39 results about "Flagellum" patented technology

The application discloses an oral nano-vaccine and a preparation method and application thereof, and relates to the technical field of immunology, and specifically discloses an oral nano-vaccine which comprises a nano-particle wrapped by a biomimetic bacterial membrane vesicle and an outer layer; the nano-particle comprises an antigen and a biodegradable polymer material; the biomimetic bacterial membrane vesicle comprises an ionizable flagellar lipoprotein, an immune adjuvant, a phospholipid, a sterol lipid and a polyethylene glycol lipid; and the outer layer is a pH-responsive polymer. The oral nano-vaccine provided by the application combines the immune activation advantages of natural bacterial membrane vesicles and the precise regulation characteristics of synthetic materials, significantly improves the transmembrane penetration capacity of the antigen in the intestinal epithelium and the overall activation effect of the mucosal immune system. The oral nano-vaccine provided by the application can protect the antigen and the immune adjuvant from degradation and realize precise release in the intestinal microenvironment; and the oral nano-vaccine significantly improves the bioavailability and safety of an oral tumor vaccine, and lays a key technical foundation for clinical transformation and large-scale production of the oral tumor vaccine.

The application provides a flexible flagellum-driven swimming micro-nano robot and a control method thereof, and relates to the technical field of micro-nano robots.The robot comprises a head and a flexible flagellum, the inside of the head is provided with a control component, a monitoring component, a driving component and a power source, the driving component is connected with the flexible flagellum, and the method comprises the following steps: a control chip reads chemical concentration or light field intensity information detected by an environmental sensor; the collected chemical concentration or light field intensity information is compared with historical time information; the driving frequency of a micro-actuator is switched according to the comparison result; and the swimming micro-nano robot is driven to swim.The application fully utilizes the complex fluid-structure coupling behavior between the flexible flagellum and the fluid, does not need a complex steering mechanism, only needs simple information storage and logical judgment to change the swing frequency of the flagellum, and can realize the autonomous navigation movement of the micro-nano robot in a complex environment, and gradually approaches the target along a variable-parameter spiral trajectory.

The application provides a preparation method of a biomimetic flagelliform nanowire and relates to the technical field of nanowire material preparation. The method comprises the following steps: mixing and immersing a trithiocyanic acid solution and copper hydroxide nanowires, and obtaining immersed nanowires after drying; the immersion conditions comprise the following steps: the temperature is 20-45 DEG C, and the time is 0.01-50 min; and the obtained immersed nanowires are calcined at 250-500 DEG C for 2-6 h. The method provided by the application uses a trithiocyanic acid solution to immerse Cu(OH)2 nanowires, and then calcines in a muffle furnace. The method provided by the application is simple in operation, the prepared nanowires are uniform and controllable in morphology, and can be applied to the fields of oil-water separation, battery negative electrode current collectors, adsorption and the like.

The application discloses a kind of biological hybrid micro machine population oral delivery system of imitating Helicobacter pylori survival mechanism, belong to oral stomach medicine delivery technical field.The system is by active power module (flagellum driven chlamydomonas reinhardtii), environmental regulation module (acid urease modified on algal surface) and multifunctional load module (macrophage membrane wrapped drug-loaded nanoparticles) synergistic assembly through polydopamine (PDA) spatial conformation control layer is formed.Active power module utilizes self-movement ability to penetrate mucus barrier and extend intracavity retention time to 12 hours or more;Environmental regulation module produces local alkalization effect by catalyzing urea hydrolysis, provides chemical shield for system in extremely acid environment of pH 1.0-3.0, protects active power module from gastric acid inactivation;Multifunctional load module is accurately delivered to gastric epithelial cells by inflammation targeting effect, such as CRISPR / Cas9 biological macromolecule, and realizes up to 31.8% in-vivo gene editing efficiency.The application provides a non-invasive, modular active delivery platform for the precise treatment of gastric diseases such as gastritis through the synergistic effect of physical penetration, metabolic reprogramming and gene intervention.

This invention discloses a high-precision flow field sensor and measurement method with a multi-stage flagella structure inspired by mosquito antennae. The biomimetic flow field sensor consists of a central rigid rod and two multi-stage cantilever sensors on both sides. The cantilever sensors are composed of a flexible bottom layer, a flexible top layer, and a piezoresistive flexible sensor. The central rigid rod provides fixation and support for the multi-stage cantilever sensors. The flexible bottom layer is made of a high-elastic-modulus material and mainly senses changes in airflow in the surrounding flow field, oscillating with the airflow. The flexible top layer is made of a low-elastic-modulus material and mainly enhances the sensitivity of the rigid front section to changes in airflow. The piezoresistive flexible sensors are distributed on a secondary cantilever beam composed of the flexible bottom and upper layers. The oscillation of the secondary cantilever beam causes deformation of the two layers of piezoresistive flexible sensors, thereby changing the sensor resistance value. By comprehensively evaluating the resistance change of the piezoresistive flexible sensors, information such as the flow direction, flow rate, and velocity of the airflow in the flow field can be accurately measured.

The invention provides a bionic flagellum actuator based on a bacterial flagellum structure and a preparation method. The bionic flagellum actuator comprises a flexible hook which is of a pre-bent arc-shaped structure, mechanical interfaces with protruding platforms are arranged at the two ends of the flexible hook, and a reinforcing framework is embedded in the flexible hook; the flagellum filament is of a gradient cross section circular truncated cone structure and is composed of a silica gel base body, an internal elastic support and an external woven mesh pipe. The modular interface comprises a hook end flange connecting piece and a driving end quick release buckle; the flexible hooks and the flagellum filaments are mechanically interlocked through the protruding platform to be integrally formed in a casting mode, the woven net pipe restrains radial expansion of the flagellum filaments, and the elastic support induces directional bending deformation. The actuator has high flexibility, high environmental adaptability and easy maintainability, can adapt to different load scenes by adjusting the material hardness, the section gradient and the pre-bending angle, and provides an efficient and low-cost solution for the field of flexible driving.

The invention provides application of piceatannol in preparation of a salmonella flagellum inhibitor, and belongs to the technical field of biological medicines. Through analysis of salmonella sliding motion test, biofilm formation test, salmonella cell invasion test and other tests, it is found that piceatannol down-regulates flagellum-related gene transcription, weakens the sliding capacity, reduces biofilm formation and weakens the invasion capacity to host cells at non-inhibitory concentration; the invention relates to a salmonella flagellum inhibitor, particularly relates to a salmonella flagellum inhibitor, supports the development value of the salmonella flagellum inhibitor as an anti-virulence drug, provides a non-bactericidal treatment strategy capable of remarkably weakening bacterial pathogenicity, can be used as a potential lead compound or a composition therapy component for treating salmonella infection, and is applied to production and preparation of the salmonella flagellum inhibitor.

The application provides an application of a grass Wu extract, relates to the field of bacteriostatic technology, and is used for inhibiting growth of escherichia coli; the minimum bacteriostatic concentration of the grass Wu extract is 2.5 mg / mL; the grass Wu extract can directly destroy the cell wall and the cell membrane of bacteria, down-regulate key genes of a flagellum assembly path, interfere with a core metabolic path of bacteria, and down-regulate related genes such as a two-component system and ABC transporter proteins; the MIC of the grass Wu extract on escherichia coli is determined as 2.5 mg / mL for the first time, which provides an accurate dose basis for developing the grass Wu extract into an antibacterial preparation, proves that the grass Wu extract has a definite and quantifiable direct bacteriostatic effect; meanwhile, through a multi-target attack strategy of 'breaking a membrane'-'breaking a leg'-'breaking food'-'causing blindness', the bacteria are difficult to produce drug resistance through a single mutation, and a new idea is provided for solving the problem of antibiotic drug resistance.

The invention relates to the field of biotechnology engineering, in particular to recombinant escherichia coli based on cyanamide-induced flagellum assembly genes as well as a construction method and application of the recombinant escherichia coli. The recombinant escherichia coli based on the cyanamide-induced flagellum assembly gene is constructed by overexpressing the flagellum assembly gene driven by a cyanamide-induced promoter into escherichia coli 045. The recombinant Escherichia coli can strengthen the formation of a biological membrane, and the formation of the biological membrane is strengthened by adding cyanamide to precisely regulate and control the expression of a flagellum assembly gene in the process of preparing L-valine through fermentation. When the recombinant escherichia coli is used for preparing the L-valine through fermentation, the yield of the L-valine is increased, the fermentation efficiency is improved, and the fermentation period is shortened. The method has the advantages that the method is simple and convenient to operate, the cell can be recycled in the immobilized fermentation of the L-valine, the cost is saved, the continuity of the whole fermentation is enhanced, and a cell immobilization strategy based on a biological membrane is provided for the engineering application of an L-valine production system.

The invention belongs to the field of biology, and discloses a proteus mirabilis homologous recombination system expression plasmid which comprises a pBR322 replication starting point, a resistance gene, an arabinose inducible promoter and a proteus mirabilis-derived homologous recombination operon. The homologous recombination operon is used for coding a TPM66325 protein, an EPM66325 protein, a single-chain binding protein SSB and a fake release protein. The expression plasmid has relatively high recombination efficiency in proteus mirabilis GDMCC 66325 and can also play a recombination role in a proteus mirabilis standard strain ATCC35659, and the expression plasmid is obtained by knocking out a related gene bcsB formed by a hemolysin related gene hpmA and a biological membrane of the proteus mirabilis GDMCC 66325 and directly knocking in a heterologous gene after a related gene cluster is adjusted by flagellum. The effectiveness of the expression plasmid in recombinant operation of proteus mirabilis is verified; meanwhile, the invention further discloses a proteus mirabilis homologous recombination system, application and a gene knockout / knockin method.

This invention discloses the pharmaceutical applications of a P2Y11-specific inhibitor and compositions containing it, belonging to the field of biomedical technology. This invention discloses for the first time the use of NF157 in the preparation of drugs related to the treatment of HD5-induced pathogen infection. In combating pathogen infection, NF157 can specifically inhibit the binding of P2Y11 to HD5, thereby eliminating the role of HD5 in regulating cytoskeleton rearrangement and promoting filopodia formation, thus becoming a key link in interrupting pathogen infection. By preventing the formation of filopodia, NF157 effectively blocks the bacterial capture pathway, showing significant intervention effects on some pathogens that lack adhesion devices and flagella and rely on cellular pseudopodia capture for invasion.

The application discloses a kind of methods for measuring the movement direction of flagellum algae under flow conditions, the method comprises the following steps: step 1, image sequence acquisition and processing;Step 2, cell image cropping alignment;Step 3, cell image pre-processing;Step 4, create fan ring detection area;Step 5, construct timing frame;Step 6, time sequence difference feature calculation;Step 7, confidence calculation and movement direction determination.The method for measuring the movement direction of flagellum algae under flow conditions disclosed in the application overcomes the technical problems that cannot be identified due to poor imaging quality of flagellum and loss of instantaneous information in moving water environment, and realizes high-precision, automated and continuous measurement of the movement direction of flagellum algae through time sequence dynamic feature analysis and biological motion characteristic determination.

The application provides a kind of lipopeptide compound PW-1 and its preparation method and application in preventing and controlling bacterial wilt, belong to biological pesticide technical field;The PW-1 is prepared by fermentation, solvent extraction, acidification and reverse phase chromatography from Paenibacillus polymyxa (P. Paenibacillus polymyxa ) strain DW-7A;The core of the compound is that it plays a role through "anti-toxicity" mechanism, at the concentration without inhibiting the growth of Pseudomonas solanacearum (P. Ralstonia solanacearum ), can specifically interfere with the biosynthesis of pathogenic bacteria flagellum, cause its motility, chemotaxis and early infection ability to decrease significantly;Pot experiment proves that the relative control efficiency of PW-1 to tobacco bacterial wilt reaches 62.2%, and has no effect on the growth of soil bacillus at the concentration of up to 1000 μg / mL, shows efficient, targeted and environment compatible characteristics;The application provides a new candidate compound and key technical support for the development of green pesticide targeting flagellum.

The invention provides 3D sea urchin-shaped copper telluride nano-enzyme hydrogel, a preparation method thereof and application of the 3D sea urchin-shaped copper telluride nano-enzyme hydrogel in preparation of gram-negative bacterium resisting drugs, and belongs to the technical field of inorganic nano-enzymes. The copper telluride nano-enzyme hydrogel provided by the invention can be used for specifically and selectively treating gram-negative bacterium infection due to the fact that 3D sea urchin-shaped copper telluride has double-enzyme activity of oxidase-like and glutathione-like oxidase, and biosynthesis of lipopolysaccharide (LPS) and flagellum can be interfered by consuming glutathione (GSH); the attack ability of reactive oxygen species (ROS) generated by catalysis is enhanced, so that drug-resistant gram negative bacteria and biological membranes thereof can be specifically removed. Besides, the 3D urchin-like copper telluride nano-enzyme hydrogel can significantly inhibit pseudomonas aeruginosa infection and inflammatory response on burn wounds, promotes angiogenesis and cell proliferation at the same time, and has a good treatment effect on the burn wounds infected by pseudomonas aeruginosa.

The invention discloses a dyeing method for vagina micro-ecology detection. The dyeing method mainly comprises the following steps: 1) taking female genital tract secretions, and directly diluting the secretions with a diluent to form a suspension; (2) coating the suspension liquid on a glass slide by using a pipettor; 3) drying and fixing the suspension on the glass slide; 4) immersing the fixed suspension liquid glass slide into an eosin dye solution, and washing the glass slide with running water; (5) carrying out gram staining on the glass slide; and 6) observing by using a microscope. The invention also relates to a staining kit. According to the staining method, under the condition that the advantages of a gram staining method in the prior art are reserved, simple and rapid detection of trichomonad vaginalis can be achieved, the trophozoic form and flagellum form of trichomonad vaginalis can be clearly displayed, the accuracy of trichomonad vaginalis detection can be improved, and the method is suitable for popularization and application. The comprehensive and accurate detection on the vagina micro-ecology is facilitated.

The invention discloses a method for measuring the motion direction of flagellates under a flowing condition. The method comprises the following steps: step 1, acquiring and processing an image sequence; 2, cutting and aligning the cell image; step 3, preprocessing the cell image; step 4, creating a sector ring detection area; step 5, constructing a time sequence frame; step 6, calculating time sequence difference characteristics; and 7, calculating confidence and determining a motion direction. According to the method for measuring the motion direction of the flagellum under the flowing condition, the technical problem that the flagellum cannot be identified due to poor flagellum imaging quality and instantaneous information loss in a flowing water environment is solved, and high-precision, automatic and continuous measurement of the motion direction of the flagellum is realized through time sequence dynamic characteristic analysis and biological motion characteristic judgment.

Provided are delivery immunostimulatory bacteria that have enhanced colonization of tumors, the tumor microenvironment and / or tumor-resident immune cells, and enhanced anti-tumor activity. The immunostimulatory bacteria are modified by deletion of genes encoding the flagella, or by modification of the genes so that functional flagella are not produced, and / or are modified by deletion of pagP or modification of pagP to produce inactive PagP product. As a result, the immunostimulatory bacteria are flagellin and / or pagP−. The immunostimulatory bacteria optionally have additional genomic modifications so that the bacteria are adenosine or purine auxotrophs. The bacteria optionally are one or more of asd−, purI−, and msbB−. The immunostimulatory bacteria, such as Salmonella species, are modified to encode immunostimulatory proteins that confer anti-tumor activity in the tumor microenvironment, and / or are modified so that the bacteria preferentially infect immune cells in the tumor microenvironment, or tumor-resident immune cells, and / or are modified to induce less cell death in immune cells than in other cells. Also provided are methods of inhibiting the growth or reducing the volume of a solid tumor by administering the immunostimulatory bacteria.

The invention provides a method for promoting propagation of Hilasiosira wiskei and a microorganism used in the method. The microorganism used in the method is flagellimonas sp. FLG-A strain, and the preservation number of the FLG-A strain is CGMCC No.34666. The invention further provides a method for promoting propagation of Hilasiosira wiskei. The flagelmonas FLG-A strain provided by the invention can effectively improve the propagation effect of the sealasiosira wissi, and has good production and application prospects.

The present invention relates to a method for reconstructing the three-dimensional motion of sperm flagella based on deep learning, comprising the steps of: obtaining a two-dimensional image of a sperm to be processed, performing image preprocessing on the two-dimensional image of the sperm to be processed, and obtaining a preprocessed image; inputting the preprocessed image into a trained sperm segmentation model to obtain a binary image of the sperm flagellum; skeletonizing the binary image of the sperm flagellum to obtain the centerline of the sperm flagellum, N equidistant points, and the position coordinates corresponding to each equidistant point; obtaining N partial images of the sperm flagellum based on the N equidistant points, and inputting each partial image of the sperm flagellum into a trained depth prediction model to obtain depth information of each partial image of the sperm flagellum; and reconstructing a three-dimensional model of the sperm flagellum based on the depth information of each partial image of the sperm flagellum and the position coordinates corresponding to each equidistant point. The present invention provides a reliable solution for the study of sperm motility behavior and the development of assisted reproductive technology.

Escherichia coli flagellum is a potential target for research and development of escherichia coli infection anti-virulence drugs. Researches find that the Escherichia coli flagellum inhibitor has important significance on prevention and control of Escherichia coli The invention relates to a medical application of cinnamyl alcohol in preparation of an escherichia coli flagellum inhibitor, and tests such as an escherichia coli sliding motion inhibition test, a minimum inhibitory concentration determination test, a growth curve test, a greater wax moth survival rate test, an escherichia coli adhesion to Hela cell inhibition test and the like. It is verified that cinnamyl alcohol can inhibit bacterial flagellum-mediated electrophoresis on the premise that bacterial growth is not inhibited, and therefore the pathogenicity of escherichia coli is reduced. Cinnamyl alcohol exists in Peru balsam, cinnamon leaves, hyacinth oil, storax balsam and the like in an ester form, is commonly used as a fixative and a modifier, and is also an important medical raw material. Cinnamyl alcohol has the characteristics of low cost, no drug resistance and drug residue, has a wide application prospect, and provides a new way and a potential natural compound for prevention and treatment of escherichia coli infection.

The application discloses application of amino peptidase SapM in regulating virulence and motility of Xanthomonas campestris, and belongs to the technical field of biotechnology.The sapM gene function is researched by constructing a sapM gene deletion strain of Xanthomonas campestris.The research finds that knocking out the sapM gene (Delta sapM) significantly enhances the pathogenicity, extracellular polysaccharide (EPS) synthesis, amylase activity and motility of Xcc, while sapM overexpression inhibits the above-mentioned phenotypes.The flagellum morphology of the sapM mutant strain is further observed by transmission electron microscopy, and it is found that the flagellum length of the sapM mutant strain is significantly different from that of the wild type.It can be seen that the amino peptidase SapM is involved in negative regulation of virulence and motility of Xanthomonas campestris, and the application has great application value.

The invention discloses a method for synthesizing O-succinyl-L-homoserine (OSH) by dynamically regulating and controlling a threonine pathway and application of the O-succinyl-L-homoserine (OSH). Escherichia coli capable of effectively synthesizing OSH is used as an original strain, one of sequential promoters PflhDC, PfliA, PfliF and PfliC in an Escherichia coli flagellum three-level regulation network and a bacillus subtilis self-induction promoter PsrfA is selected to replace an original promoter of a threonine pathway key gene thrB, thrAfbr and metAfbr are overexpressed in plasmids, and the original promoter is subjected to expression to obtain a threonine pathway key gene thrB. Normal expression of a threonine pathway in the early stage of fermentation is realized, and a competitive pathway in the later stage is inhibited, so that thallus growth and OSH synthesis are balanced. The recombinant bacterium constructed by the invention accumulates 128.64 g / L of O-succinyl-L-homoserine within 85 hours of fermentation, a new method is provided for efficient synthesis of OSH, and the recombinant bacterium has important application value.

According to the Escherichia coli engineering strain with enhanced athletic ability and the construction method and application thereof, wild Escherichia coli MG1655 is taken as a transformation starting point, and expression of flagellum power regulation protein CheZ is specifically enhanced, so that the chemotactic athletic ability of the strain is remarkably enhanced, the migration range of the transformed strain on a soft agar plate is expanded compared with that of the wild Escherichia coli MG1655, and the activity of the transformed strain on the soft agar plate is improved. And the rapid growth characteristic of the original host is maintained. The strain can break through the space motion limitation of traditional microorganisms in soil remediation, achieves targeted migration of deep soil pollutants, and is suitable for efficient bioremediation of heavy metal and organic pollutants in a heterogeneous soil environment.

The invention provides application of a DNAI4 mutant gene as a molecular marker in preparation of a product for diagnosing weak teratospermia, and belongs to the technical field of biomarkers. The DNAI4 mutant gene is generated by homozygous mutation of a DNAI4 gene on a No.9 exon, and the nucleotide sequence of the DNAI4 mutant gene is that a G basic group at the 1478th site of the exon sequence of the DNAI4 gene is mutated into an A basic group; or the amino acid sequence is that the 493rd amino acid of the DNAI4 protein is mutated into a terminator. The invention provides a novel pathogenic gene and a mutation site for the diagnosis of the weak teratozoospermia related to the sperm flagellate polymorphosis, and can provide a theoretical support for the research of genetic etiology of the sperm flagellate polymorphosis and dysfunction.

The invention provides a flagellum driving mechanism and an underwater robot, and belongs to the field of underwater soft robots. The problems that an underwater driving structure is invariable in rigidity, poor in adaptability and complex in switching mode are solved. A flagellum driving mechanism comprises a liquid packaging part which is internally provided with liquid and provided with a liquid storage cavity at the end part of one side; the variable-rigidity part is provided with a plurality of variable-rigidity pieces which are sequentially arranged in the liquid packaging part, and a channel for liquid to flow through is formed between every two adjacent variable-rigidity pieces; the flexible shell is arranged on the outer side of the liquid packaging part, and liquid in the liquid packaging part is stored in the liquid storage cavity under the external pressure of the flexible shell; and the liquid driving part is used for feeding the liquid in the liquid storage cavity into the channel under a certain condition and separating the adjacent variable stiffness sheets, so that the stiffness of the flexible shell is reduced. The device is mainly used for driving the underwater robot.

The invention belongs to the technical field of microorganisms and genetic engineering. The invention provides a listeria monocytogenes strain as well as a preparation method and application thereof, the flagellum formation ability of the strain is enhanced, the environmental stress resistance is enhanced, and the immune recognition of host cells on listeria monocytogenes can be enhanced; the strain is subjected to delta yxeA gene deletion mutation; the bacterial strain is named as Listeria monocytogenes Lm-delta lmo2568, the preservation number of the bacterial strain is CGMCC (China General Microbiological Culture Collection Center) No.36001, and the bacterial strain is preserved in the China General Microbiological Culture Collection Center on September 22, 2025. The invention finds that the deletion of Listeria monocytogenes YxeA promotes the formation and expression of flagellum, and the obtained strain can enhance the immune recognition of host cells on Listeria monocytogenes, and can be used for preparing related preparations.

The application discloses a vaginal micro-ecological detection staining method, mainly comprising the following steps: 1) taking female genital tract secretion and diluting the same by a diluent to form a suspension; 2) coating the suspension on a glass slide; 3) drying and fixing the suspension on the glass slide; 4) immersing the glass slide in a eosin dye solution for staining, and then taking out the glass slide and washing the same by flowing water; 5) immersing the glass slide in a methylene blue dye solution for staining, and then taking out the glass slide and washing the same by flowing water; 6) performing gram staining on the glass slide; and 7) observing by using a microscope. The staining method can not only clearly show the trophozoite shape and flagellum shape of Trichomonas vaginalis, but also accurately distinguish leukocytes and trichomonads, is favorable to improving the accuracy of trichomonas vaginalis detection, and is favorable to comprehensively and accurately detecting the vaginal micro-ecology.

The invention belongs to the field of biological agriculture, and relates to application of flagellum-associated protein PbFAP-102 in plasmodiophora brassicae and a coding gene thereof in prevention and control of rape clubroot. According to the research, flagellar associated protein (PbFAP-102) which is expressed at a high level in each stage is screened from a plasmodiophora brassicae ZJ-1 transcriptome, an RNAi carrier of the gene is constructed, a corresponding transgenic plant is obtained, and a disease resistance test of plasmodiophora brassicae shows that the two PbFAP-102-RNAi transgenic lines both show better disease resistance phenotypes, and the two PbFAP-102-RNAi transgenic lines show better disease resistance phenotypes. Therefore, the flagellum-related protein PbFAP-102 of plasmodiophora brassicae can be used as a gene resource for resisting clubroot.

The invention provides a moving micro-nano robot driven by a flexible flagellum and a control method of the moving micro-nano robot, and relates to the technical field of micro-nano robots, the robot comprises a head and the flexible flagellum, the head is internally provided with a control assembly, a monitoring assembly, a driving assembly and a power source, the driving assembly is connected with the flexible flagellum, and the power source is connected with the flexible flagellum. The method comprises the steps that the control chip reads chemical concentration or light field intensity information detected by the environment sensor, the collected chemical concentration or light field intensity information is compared with historical moment information, the driving frequency of the micro-actuator is switched according to the comparison result, and the swimming micro-nano robot is driven to swim. According to the method, the complicated fluid-solid coupling behavior between the flexible flagellum and the fluid is fully utilized, a complicated steering mechanism is not needed, and the autonomous navigation movement of the micro-nano robot in a complicated environment can be realized only by changing the swinging frequency of the flagellum through simple information storage and logic judgment; and gradually approaching the target along a variable-parameter spiral track.