Systems for planting seeds within a subaquatic substrate and methods related thereto

Abstract

A subaquatic seed planting system may include a seed repository, an injecting needle, an actuator, and a pump. The actuator moves the injecting needle from a retracted position to an extended position, wherein in the extended position a dispensing end of the injecting needle is disposed below a surface of the subaquatic substrate, to inject the seed slurry mix, obtained from the seed repository, into a subaquatic substrate. The pump conveys the seed slurry from the seed repository to the receiving end of the injecting needle when the actuator is in the extended position and the dispensing end of the injecting needle is disposed below the surface of the subaquatic substrate. The pump is also configured to pump the seed slurry mix into the subaquatic substrate.

Description

SYSTEMS FOR PLANTING SEEDS WITHIN A SUBAQUATIC SUBSTRATE ANDMETHODS RELATED THERETORELATED APPLICATION

[0001] This application claims priority to provisional application number 63 / 558,659, filed February 28, 2024, which is incorporated herein by reference for all purposes.FIELD

[0002] The present teachings generally relate to novel systems and methods for planting seeds (e.g., seagrass seeds) within an underwater or subaquatic substrate (e.g., seafloor). More particularly, the present teachings relate to inexpensive and easy-to-operate autonomous or semi-autonomous systems and methods for planting seeds within subaquatic substrates.BACKGROUND

[0003] Subaquatic flora habitats (e.g., seagrass colonies or seagrass meadows) are rapidly disappearing due to, for example, pollutants, changes in climate, increasing water temperature, and changes in water composition. Regenerating or regrowing flora habitats, by planting seeds, however, is slow, difficult, and expensive.

[0004] What is needed, therefore, are systems and methods to regenerate or regrow flora habitats by planting seeds in a quick, easy, and cost-effective manner.SUMMARY

[0005] The present systems and methods described herein relate to improved systems for planting seeds within an underwater or subaquatic substrate and methods related thereto.

[0006] In some aspects, the present arrangements offer novel subaquatic planting systems. One such subaquatic seed planting system includes: a seed repository, a seed injector, and a pump. The seed repository has an internal volume for storing a seed slurry mix.

[0007] The seed injector includes an injecting needle and an actuator. The injecting needle includes a fluidic pathway extending from a receiving end to a dispensing end. The actuator moves the injecting needle from a retracted position to an extended position. In the extended position the dispensing end of the injecting needle may be disposed below the surface of the subaquaticsubstrate, to inject the seed slurry mix, obtained from the seed repository, into a subaquatic substrate.

[0008] The pump is fluidically coupled to the seed repository and the seed injector and conveys the seed slurry from the seed repository to the receiving end of the injecting needle. When the actuator is in the extended position and the dispensing end of the injecting needle is disposed below the surface of the subaquatic substrate, the pump pumps the seed slurry mix into the subaquatic substrate.

[0009] In one embodiment of the present arrangements, the seed repository is made from a flexible material that decreases an internal volume as the seed slurry mix is removed from the seed repository. The seed repository, in another embodiment of the present arrangements, includes an inlet for receiving additional seed slurry mix, for example, from a surface ship.

[0010] In some aspects of the present arrangements, fluidic tubing couples the seed repository to the pump and the pump to the seed injector. The fluidic tubing provides a fluidic pathway for conveying the seed slurry mix from the seed repository to the seed injector. In one instance, when the seed injector is in the retracted position, the seed injector contacts the fluidic tubing between the pump and the seed injector causing the fluidic pathway to partially or fully close.

[0011] The actuator, in on implementation of the present arrangements, the actuator moves the injecting needle from the retracted position to the extended position at a penetrating angle such that the injecting needle is not perpendicular to the surface of the subaquatic substrate.

[0012] The pump, in a preferred embodiment of the present arrangements, is a peristaltic pump that emits a predetermined volume of seed slurry mix.

[0013] The subaquatic seed planting system, in one implementation of the present arrangements, includes multiple injecting needles.

[0014] The subaquatic seed planting system, in another implementation of the present arrangements, includes a first rod and a second rod, each of which includes a first rod end and a second rod end. The seed injector includes a pushing gantry, extending between and engaging with the first rod and second rod. The pushing gantry enables movement of the seed injector between the first rod end of the first and second rod and the second rod end of the first rod and second rod. The actuator moves the injecting needle between the retracted position, which is proximate to the first rod end of the first and second rod, and the extended position, which is proximate to the second rod end of the first rod and second rod.

[0015] The actuator, in a preferred embodiment of the present arrangements, is a linear actuator that includes a motor, a belt pulley, and a belt. The belt pulley has teeth defined around the circumference of the belt pulley. The motor is coupled to and generates rotational movement of the belt pulley. The belt, extending from a first rod end to a second rod end of the first rod and / or said second rod, has a belt teeth pattern that engages with the teeth of the belt pulley. When the motor induces the belt pulley to rotate, the teeth of the belt pulley engage with the belt teeth pattern causing the injecting needle to move between the retracted position and the extended position.

[0016] The seed repository, the seed injector, the pump, and the actuator, in a preferred implementation of the present arrangements, are coupled to on subaquatic planter that is at least partially disposed underwater, for example, a sled or a remotely operated vehicle.

[0017] In some aspects, the techniques described herein relate to a method of planting a seed slurry in a subaquatic substrate. One such method includes: (i) positioning a seed planting system, which includes a repository, an injecting needle, a pump, and an actuator, above a planting location on the subaquatic substrate; (ii) moving, using the actuator, an injecting needle from a retracted position to an extended position, wherein in the extended position, a dispensing end of the injecting needle is disposed below a surface of the subaquatic substrate; (iii) driving, using the actuator, the injecting needle from the extended position to the retracted position; (iv) initiating a pump to move a volume of seed slurry mix from the repository to the dispensing end of the injecting needle and into the subaquatic substrate; and (v) stopping the pump before the dispensing end of the injecting needle is removed from the subaquatic substrate.

[0018] Moving the injecting needles, in one embodiment of the present teachings, includes moving the injecting needle at a penetrating angle such that the injecting needle is not perpendicular to the surface of the subaquatic substrate. Preferably, the injecting angle is about forty-five degrees relative to the surface of the subaquatic substrate.

[0019] The method may include optional steps of measuring, using one or more sensors, one or more properties of the subaquatic substrate, and determining, based on one or more of the properties of the subaquatic substrate, an injection depth for the injecting needle. The step of driving the injecting needle includes extending the dispensing end of the injecting needle to the injection depth.

[0020] In those embodiments where the seed planting system includes multiple injecting needles, the step of moving includes moving multiple injecting needles and the step of driving includes driving multiple injecting needles.

[0021] The step of initiating the pumping, in one implementation of the present teachings, occurs contemporaneously with driving the injecting needle from the extended position to the retracted position.

[0022] The construction and method of operation of the arrangements and teachings, however, together with additional objects and advantages thereof, will be best understood from the following descriptions of specific embodiments when read in connection with the accompanying figures.BRIEF DESCRIPTION

[0023] Figure 1 a subaquatic seed planting system according to one embodiment of the present arrangements, that includes a seed repository, a pump, and a seed injector secured to a subaquatic planter for planting one or more seeds directly into a substrate.

[0024] Figure 2 shows a seed repository, according to one embodiment of the present arrangements, which is easily detached from a subaquatic planter (e.g., subaquatic planter of Figure 1) to allow quick replacement of empty repositories with full repositories.

[0025] Figure 3 shows a seed repository opening, according to one embodiment of the present arrangements, that dispenses a seed slurry mix from a seed repository.

[0026] Figure 4 shows a pump, according to one embodiment of the present arrangements, that includes a pump inlet and a pump outlet.

[0027] Figure 5 shows a seed injector, according to one embodiment of the present arrangements, for maneuvering an injecting needle between a retracted position and an extended position.

[0028] Figure 6A shows a subaquatic seed planting system, according to one embodiment of the present arrangements, where the seed injector is in an extended position.

[0029] Figure 6B shows the subaquatic seed planting system of Figure 6A, where the seed injector is in a retracted position.

[0030] Figure 7 shows a seed injector, according to another embodiment of the present arrangements, for maneuvering multiple injecting needles between a retracted position and an extended position.

[0031] Figure 8 shows a flow chart of a method, according to one embodiment of the present teachings, for planting a seed slurry mix in a subaquatic substrate.DETAILED DESCRIPTION

[0032] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present teachings and arrangements. It will be apparent, however, to one skilled in the art that the present teachings and arrangements may be practiced without limitation to some or all of these specific details. In other instances, well-known process steps have not been described in detail in order to not unnecessarily obscure the present teachings and arrangements.

[0033] Underwater flora, for example, seagrasses, provide important ecosystems and habitats for thousands of aquatic and land-based organisms. Seagrass environments (e. ., seagrass colonies or meadows), which can be found worldwide, occupy only about 0.1% to about 0.2% of the ocean but provide critical habitat for marine life living within this small zone. In addition to the unique biodiversity within seagrass habitats, they protect coastlines by absorbing wave energy, thus preventing erosion, and reducing damage caused by storms, hurricanes, and cyclones. Moreover, these seagrass habitats provide vital food and economic resources to humans around the world as well as a vital means of carbon and nutrient sequestration. Unfortunately, however, this critical habitat is rapidly disappearing due to, for example, pollutants, changes in climate, increasing water temperature, and changes in water composition. What is needed, therefore, are systems and methods to regenerate or regrow seagrass from seed in a quick, inexpensive, and cost-effective manner.

[0034] Generally, underwater flora like seagrasses are flowering plants that live in submerged or periodically submerged aquatic environments. There are at least seventy species of seagrasses with various physical structures, but all include rhizomes that extend horizontally under the subaquatic substrate and produce a root structure and / or leaf structure from one or more nodes. The roots are embedded in the substrate and the leaves extend above the substrate.

[0035] Seagrasses can be moved between locations and reestablish growth if properly handled. By way of example, seagrass seeds can be taken from existing natural beds, farmed beds in situ underwater, or other types of nurseries such as land-based aquaculture facilities. The acquired seeds may then be planted in the same or another location.

[0036] To this end, the present arrangements and teachings provide novel systems and methods for planting seeds (z.e., seagrass seeds) directly into the substrate. Once the seed is secured within the substrate, the seed will grow within the substrate, produce one or more leaves, and, potentially, spread. In other words, once the seed is planted into the subaquatic substrate, a rhizome portion of the flora segment may continue to grow horizontally within the substrate producing new nodes, from which additional roots and / or leaves will grow.

[0037] Figure 1 a subaquatic seed planting system 100 according to one embodiment of the present arrangements, for planting one or more seeds directly into a substrate. Subaquatic seed planting system 100 includes a seed repository 104, a pump 106, and a seed injector 108 for injecting a seed into a subaquatic substrate. In one implementation of the present arrangements, flexible tubing (e.g., flexible tubing 610 of Figure 6A) couples seed repository 104 to pump 106 and couples pump 106 to seed injector 108.

[0038] Preferably, a seed slurry mix is used in conjunction with subaquatic seed planting system 100, which includes a heterogeneous mixture of seeds and a suspension material. The suspension material, for example, is a mixture of bentonite and water. A ratio of seeds to suspension material may be modified to increase or decrease the number of seeds that seed injector 108 deposits into the subaquatic substrate.

[0039] Subaquatic seed planting system 100 may be secured to a subaquatic planter 102 such as a sled and towed by a vehicle (e.g., a boat) or secured to a tethered or untethered remotely operated vehicle (“ROV”). By moving the vehicle or ROV, the seeds may be planted at spaced intervals along the subaquatic substrate. Thus, subaquatic seed planting system 100 enables multiple seeds to be quickly and easily planted into the subaquatic substrate.

[0040] The ROV may include additional components to aid in planting seagrass in the subaquatic environment. The ROV, in one aspect of the present arrangements, includes one or skis to assist in maneuvering over a substrate. The ROV, in another aspect of the present arrangements, includes one or more propulsion systems to control pitch, roll, and yaw, as well as movement in a lateral and longitudinal direction.

[0041] Figure 2 shows a seed repository 204, according to one embodiment of the present arrangements, which is easily detached from a subaquatic planter (e.g., subaquatic planter 102 of Figure 1) to allow quick replacement of empty repositories with full repositories. Seed repository 204 is substantially similar to seed repository 104 of Figure 1. Seed repository 204 can be closed with a sealing cap for secure off-system storage. Moreover, seed repository 204 includes a repository body 212 and a repository opening 214. Repository body 212 may be any component having an internal volume that secures and stores a volume of seed slurry mix. Preferably, repository body 212 is made of a flexible material such that when the seed slurry is removed from seed repository 204, thus decreasing the volume of seed slurry within repository body 212, repository body 212 flexes or collapses decreasing the internal volume of seed repository 204. Repository opening allows for fdling and / or removal of the seed slurry from seed repository 204. Further, thewater surrounding seed repository 204 exerts pressure against the exterior of repository body 212 further facilitating collapsing of seed repository 204 as seed repository 204 is emptied of the seed slurry mix.

[0042] Seed repository 204, on one implementation of the present arrangements, includes a repository inlet that is different than repository opening 214. When seed repository 204 is secured to a subaquatic planter, the repository inlet may be used to receive additional seed slurry mix. In one implementation, flexible tubing, coupled to the repository inlet, extends to a filling station on a surface ship. At the filling station, additional seed slurry mix may be placed into the flexible tubing and pushed, by a pump and / or gravity, through the flexible tubing and into seed repository 204. In this implementation, the subaquatic seed planting system receives a continuous supply of seed slurry mix with stopping operation of the subaquatic seed planting system to replace seed repository 204.

[0043] Figure 3 shows a seed repository 304, according to one embodiment of the present arrangements, that is substantially similar to seed repository 204 of Figure 2. Repository opening 314 includes threading 316. A first funnel end 320 of funnel 318 is secured to threading 316 to couple funnel 318 with the seed repository 204. Funnel 318 provides a smooth, continuous pathway for the seed slurry to traverse between seed repository 204 and a pump (e. ., pump 106 of Figure 1). In an implementation of the present arrangements that includes flexible tubing between seed repository 304 and the pump, funnel 318 provides a smooth, continuous pathway between the repository and the flexible tubing (e.g., flexible tubing 610 of Figure 6A). Funnel 318 is advantageous in the present arrangements because funnel 318 reduces discontinuities or voids along the flow path. The present teachings recognize that discontinuities create potential nucleation sites where seeds may be caught. Trapped seeds may lead to a buildup of additional seed and / or slurry leading to a fully or partially clogged pathway. Thus, flow is restricted or stopped. Funnel 318 enables the operation of the subaquatic planter with minimal or no downtime to maintain or clean fluidic pathways within the system.

[0044] A second funnel end 322 is coupled to tubing connector 324. In one embodiment of the present arrangements, a portion of tubing connector 324 is disposed within an aperture defined within second funnel end 322. Coupling of tubing connector 324 to the aperture of second funnel end 322, in one embodiment of the present arrangements, is obtained by press fitting. Tubing connector 324 includes a fluidic pathway thereby allowing the seed slurry to traverse from funnel 318 to flexible tubing with minimal discontinuities or voids. Mating of tubing connector 324 andsecond funnel end 322, by way of a press fitting, minimizes potential nucleation sites where seeds and / or slurry may be caught.

[0045] Figure 4 shows a pump 406, according to one embodiment of the present arrangements, that includes a pump inlet 430 and a pump outlet 432. Pump 406 is substantially similar to pump 106 of Figure 1. Pump 406 may be any apparatus that draws seed slurry from a repository and conveys or pumps the seed slurry to a seed injector (e.g., seed injector 108 of Figure 1) for injecting the seed slurry into a subaquatic substrate. In a preferred embodiment of the present arrangements, pump 406 is a peristaltic or roller pump. Flexible tubing is disposed within the peristaltic pump between pump inlet 430 and pump outlet 432. A rotating roller compresses and closes a portion of the flexible tubing. As the roller rotates, the roller pushes the seed slurry in front of the roller away from pump inlet 430 and toward pump outlet 432. As the flexible tube opens and transitions from a compressed state to an uncompressed state additional fluid is drawn into the flexible tubing from pump inlet 430. A peristaltic pump is advantageous because it displaces or emits a predetermined volume of seed slurry mix from pump outlet 432 without dependence on water pressure, depth of seed planting system, and seed slurry viscosity variations.

[0046] Figure 5 shows a seed injector 508, according to one embodiment of the present arrangements, that includes an actuator 538 and injecting needle 542. Seed injector 508 is substantially similar to seed injector 108 of Figure 1. Injecting needle 542 includes a fluidic pathway extending from a receiving end 544 to dispensing end 545. Receiving end 544 receives the seed slurry mix from a seed repository (e.g., seed repository 104 of Figure 1). The seed slurry mix traverses through the fluidic pathway and is dispensed from receiving end 544 when dispensing end 545 is disposed below the surface of the subaquatic substrate.

[0047] Actuator 538 maneuvers injecting needle 542 from a retracted position to an extended position. Movement of injecting needle 542, between the retracted position and the extended position, pushes a dispensing end 545 of injecting needle 542 into the subaquatic substrate, which dispenses the seed slurry mix into the substrate.

[0048] In one embodiment of the present arrangements, actuator 538 is a linear actuator that enables movement of injecting needle 542. The linear actuator may be any component that moves injecting needle 542 between the retracted position and the extended position. In a preferred embodiment of the present arrangements, the linear actuator is a belt drive that includes a belt pulley 550 movably coupled to a belt 551.

[0049] As shown in Figure 5, a gantry 540 is disposed between and movably couples seed injector 508 to a first rod 558 and a second rod 560. Seed injector 508 includes a motor 548 that is rotatably coupled to belt pulley 550, which has a teeth pattern defined around the perimeter or circumference of belt pulley 550. Belt 551, which extends between a first rod end and a second rod end of first rod 558 and / or second rod 560, includes a teeth pattern defined thereon that matches the teeth pattern of belt pulley 550. Between the first rod end and the second rod end, belt 551 travels under a first alignment pulley 552, around belt pulley 550, and under a second alignment pulley 554. First alignment pulley 552 and second alignment pulley 554 ensure that the belt remains in linear alignment with first rod 558 except for a portion of belt 551, between first alignment pulley 552 and second alignment pulley 554, that wraps around belt pulley 550. One or more gantry mounts 562 secure pushing gantry 540 to a subaquatic planter, for example, a sled or ROV.

[0050] In an operational state, motor 548 causes or induces rotational movement of belt pulley 550. The teeth pattern defined around the perimeter of belt pulley 550 engages with the teeth of belt 551, thereby causing movement of injecting needle 542 between the retracted position and the extended position. Preferably, injecting needle 542 is in the extended position when seed injector 508 is proximate to the first rod end and the retracted position when seed injector 508 is proximate to the second rod end.

[0051] In one embedment of the present arrangements, pushing gantry 540 includes one or more wheels 556 that rotatably contact first rod 558 and / or second rod 560 to align and / or guide pushing gantry 540 traversing along first rod 558 and / or second rod 560. In a preferred embodiment of the present arrangements, four wheels contact first rod 558 and four wheels contact second rod 560. For each rod, two wheels 556 contact an opposing surface (t.e., a top surface and a bottom surface) of first rod 558 or second rod 560, respectively.

[0052] One or more fasteners secure seed injector 508 to a subaquatic planter. By way of example, one or more fasteners fasten one or more gantry mounts 562 to the subaquatic planter to secure seed injector 508 to the subaquatic planter.

[0053] Figures 6A and 6B show a subaquatic seed planting system 600, according to one embodiment of the present arrangements, is in an extended position and retracted position, respectively. Subaquatic seed planting system 600 includes seed repository 604, pump 606, and seed injector 608, each of which is coupled to subaquatic planter 602, are substantially similar to their counterparts in subaquatic seed planting system 100 and subaquatic planter 102 of Figure 1 (i.e., seed repository 104, pump 106, and seed injector 108 of Figure 1). Flexible tubing 610, coupled toand disposed between a repository opening (e.g., repository opening 314 of Figure 3) of seed repository 604 and a pump inlet (e.g., pump inlet 430 of Figure 4) of pump 606, conveys the seed slurry mix from seed repository 604 to pump 606. Additionally, flexible tubing 610 is coupled to and disposed between a pump outlet (e.g., pump outlet 432 of Figure 4) of pump 606 and a receiving end (e.g., receiving end 544 of Figure 5) of an injecting needle (e.g., injecting needle 542 of Figure 5).

[0054] When seed injector 608 is in the extended position, a dispensing end (e.g., dispensing end 545 of Figure 5) of the injecting needle extends below subaquatic planter 602, for example, the skies located on the bottom of subaquatic planter 602. In this manner, when the subaquatic planter 602 is resting on the surface of the subaquatic substrate, the dispensing end of the injecting needle is below the surface of the substrate. The present teachings recognize that the penetration depth of the injecting needle may vary according to substrate conditions. For example, in harder subaquatic substrates, the injection depth may be relatively shallow and closer to the surface. Conversely, in softer substrates or those comprising a layer of solid material mixed with seawater, the injection depth may be significantly deeper. Accordingly, the extended position of seed injector 608 may be adjustable to accommodate these varying substrate conditions.

[0055] The subaquatic seed planting system may include one or more sensors or instruments for analyzing the substrate conditions, for example, material composition, hardness, and stratification, to determine an appropriate extended position of seed injector 608. For example, the subaquatic seed planting system may include a single beam echosounder or multibeam echosounder (MBES) array, operating at a single or variable frequencies (e.g. 400-700 kilohertz), to collect high-resolution bathymetric and backscatter data for mapping the subaquatic substrate and hardness of the surface of the subaquatic substrate. By way of another example, the subaquatic seed planting system may include sub-surface acoustic sensors, utilizing lower frequency acoustic waves (1-12 kilohertz), for determining the layering and composition of the subaquatic substrate. For material composition determination, the subaquatic seed planting system may include a Raman spectroscopy system that includes a monochromatic laser coupled with a specialized charge-coupled device (CCD) and / or a complementary metal-oxide-semiconductor (CMOS) sensor. For physical property assessment, the subaquatic seed planting system may include a dynamic cone penetrometer sensor and / or shear vane sensor that quantitatively measures substrate resistance and bearing capacity. To determine the elemental composition of the subaquatic substrate, the subaquatic seed planting system may usechemical sensors, including X-ray fluorescence (XRF) spectrometers, pH probes, and / or Oxidation Reduction Potential (ORP) probes.

[0056] As shown in Figure 6B, when the seed injector 608’ is in the retracted position, the dispensing end of the injecting needle does not extend below the bottom surface of the subaquatic planter 602. In a preferred implementation of the present arrangements, the flexible tubing 610’ between pump 606 and seed injector 608’ includes a pinched or compressed portion 611 when the seed injector 608’ is in the retracted position thereby reducing and / or removing the fluidic pathway between pump 606 and seed injector 608’. As a result, in the retracted position, the seed slurry mix is prevented or hindered from moving from pump 606 to seed injector 608’, which reduces the release of the seed slurry mix.

[0057] In one implementation of the present arrangements, seed injector 608 is positioned at an angle relative to, and not perpendicular to, the bottom surface of subaquatic planter 602. Thus, when the bottom surface of subaquatic planter 602 is in contact and resting on the subaquatic substrate, seed injector 608 is not perpendicular to the subaquatic substrate. While not wishing to be bound by theory, the present teachings recognize that penetrating the subaquatic substrate at an angle, rather than perpendicular, reduces the penetrating force necessary for the injecting needle to penetrate the subaquatic surface. Moreover, the present teachings recognize that a longitudinal or vertical penetrating force generated by pushing the injecting needle into the subaquatic surface results in subaquatic planter 602 receiving an equal to and opposite longitudinal force. This longitudinal force, if sufficiently high, may cause the subaquatic planter to be pushed off the subaquatic surface resulting in an incomplete or incorrect planting of the seed or moving subaquatic planter 602 off course. Therefore, penetrating the subaquatic substrate at an angle reduces the longitudinal penetrating force and, therefore, the equal and opposite longitudinal force. In a preferred embodiment of the present teachings, the injecting angle is about forty-five degrees relative to the surface of the subaquatic substrate.

[0058] Moreover, penetrating the injecting needle at an angle reduces the likelihood of seed slurry mix escaping from the subaquatic substrate. While not wishing to be bound by theory, the present teachings recognize that angled penetration creates a non-vertical pathway through the substrate. Upon withdrawal of the needle, the upper layers of the substrate tend to collapse downward, effectively sealing the injection void and creating a natural barrier that prevents the upward migration and subsequent escape of the injected seed slurry mix.

[0059] Figure 7 shows a seed injector 708, according to another embodiment of the present arrangements, that includes multiple injecting needles f / .c'., injecting needle 742A, 742B, 742C, etc.) secured to a gantry 740. A first end of gantry 740 is movably coupled to a first rod 758 and second rod 760 and a second end of gantry 740 is movably coupled to a third rod 762, and a fourth rod 764. Together, first rod 758, second rod 760, third rod 762, and fourth rod 764 allow multiple injecting needles to move between a retracted position and an extended position. While Figure 7 includes nine injecting needles, the present teachings and arrangements contemplate any number for injecting needles depending on the number and spacing of injecting the seed slurry mix into the subaquatic substrate.

[0060] A subaquatic seed planting system that includes seed injector 708 may include multiple pumps (e.g., a peristaltic pump), each of which is coupled to an injecting needle. Each pump provides a predetermined volume of seed slurry mix to the coupled injecting needle. Moreover, the subaquatic seed planting system may include a manifold that receives the seed slurry mix from a seed repository and distributes the seed slurry mix to each pump fluidically coupled to the manifold.

[0061] To enable movement of the multiple injecting needles, seed injector 708 incorporates two motors rotatably coupled to first belt pulley 750 and second belt pulley 768, respectively. Both pulleys feature a toothed pattern defined around their perimeters. First belt pulley 750 engages with first belt 766, which extends between the first and second ends of first rod 758 and second rod 760. Similarly, second belt pulley 768 engages with second belt 751, which extends between the first and second ends of third rod 762 and fourth rod 764. Both belts include a toothed pattern that matches the corresponding pattern on their respective pulleys. The first and second motors are synchronized to activate simultaneously, thereby moving the multiple injecting needles in unison between the retracted position and the extended position.

[0062] The present teachings and arrangements contemplate that multiple seed injectors 708, each having multiple injecting needles, may be secured to a subaquatic planter. Each seed injector 708, for example, may have a different extended position that corresponds to a particular subaquatic substrate property. As the properties of the subaquatic substrate change from one planting location to another, a seed injector 708 appropriate for the subaquatic substrate may be used.

[0063] The present teachings offer, among other things, different methods for planting seeds into a subaquatic substrate. Figure 8 shows a flowchart of a method 800, in one embodiment of the present teachings of planting seeds into a subaquatic substrate. Method 800 preferably begins a step 802, which includes positioning a seed planting system (e.g., subaquatic seed planting system 100 ofFigure 1) above a planting location on a subaquatic substrate. As described above, the seed planting system may be attached to a subaquatic plater (e.g., subaquatic planter 102 of Figure 1) that is able to move the seed planting system to various locations on the subaquatic substrate. The seed planting system includes a repository (e.g., seed repository 104 of Figure 1) filled with a seed slurry mix, a pump (e.g., pump 106 of Figure 1), and an injecting needle (e.g., seed injector 108 of Figure 1).

[0064] Another step 804 includes moving, using the actuator, the injecting needle from a retracted position to an extended position. In the extended position, a dispensing end of injecting needle 542 is disposed within the subaquatic substrate. As discussed above, in a preferred embodiment of the present teaching, the dispensing end of the injecting needle penetrates the subaquatic substrate at an angle to reduce the penetrating force of the injecting needle.

[0065] Moreover, the present teachings recognize that the depth at which the dispensing end of the injecting needle penetrates may vary. By way of example, the depth of planting may be dependent on the type of seed to be planted, material make-up of the substrate, potential predation in the location, and local underwater and above water environmental conditions (e.g., in a tidal zone or surf zone). In one embodiment of the present teachings, an optional step includes measuring, using one or more sensors, one or more properties of the subaquatic substrate. As discussed above, the seed planting systems may include one or more sensors or instruments for measuring the material make-up of the substrate (e.g., substrate composition, substrate density, and substate hardness) the environment qualities and characteristics of the subaquatic environment (e.g., a current meter to measure water currents). Based on these measurements, another optional step includes determining an injection depth, based on one or more of the properties of the subaquatic substrate, for planting the seed slurry mix. In another embodiment of the present teachings, subaquatic conditions are known (e.g., stored in memory) and the seed planting system injects the seed slurry mix at the appropriate depth based on these known conditions.

[0066] Yet another step 806 includes initiating a pump to move a volume of seed slurry from the seed repository to the dispensing end of the injecting needle and into the subaquatic substrate. In preferred embodiments, the pump is a peristaltic pump disposed between the seed repository and the injecting needle. The peristaltic pump emits a predetermined volume of the seed slurry mix from the dispensing end into the subaquatic substrate.

[0067] Next, a step 808 includes driving, using the actuator, the injecting needle from the extended position to the retracted position. Upon initiation of or during the step 808, as the injecting needle is extracted from the subaquatic substrate, the volume of seed slurry may fill a temporary void left bythe injecting needle in the subaquatic substrate. In other words, a volume of subaquatic substrate that is displaced by the injecting needle may be replaced with the seed slurry. The coordination between the injection motion and the pumping cycle ensures that the injected seed slurry is retained below the surface sediment.

[0068] In one implementation of the present teachings, step 806 and step 808 occur contemporaneously, in that the seed slurry mix is dispensed from the dispensing end of the injecting needle as the injecting needle is retracted from the subaquatic substrate.

[0069] Another step 810 includes stopping the pump before the dispensing end of the injecting needle is removed from the subaquatic substrate. Any seed slurry mix dispensed from the injecting needle remains below the surface of the subaquatic substrate. Moreover, a portion of the subaquatic substrate may fill in a top portion of the void or empty space created by the injecting needle creating a protective layer that protects the seed slurry from aquatic elements.

[0070] As discussed above, in one implementation of the present teachings, the seed planting system includes multiple injecting needles. In this implementation, step 804 includes moving multiple injecting needles and step 806 includes driving multiple injecting needles.

[0071] Although illustrative embodiments of the arrangements and teachings have been shown and described, other modifications, changes, and substitutions are intended. Accordingly, it is appropriate that the disclosure be construed broadly.

Claims

ClaimsWhat is claimed is :

1. A subaquatic seed planting system comprising: a seed repository having an internal volume configured to store a seed slurry mix; a seed injector that includes an injecting needle and an actuator, the injecting needle having a fluidic pathway extending from a receiving end to a dispensing end, and the actuator moves the injecting needle from a retracted position to an extended position, wherein in the extended position the dispensing end of the injecting needle is configured to be disposed below a surface of a subaquatic substrate, to inject the seed slurry mix, obtained from the seed repository, into a subaquatic substrate; a pump, fluidically coupled to the seed repository and the seed injector, that is configured to convey the seed slurry mix from the seed repository to the receiving end of the injecting needle; wherein, when the actuator is in the extended position and the dispensing end of the injecting needle is disposed below the surface of the subaquatic substrate, the pump is configured to pump the seed slurry mix into the subaquatic substrate.

2. The subaquatic seed planting system of claim 1, wherein the seed repository is made from a flexible material that decreases an internal volume as the seed slurry mix is removed from the seed repository.

3. The subaquatic seed planting system of claim 1, wherein the seed repository includes an inlet configured to receive additional seed slurry mix.

4. The subaquatic seed planting system of claim 1, wherein flexible tubing couples the seed repository to the pump and the pump to the seed injector, the flexible tubing providing a fluidic pathway for conveying the seed slurry mix from the seed repository to the seed injector.

5. The subaquatic seed planting system of claim 4, wherein when the seed injector is in the retracted position, the fluidic pathway of the flexible tubing, between the pump and the seed injector, is partially or fully closed.

6. The subaquatic seed planting system of claim 1, wherein the actuator moves the injecting needle from a retracted position to an extended position at a penetrating angle such that the injecting needle is not perpendicular to the surface of the subaquatic substrate.

7. The subaquatic seed planting system of claim 1, wherein the pump is a peristaltic pump that emits a predetermined volume of seed slurry mix from the dispensing end of the injecting needle.

8. The subaquatic seed planting system of claim 1, wherein the seed injector includes multiple injecting needles, and the actuator moves the multiple injecting needles from a retracted position to an extended position.

9. The subaquatic seed planting system of claim 1, further comprising a first rod and a second rod, each of which includes a first rod end and a second rod end; wherein the seed injector is movably coupled with the first rod and the second rod, to enable movement of the seed injector between the first rod end of the first rod and second rod and second rod end of the first rod and second rod.

10. The subaquatic seed planting system of claim 9, wherein the actuator moves the injecting needle between the retracted position, which is proximate to the first rod end of the first rod and second rod, and the extended position, which is proximate to the second rod end of the first rod and second rod.

11. The subaquatic seed planting system of claim 10, wherein the actuator is a linear actuator that includes: a belt pulley having teeth defined around a circumference of the belt pulley; a motor coupled to and generating rotational movement of the belt pulley; a belt, extending from the first rod end to the second rod end of the first rod and / or said second rod, having a belt teeth pattern that engages with the teeth of the belt pulley; and wherein, when said motor induces the belt pulley to rotate, the teeth of the belt pulley engage with the belt teeth pattern causing the injecting needle to move between the retracted position and the extended position.

12. The subaquatic seed planting system of claim 1, wherein the seed repository, the seed injector, the pump, and the actuator are coupled to a subaquatic planter that is at least partially disposed underwater.

13. The subaquatic seed planting system of claim 12, wherein the subaquatic planter is a sled or a remotely operated vehicle.

14. A method of planting a seed slurry mix in a subaquatic substrate, the method comprising: positioning a seed planting system, which includes a repository, an injecting needle, a pump, and an actuator, above a planting location on the subaquatic substrate; moving, using the actuator, an injecting needle from a retracted position to an extended position, wherein in the extended position, a dispensing end of the injecting needle is disposed below a surface of the subaquatic substrate; initiating a pump to move a volume of seed slurry mix from the repository to the dispensing end of the injecting needle and into the subaquatic substrate; driving, using the actuator, the injecting needle from the extended position to the retracted position; and stopping the pump before the dispensing end of the injecting needle is removed from the subaquatic substrate.

15. The method of planting a seed slurry in a subaquatic substrate of claim 14, where moving the injecting needle includes moving the injecting needle at a penetrating angle such that the injecting needle is not perpendicular to the surface of the subaquatic substrate.

16. The method of planting a seed slurry in a subaquatic substrate of claim 15, wherein the penetrating angle is about forty-five degrees relative to the surface of the subaquatic substrate.

17. The method of planting a seed slurry in a subaquatic substrate of claim 14, further comprising: measuring, using one or more sensors, one or more properties of the subaquatic substrate; determining, based on one or more of the properties of the subaquatic substrate, an injection depth for the injecting needle; andwherein driving the injecting needle includes extending the dispensing end of the injecting needle to the injection depth.

18. The method of planting a seed slurry in a subaquatic substrate of claim 14, wherein the seed planting system includes multiple injecting needles, and wherein moving includes moving multiple injecting needles, and driving includes driving multiple injecting needles.

19. The method of planting a seed slurry in a subaquatic substrate of claim 14, wherein initiating the pump occurs contemporaneously with driving the injecting needle from the extended position to the retracted position.

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