 into and through the guide channel 19 and then further into the collecting tank 14 arranged in the main body 2. The water can then escape back into the water body W (not shown) through meshes of the collecting tank 14, which is advantageously designed in the manner of a net or lattice basket, in the main body 2.The mesh size of the net structure of such a collection container 14 corresponds at most to an average minimum diameter of empirically known target objects Z, in order to ensure that no target objects Z that have already been collected pass back into the water body W. The target object remains in the collection container 14 until it is emptied. The compressed air used to displace the water from the collection container 16 is returned, for example, via a second air duct 18 into the air container or air chamber 52 and thus recycled. In such a case, the first air duct 20 would be provided for the vacuum and the second air duct for the compressed air. The process then begins again, and another target object Z is sucked into the collection container after it has been tested. In the present embodiment, the collection cycle lasts approximately two seconds per target object Z. With a capacity of the collection container 14 of approximately45 kg, this means that the collection container 14 is full after approximately five hours of operation, with 10 collection arms per collection device 1. When a maximum fill level or maximum fill weight is reached, the collection device 1 surfaces and moves to a platform 24 illustrated in Fig. 11. There, the full collection container 14 is emptied or, ideally, replaced with an empty one.

[0116] Alternatively, water can also be discharged into the water body W through a further, optional outlet valve 22 in the side wall of the collecting container 16, e.g., if the target object Z is sucked into the collecting container 14 by means of air according to an alternative embodiment. After the water has escaped from the collecting container 16, only the target object Z remains in the collecting container 16. The suction device 18 then, by means of a generated vacuum, sucks the target object Z from the collecting container 16 through the guide channel 19 (which in this case serves to convey air instead of water) into the collecting container 14.

[0117] Fig. 7b contains a schematic representation of a collecting container 16 with various supply and discharge channels according to another preferred embodiment. Unlike in the embodiment shown in Fig. 7a, in Fig. 7b both compressed air and vacuum are guided through only one and the same channel 18 or 20. An air inlet / air outlet valve 55 is arranged between the air channel 18 or 20 and the collecting container 16. First, a vacuum is created in the collecting container 16, with the air inlet / air outlet valve 55 being open in the outlet direction from the collecting container 16. Then, the air inlet / air outlet valve 55 is closed. The target object Z is sucked into the collecting container through the first valve 17, which is open in the direction from the body of water W to the collecting container 16.Through the second valve 53, which is opened from the collecting container 16 in the direction of the collecting container 14, the target object Z is also transported here by a vacuum generated by the compressor of the collecting device 1, together with the water from the collecting container 16 through the guide channel 19 into the collecting container 14 of the main body 2, where the water preferably exits the collecting container 14 again. After the target object Z has passed through, the second valve 53 is closed and air is pumped into the collecting container 16 via the air inlet / air outlet valve 55, which is open in the direction of the collecting container 16, in order to force the water from the collecting container 16 back into the water body W via the first valve 17 or the optional outlet valve 22.Then the first valve 17 and the optional outlet valve 22 close again and a vacuum is again generated via the air inlet / air outlet valve 55 and the collection process is repeated for the next target object Z checked by the detection system.

[0118] The mechanical collecting arms 1 each work independently of one another and, in this exemplary embodiment, within a non-overlapping working area, i.e. without disturbing or getting in each other's way. Each collecting arm 1 is restricted to a specific working angle or collecting radius or a (sub-)collecting area, within which it is free to carry out various movements independently. If a collecting arm 1 does not find any target objects Z within its working area, the control center or maneuvering device of the collecting device 1 is informed (not shown). Depending on the activities of the other collecting arms 1, the control center of the collecting device 1 then makes a decision as to whether the collecting device 1 should change its location within the predetermined main area or move away, or whether it should wait until the other collecting arms 1 have collected all target objects Z within their collection radius.

[0119] Fig. 8 shows how the collecting device 1 can move in three-dimensional space underwater. On the one hand, it can move freely in all directions in a plane that is arranged parallel to the waterbed G. A rotation B1 about a rotation axis D1 in the plane is possible, as is a translational movement B3 along the x-axis, and a translational movement B5 along the z-axis. This is shown in Fig. 8 by the arrows B1, B3, B5. In addition, a rotation or tilting about a rotation axis D2 in a direction of movement B2 is possible, which makes it possible to remain on the surface even if the waterbed G is uneven. The collecting device 1 can also rise and sink in the water body W in a direction of movement B4 along the y-axis, which runs essentially perpendicular to a plane that runs parallel to the water surface and to a waterbed G (theoretically assumed to be flat).This movement is particularly necessary when the collecting device 1 has to surface for maintenance or emptying. This vertical movement is made possible in particular by the ballast system 9a, 9b. With the help of its drive device 6, e.g. in the form of an electric motor, its propulsion device 5, and its ballast system 9a, 9b, the collecting device 1 can also move a few centimeters above the waterbody bed G, i.e. without touching the bottom of the water body W or the waterbed G. In this way, it can be ensured that the collecting device 1 does not impair or destroy the ecosystems on the waterbody bed G. This makes it possible to adapt the movement to the changing morphology of the waterbed G. During collection work, the freedom of movement of the collecting device 1 may be restricted. If the angle of inclination orIf the gradient of the waterbed G is greater than a certain maximum value, which may vary depending on the fill weight of the collecting device 1, the working depth, etc., the collecting device 1 can be programmed and equipped to take off and "fly over" the respective gradient and descend to the next, substantially less inclined surface of the waterbed G. This is illustrated in Fig. 9 as an example.

[0120] Fig. 10 shows a collection system. To coordinate the operations of a fleet 26 or a swarm of, for example, 50 collection devices and a platform 24, e.g., a pontoon, a sophisticated autonomous underwater navigation system is required. Complex underwater collection missions can be carried out using the collection system according to the invention and shown in this exemplary embodiment. A fleet 26 of 50 collection devices 1 each belong to a platform 24, i.e., they are emptied and serviced on this platform 24. This platform 24, which in the illustrated embodiment is a floating pontoon, is equipped with a wide range of technologies, including a powerful on-board computer and transceivers 30, i.e., high-frequency communication antennas and position sensors as a communication device.The platform 24 acts as the main command center for the individual collection devices 1. Each collection device 1 of a fleet / swarm 26 is a self-contained unit, equipped with its own advanced sensors 4a, 4b, including high-resolution sonar, cameras, infrared spectrometers, gyroscopes, and accelerometers. These sensors play a crucial role in mapping the underwater area, detecting obstacles, and collecting detailed data. Communication between the platform 24 and the collection devices 1 is via sound waves to ensure a reliable connection underwater. The system enables the collection devices 1 to send real-time updates on their position and ambient conditions to the corresponding "mother" platform 24. The system's operation is coordinated by navigation software.Algorithms control path planning and enable synergistic cooperation between the collection devices 1. This avoids collisions, efficiently maps the area, and precisely reaches specific targets. The land station 25, which controls the operation of six platforms 24 in the illustrated embodiment of Fig. 10, defines the mission objectives and transmits them to the individual platforms 24. The platform 24, in turn, transmits the commands and objectives to the individual collection devices 1.

[0121] Fig. 11 schematically illustrates such a platform 24 or "pontoon." The platform 24, which is usually floating on the water surface and is either anchored to the waterbed G or moored to the shore of the water body W, serves to manage and control a fleet 26 or a swarm of collection devices 1. The illustrated platform 24 has a floor 33 and provides protective containers 32, or "parking spaces" or "docking stations" for 50 collection devices 1. Not all of the collection devices 1 "managed" or assigned, controlled, and maintained by the platform 24 necessarily need to be emptied, transported, or serviced simultaneously, so that smaller platforms with fewer such "docking stations" would also be conceivable. The individual collection devices 1 are pulled onto the platform 24 via a loading ramp 27 at a first end of the platform 24.For this purpose, the main body 2 of a collecting device 1 preferably has a first coupling device 23 at one end, into which a tool of a pulling device on the platform 24 can be hooked or vice versa. The watering out of the collecting devices 1 can be carried out manually by personnel located on the platform 24. However, the collecting devices 1 can also drive onto the loading ramp independently using their own drive device 6 or be watered out by a conveyor system driven by an electric motor. The loading ramp 27 shown is designed with rails 27a, which is particularly useful in the case of a pair of skids as a transport device 5 of the collecting device 1. Depending on the design of the transport device 5 of the collecting device 1, other structures such as rollers, grooves, toothed structures, etc. can also serve the watering process of the collecting devices 1.A guide channel 34 extends on the platform 24 from the first end, at which the loading ramp 27 is located, to a second end. When the collecting device 1 is located on the platform 24, the collecting container 14 is emptied, either mechanically or manually. The collected target objects Z are transferred from the collecting container 14 into a loading container 37, which is carried out, for example, by means of a first lifting device 29, e.g. a crane. The loading container 37 is, as shown in the embodiment of Fig. 13, docked to the platform 24 at the second end. For this purpose, the platform 24 has a second coupling device 35, which can engage with a coupling device 38 at a first end of the loading container 37. The coupling device shown in Fig.The loading container 37 shown in Figures 12-13 is a floating container which is transported by a watercraft to the platform 24, filled there with target objects Z, and later picked up by a watercraft (not shown) and transported to a land station 51.

[0122] The platform 24 has a transceiver 30, which is used for communication with a control system 25 in a control / management system 25 and / or for communication with the individual collection devices 1. Furthermore, in the illustrated embodiment, the platform 24 has a manned or unmanned control cabin 28, or command and management cabin, as well as a battery exchange or charging station 31 for the energy sources or batteries 12 of the individual collection devices 1. Advanced chargers and energy management systems are used there to ensure that the collection devices 1 are quickly ready for use again after the battery charging process. A spare parts container 36 is also shown on the platform 24. Control can be automated or operated by highly qualified technicians and engineers who monitor the operations, control the collection devices 1, and analyze the collected data.

[0123] This control cabin 28 is equipped with the latest communication and navigation technology and acts as the brain of the entire system.

[0124] Fig. 14 shows a control and management system 25. This can be positioned anywhere on land. In the illustrated embodiment, the control and management system 25 has three units 39a, 39b, 39c. A first unit 39a can serve, for example, as a refuge or rest area for personnel. A second unit 39b can house the technical infrastructure necessary for communication with the platforms 24 on the relevant body of water or water body W, and a third unit 39c can serve, for example, for the central administration and monitoring of all platforms 24 on the relevant body of water. For this purpose, the control and management system 25 also has a transceiver 40 or a communications system. In the present case, solar panels 41 are attached to the roof and serve to supply energy to the control and management system 25.

[0125] When a loading container 37 on a platform 24 reaches its maximum loading capacity, it is preferably transported by a watercraft to a land station 51, where a lifting device 44, shown here as an excavator for example, unloads the cargo of target objects Z and transports it to one or more further processing plants 47, 50. The cargo can first be transferred from the lifting device 44 to a conveyor belt 43, from where it is fed to the various further processing processes. In Fig. 16, for example, a biogas plant 45 is shown, in which, if the target objects are quagga or zebra mussels, the soft part or the organic part of the corresponding mussels is fermented in a fermentation silo 46 and converted into methane, which can then be converted into electrical energy in an energy transformer 47.The resulting gas can be used on-site in a combined heat and power plant (CHP) to generate electricity and heat. Alternatively, the extracted gas can be processed into biomethane and fed into the natural gas grid. The residues remaining after the fermentation process contain a large amount of limestone, which can be used as a valuable raw material in cement production. Fig. 16 schematically illustrates how a truck 49 transports the limestone-rich hard fractions resulting from the fermentation process for further processing to a cement factory 50, where the limestone from the mussel remains is used to produce cement. This is also possible without prior fermentation.

[0126] LIST OF REFERENCE SYMBOLS

[0127] 1 collection device

[0128] 2 main bodies of 1

[0129] 2a first page of 2

[0130] 2b second page of 2

[0131] 3 collection arm of 1

[0132] 3' first cut of 3

[0133] 3" second section of 3

[0134] 3"' third section of 3

[0135] 3"" fourth section of 3

[0136] 3a-3d joints of 3

[0137] 4 detection system of 3

[0138] 4a first sensor of 4

[0139] 4b second sensor of 4

[0140] 4c first light source of 3

[0141] 5 Transport-ZLocomotion device from 1

[0142] 6 drive device of 1

[0143] 7 collection unit of 3

[0144] 8 underwater transceivers

[0145] 9 Ballast system

[0146] 9a first part of 9

[0147] 9b second part of 9

[0148] 10 external light source of 2

[0149] 11 Verification system

[0150] 11 a first main body sensor

[0151] 11 b Image recording device

[0152] 12 Energy source, battery

[0153] 13 Coupling device for 3 to 2

[0154] 13a Wiring of 3

[0155] 14 collection containers

[0156] 15 Wrapping of 3

[0157] 16 collection containers of 7

[0158] 17 first valve of 7

[0159] 18 Suction device of 7 or second air duct

[0160] 19 Guide channel for Z from 16 to 14 20 first air channel from 7

[0161] 21 passage opening in 3'

[0162] 22 third valve, optional exhaust valve

[0163] 23 Towing device on 2

[0164] 24 Platform

[0165] 25 Administrative building

[0166] 26 Swarm, Fleet

[0167] 27 Loading ramp

[0168] 28 Control system

[0169] 29 first lifting device, crane

[0170] 30 transceivers out of 24 or communication device out of 24

[0171] 31 Battery changing and charging station

[0172] 32 protective containers for 1

[0173] 33 floor of 24

[0174] 34 guide channel of 24

[0175] 35 first coupling device of 24

[0176] 36 spare parts containers

[0177] 37 loading containers

[0178] 38 second coupling device of 37

[0179] 39a-c units of 25

[0180] 40 transceivers of 25 or communication system of 25

[0181] 41 roofs of 25 with solar cells

[0182] 42 landing stage for 37

[0183] 43 Conveyor belt

[0184] 44 second lifting device, excavator

[0185] 45 biogas plant

[0186] 46 fermentation silo of 45

[0187] 47 Energy transformer

[0188] 48 Power grid

[0189] 49 transport trucks

[0190] 50 processing plant, e.g. cement factory

[0191] 51 Land Station

[0192] 52 air tanks / air chambers in 3

[0193] 53 second valve in 3

[0194] 54 communication unit of 1

[0195] 55 Air inlet-ZAir outlet valve a1 first inclination angle of G a2 second inclination angle of G a3 third inclination angle of G

[0196] B1 first direction of movement around D1

[0197] B2 second direction of movement around D2

[0198] B3 Movement axis along x

[0199] B4 Movement axis along y

[0200] B5 Movement axis along z

[0201] D1 first axis of rotation

[0202] D2 second axis of rotation

[0203] G Waterbed

[0204] L2 Longitudinal axis of 2

[0205] L3' Longitudinal axis of 3'

[0206] L4 Longitudinal axis of 4

[0207] W Wasserkörper x erste Raumachse in W y zweite Raumachse in W z dritte Raumachse in W

[0208] Z Zielobjekt

[0209] REFERENZEN

[0210] - Culver, C., Lahr, H., Johnson, L, Cassell, J., "Quagga and Zebra Mussel Eradication and Control Tactics", Regents of the University of California, revised June 2013, California Sea Grant Report No. T-076, UCCE-SD Technical Report

[0211] No. 2013-1.

[0212] - Jones, M.I., Wang, L.Y., Abeynaike, A., Patterson, D.A., "Utilisation of waste material for environmental applications: calcination of mussel shells for waste water treatment", Advances in Applied Ceramics, Structural, Functional and

[0213] Bioceramics, Vol.110, 2011 , Issue 5.

[0214] Martinez-Garcia, C., Gonzalez-Fonteboa, B., Carro-Lopez, D., Martinez-Abella, F., "Impact of mussel shell aggregates on air lime mortars. Pore structure and carbonation.", Journal of Cleaner Production, Vol.215, 1 April 2019, pp.650-668.

[0215] McCorquodale-Bauer, K., Cicek, N., "Zebra mussel shells as an alternative mineral resource for lime production as a phosphorus precipitant", Environmental Technology, Vol.43, 2022, Issue 10.

Claims

PATENT CLAIMS 1. An unmanned collection device (1) for the automated, selective and minimally invasive collection of target objects (Z) in the form of invasive neobiota underwater, in particular of invasive neobiotic mussels, in particular of a species selected from a group consisting of Dreissena polymorpha, Dreissena rostriformis, Dreissena bugensis, and Dreissena rostriformis bugensis, from a bottom (G) and from walls of a water body (W), wherein the collection device (1) has at least the following features: - a main body (2); - a plurality of collecting arms (3) detachably attached to the main body (2) for collecting target objects (Z); each collecting arm (3) being designed to autonomously search the bottom (G) and the walls of the water body (W) for target objects (Z); - a transport / movement device (5); - wherein the main body (2) comprises: - at least one underwater transceiver (8) or underwater sound transducer; - at least one underwater navigation system; - at least one ballast system (9); - at least one drive device (6); - at least one control device with means for maneuvering the collecting device (1); - an energy source (12); - a compressor; - a collecting container (14) for collected target objects (Z); - at least one verification system (11), preferably comprising at least one first main body sensor (11a), wherein the at least one first main body sensor (11a) is an optical sensor for detecting a shape of the target object (Z), and preferably comprising an image recording device (11b); characterized in that - each collecting arm (3) is equipped with a detection system (4) for detecting target objects (Z), wherein the detection system (4) of each collecting arm (3) comprises at least one light source (4c) and at least one first sensor (4a); and that - each collecting arm (3) is equipped with a collecting unit (7) having a suction device (18) for sucking in target objects (Z).

2. Collection device (1) according to one of the preceding claims, wherein the collection device (1) is an underwater vehicle or an underwater movement machine, in particular an automated underwater drone, wherein the collection device (1) is designed such that it is able to move at least semi-autonomously, preferably autonomously, in the water body (W), to autonomously search the bottom (G) and the walls of the water body (W) within an area predetermined by a control system (28) for suspected target objects, to verify detected suspected target objects by means of recognition software, and to collect verified target objects (Z).

3. Collecting device (1) according to one of the preceding claims for collecting target objects (Z), characterized in that each collecting arm (3) has at least one second sensor (4b), wherein the second sensor (4b) of each collecting arm (3) is preferably an infrared sensor for detecting a material of the target object (Z); wherein the first sensor (4a) is preferably an optical sensor, and wherein the first sensor (4a) and the second sensor (4b) are designed to forward data to detection software for deciding whether the respective collecting arm (3) should collect a putative target object (Z), and wherein the first sensor (4a) and the second sensor (4b) are preferably designed to forward data to a machine learning system.

4. Collecting device (1) according to one of the preceding claims for collecting target objects (Z), wherein the collecting unit (7) of each collecting arm (3) further comprises: a collecting container (16) for receiving a target object (Z) from the body of water (W); at least one first valve (17) on the collecting container (16) for passing the target object (Z) from the body of water (W) into the collecting container (16); and preferably at least one second valve (53) on the collecting container (16) for passing the target object (Z) from the collecting container (16) towards the collecting container (14); at least one first air inlet / air outlet channel (18, 20) on the collecting container (16) for pumping or sucking air into the collecting container (16); a guide channel (19) between the collecting container (16) and the collecting container (14) of the collecting device (1), for conveying the target object (Z) from the collecting container (16) into the collecting container (14) of the collecting device (1).

5. Collection device (1) according to one of the preceding claims, characterized in that each collection arm (3) is designed to autonomously search its own collection area for target objects (Z), which during a standstill of the main body (2) of the collection device (1) preferably does not overlap with collection areas of other collection arms (3).

6. Collecting device (1) according to one of the preceding claims, characterized in that the main body (2) has 6-20 collecting arms (3), wherein the main body (2) preferably has a first side (2a) and a second side (2b) opposite the first side (2a), wherein 3-10 collecting arms (3), preferably 5-7 collecting arms (3) are arranged on the first side (2a) and on the second side (2b), wherein particularly preferably the plurality of collecting arms (3) is evenly distributed over the first side (2a) and the second side (2b).

7. Method for collecting target objects, in particular invasive neobiota, in particular from a soil (G) or from the walls of a water body (W), comprising the following steps: a.) Searching the soil (G) of a water body (W) by a Collection device (1), preferably a collection device (1) according to one of the preceding claims, comprising a plurality of collection arms (3); b.) Detecting a suspected target object by a detection system (4) of each collection arm (3); c.) Checking the suspected target object; d.) Sucking the suspected target object verified as a target object (Z) through a first valve (17) into a collecting container (16) of one of the collection arms (1); e.) Suction and / or displacement of water from the collecting container (16); and f.) Moving the target object (Z) from the collecting container (16) into a Collection container (14) of the collection device (1).

8. System for collecting and recovering target objects (Z), in particular invasive neobiotic mussels, from a bottom (G) of a water body (W), comprising: - at least one collecting device (1), preferably a plurality of collecting devices (1) according to one of claims 1-6; - at least one preferably floating platform (24) for receiving, emptying and maintaining the at least one collecting device (1) according to one of claims 1-6, preferably for receiving, emptying and maintaining the plurality of collecting devices (1) according to one of claims 1-6, wherein the platform (24) is designed to be in a wireless connection with the at least one collecting device (1), preferably with the plurality of collecting devices (1), firstly in a sonar connection for underwater communication with the at least one collecting device (1), and secondly in a radio or Wi-Fi connection for communication with the at least one collecting device (1) above air.

9. System according to claim 8, wherein the platform (24) comprises: - a drive device for operating the platform (24); - a communication device (30) for wireless connection to the transceiver (8) of the at least one collecting device (1), preferably the plurality of collecting devices (1), and preferably also for wireless connection to further platforms (24) and / or to a central control system (25); - a control device for emptying and / or servicing the plurality of collecting devices (1) according to one of claims 1-6; - a plurality of protective containers (32) or parking spaces for collection devices (1); - a loading ramp (27) or loading device for loading and unloading collection devices (1) from the water body (W) onto the platform (24) and unloading collection devices (1) into the water body (W) from the platform - a first lifting device (29) for transferring collected target objects (Z) from the collecting containers (14) of the collecting devices (1) into a loading container (37); - preferably a first coupling device (35) which is designed for attachment to a second coupling device (38) of the loading container (37); - preferably a battery charging device (31) for charging and / or replacing batteries (12) of the collecting devices (1).

10. System according to claim 8, further comprising a central control system (25) for controlling an operation of the at least one platform (24), preferably of a plurality of platforms (24) on the water body (W), and preferably for controlling or monitoring an operation of the plurality of collection devices (1), wherein the control system (25) is preferably arranged separately from the platform (24), wherein the management system (25) preferably comprises a communication system (40) and a control and monitoring device.

11. System according to one of claims 8-10, further comprising a land station (51) for collecting and / or further transporting loads of target objects collected by a plurality of collection devices (1) and transferred to the at least one platform (24).

12. System according to claim 11, further comprising at least one buoyant loading container (37) for transporting a load of target objects (Z) collected by a plurality of collection devices (1) from the at least one platform (24) to the land station (51), either by means of its own propulsion or by means of transport by a watercraft, wherein the loading container (37) preferably has a coupling device (38) for coupling to the at least one platform (24).

13. System according to claim 11 or 12, wherein the land station (51) comprises a landing stage (42) for a loading container (37) having a cargo of target objects (Z) collected by a plurality of collection devices (1), or for docking a watercraft designed to carry the cargo of target objects (Z) collected by a plurality of collection devices (1) were to be transported from the at least one platform (24) to the land station (51).

14. System according to one of claims 11-13, wherein the land station (51) further comprises a second lifting device (44) for transferring a load of target objects (Z) from a floating loading container (37) or a watercraft to a truck (49) or to a rail vehicle for transporting at least part of the load to at least one further processing plant (50) or a recycling plant, and / or a pulling device for draining the floating loading container (37) containing the load of target objects (Z) and preferably further for loading the loading container (37) onto a truck (49) or to a rail vehicle for transport to a warehouse or to at least one further processing plant or recycling plant.

15. System according to one of claims 11-14, further comprising a watercraft for transporting a load of target objects (Z), which have been collected by a plurality of collection devices (1) and have been stored on the platform (24) or in a floating loading container (37) coupled to the platform (24), from the platform (24) to the land station (51), wherein the transport either includes transporting the floating loading container (37) of the platform (24) which can be coupled to the platform (37) to the loading station, or transferring the load of target objects (Z) stored in the loading container (37) into a transport container of the watercraft and transporting it to the land station (51).

16. System according to one of claims 11-15, wherein the land station (51) has a storage room for storing a plurality of loads of target objects (Z) before a further processing step in a further processing plant (50) or recycling plant or before further transport.

17. A method for cleaning a water body (W) of target objects (Z), preferably in the form of invasive neobiota, in particular invasive neobiotic mussels, and for their utilization, comprising the following steps: - Collecting target objects (Z) under water by means of at least one collecting device (1) according to claim 1, preferably according to a method according to claim 7, - Transferring target objects (Z) from a collection container (14) of the at least one collection device (1) into a loading container (37) of a platform (24) which is in a wireless connection with the collection device (1); - Transporting a load of target objects (Z) from a loading container (37) of a platform (24) to a land station (51); - Transporting the cargo of target objects (Z) from the land station (51) to a further processing plant (50) or recycling plant.

18. The method according to claim 17, further comprising the following steps: - Crushing the target objects (Z); - preferably initiating a fermentation process in a biogas plant (45) for the purpose of decomposing a soft organic fraction of the target objects and producing biogas or biomethane; and preferably feeding the biogas or biomethane resulting from the fermentation process into an energy transformer (47) or feeding it into a power generation process; - Separating a calcareous hard part of the target objects (Z) and feeding the calcareous hard part into a further use process, preferably into cement production.

19. Method according to claim 17, characterized in that at least part of the load of target objects is fed to a cleaning step as part of a further use process.

20. The method according to claim 17, further comprising: - Separating a calcareous hard part of the target objects (Z); - Feeding a remaining organic soft portion of the target objects (Z) into a food production plant, preferably for protein extraction.

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